JP6345280B2 - 車両を動作させるための方法及び装置 - Google Patents
車両を動作させるための方法及び装置 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 18
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 5
- 230000003213 activating effect Effects 0.000 claims 1
- 230000015572 biosynthetic process Effects 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
- B60Q1/535—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/009—Priority selection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
車両用の車線維持システムは、それ自体公知である。一般的に車線維持システムは、車両を所定の車線内に維持することが可能である。この維持は、特に車両の操舵システムへの介入によって実施される。
本発明の基礎となる課題は、車両を動作させるための方法を提供することであるとみなすことができる。
・車両周囲を検出するステップと、
・操舵装置によって設定された、車輪に対する旋回操舵角を検出するステップと、
・検出された前記車両周囲と検出された前記旋回操舵角とに基づいて、旋回操舵角が変更されない場合における前記車両の衝突確率を算出するステップと、
・算出された前記衝突確率が所定の衝突確率閾値以上である場合に、衝突を回避するために前記旋回操舵角を補正するステップと、
を含む方法が提供される。
・車両周囲を検出するための検出装置と、
・操舵装置によって設定された、車輪に対する旋回操舵角を検出するための別の検出装置と、
・検出された前記車両周囲と検出された前記旋回操舵角とに基づいて、旋回操舵角が変更されない場合における前記車両の衝突確率を算出するための処理装置と、
・算出された前記衝突確率が所定の衝突確率閾値以上である場合に、衝突を回避するために前記旋回操舵角を補正して制御するための制御装置と、
を備える装置が提供される。
Claims (8)
- 車両を動作させるための方法において、
・車両周囲を検出するステップ(101)と、
・操舵装置によって設定された、車輪に対する旋回操舵角を検出するステップ(103)と、
・検出された前記車両周囲と検出された前記旋回操舵角とに基づいて、前記旋回操舵角が変更されない場合における前記車両の衝突確率を算出するステップ(105)と、
・算出された前記衝突確率が所定の衝突確率閾値以上である場合に、衝突を回避するために前記旋回操舵角を補正するステップ(107)と、
を含み、
前記旋回操舵角を補正した場合であっても、衝突を回避するために前記操舵装置によって設定された旋回方向を変更する必要があるかどうかを識別し、
必要がある場合には、前記旋回方向を変更するようにとの警告を発する、
ことを特徴とする方法。 - 前記旋回操舵角を、前記操舵装置によって設定された旋回方向内でのみ補正する、
請求項1記載の方法。 - 検出された前記旋回操舵角に基づいて、前記車両の現在の目標軌道を算出し、検出された前記車両周囲に基づいて、前記現在の目標軌道に物体が存在するかどうかを識別し、存在する場合には警告を発する、
請求項1又は2記載の方法。 - 衝突時間を算出し、
算出された前記衝突時間が所定の衝突時間閾値以下である場合には、前記旋回操舵角を補正する際に、緊急制動を実施するようにとの要求を前記車両のブレーキシステムに送信する、
請求項1から3のいずれか1項記載の方法。 - 前記車両が車線維持支援システムを有している場合に、現在の車両速度を検出し、
前記現在の車両速度が所定の車両速度閾値以上である場合には、前記旋回操舵角を補正する際に、前記車両の車線維持支援システムを解除する、
請求項1から4のいずれか1項記載の方法。 - 前記旋回操舵角を補正する際に、道路利用者に警告するために前記車両の非常点滅表示灯を作動させる、
請求項1から5のいずれか1項記載の方法。 - 車両を動作させるための装置(201)において、
・車両周囲を検出するための検出装置(203)と、
・操舵装置によって設定された、車輪に対する旋回操舵角を検出するための別の検出装置(205)と、
・検出された前記車両周囲と検出された前記旋回操舵角とに基づいて、前記旋回操舵角が変更されない場合における前記車両の衝突確率を算出するための処理装置(207)と、
・算出された前記衝突確率が所定の衝突確率閾値以上である場合に、衝突を回避するために前記旋回操舵角を補正して制御するための制御装置(209)と、
を備え、
前記制御装置(209)は、
前記旋回操舵角を補正した場合であっても、衝突を回避するために前記操舵装置によって設定された旋回方向を変更する必要があるかどうかを識別し、
必要がある場合には、前記旋回方向を変更するようにとの警告を発する、
ことを特徴とする装置(201)。 - コンピュータ上で実行される場合に、請求項1から6のいずれか1項記載の方法を実施するためのプログラムコードを含む、コンピュータプログラム。
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DE102014212047.0A DE102014212047A1 (de) | 2014-06-24 | 2014-06-24 | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
DE102014212047.0 | 2014-06-24 | ||
PCT/EP2015/061205 WO2015197270A1 (de) | 2014-06-24 | 2015-05-21 | Verfahren und vorrichtung zum betreiben eines fahrzeugs |
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EP (1) | EP3161812B1 (ja) |
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KR (1) | KR102287574B1 (ja) |
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US10086830B2 (en) * | 2016-05-23 | 2018-10-02 | Ford Global Technologies, Llc | Accident attenuation systems and methods |
US10948912B2 (en) * | 2017-10-31 | 2021-03-16 | Passion Mobility Ltd. | Automatic following system and method |
DE102017220910A1 (de) * | 2017-11-23 | 2019-05-23 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erkennen einer Kollision eines Fahrzeugs |
CN108791286B (zh) * | 2018-06-21 | 2020-05-08 | 奇瑞汽车股份有限公司 | 行车避撞方法和装置 |
WO2020011501A1 (en) | 2018-07-12 | 2020-01-16 | Wabco Gmbh | Information, warning and braking request generation for turn assist functionality |
JP7138611B2 (ja) * | 2019-10-16 | 2022-09-16 | 本田技研工業株式会社 | 車両用接触回避支援装置、車両用接触回避支援制御方法及び車両用接触回避支援プログラム |
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JP3896852B2 (ja) * | 2002-01-16 | 2007-03-22 | 株式会社デンソー | 車両用衝突被害軽減装置 |
JP2005310011A (ja) * | 2004-04-26 | 2005-11-04 | Mitsubishi Electric Corp | 走行支援装置 |
DE112005003266T5 (de) | 2004-12-28 | 2008-09-04 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Fahrzeugbewegungssteuerungsvorrichtung |
JP2008531388A (ja) * | 2005-03-03 | 2008-08-14 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 車両の車線変更時の衝突回避方法及び装置 |
DE102006044179B4 (de) | 2006-02-24 | 2015-12-31 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Unterstützen eines Fahrers eines Kraftfahrzeugs bei der Durchführung eines Fahrmanövers |
JP4918389B2 (ja) * | 2007-03-30 | 2012-04-18 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP5348309B2 (ja) * | 2007-05-11 | 2013-11-20 | 日産自動車株式会社 | 車両の走行制御方法及び走行制御装置 |
JP5309582B2 (ja) * | 2007-05-11 | 2013-10-09 | 日産自動車株式会社 | 車両の走行制御方法及び走行制御装置 |
CN102307774A (zh) * | 2009-02-03 | 2012-01-04 | 大陆-特韦斯贸易合伙股份公司及两合公司 | 用于实施避让行动的方法和装置 |
KR101214961B1 (ko) * | 2010-05-13 | 2012-12-24 | 서강대학교산학협력단 | 충돌 가능성 분석을 위한 차량 모델을 이용한 최적의 리드 타임 결정 방법 |
KR101977997B1 (ko) | 2010-08-10 | 2019-05-13 | 콘티넨탈 테베스 아게 운트 코. 오하게 | 운전 안전성을 조절하는 방법 및 시스템 |
JPWO2012060340A1 (ja) * | 2010-11-01 | 2014-05-12 | エイディシーテクノロジー株式会社 | 前照灯制御装置 |
JP5715454B2 (ja) * | 2011-03-15 | 2015-05-07 | 富士重工業株式会社 | 車両の運転支援装置 |
CN102225692B (zh) * | 2011-04-26 | 2014-04-02 | 惠州Tcl移动通信有限公司 | 机动车防撞方法及其相应的移动终端与防撞系统 |
KR20130013997A (ko) * | 2011-07-29 | 2013-02-06 | 현대자동차주식회사 | 차량의 충돌 방지장치 및 방법 |
CN102490780B (zh) * | 2011-12-20 | 2014-11-05 | 奇瑞汽车股份有限公司 | 一种电动助力转向系统、转向控制方法以及汽车 |
DE102012215952A1 (de) * | 2012-09-10 | 2014-03-13 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur frühzeitigen Warnung anderer Verkehrsteilnehmer |
DE102012108563A1 (de) | 2012-09-13 | 2014-03-13 | Scania Cv Ab | Verfahren und Vorrichtungen zur Kollisionswarnung bei Fahrstreifenwechseln |
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KR102287574B1 (ko) | 2021-08-10 |
EP3161812A1 (de) | 2017-05-03 |
US20170158192A1 (en) | 2017-06-08 |
WO2015197270A1 (de) | 2015-12-30 |
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US10220846B2 (en) | 2019-03-05 |
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