KR102386317B9 - 차량 및 그 충돌 회피 방법 - Google Patents
차량 및 그 충돌 회피 방법Info
- Publication number
- KR102386317B9 KR102386317B9 KR1020150114071A KR20150114071A KR102386317B9 KR 102386317 B9 KR102386317 B9 KR 102386317B9 KR 1020150114071 A KR1020150114071 A KR 1020150114071A KR 20150114071 A KR20150114071 A KR 20150114071A KR 102386317 B9 KR102386317 B9 KR 102386317B9
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- same
- collision avoidance
- avoidance method
- collision
- Prior art date
Links
Classifications
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2520/06—Direction of travel
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150114071A KR102386317B1 (ko) | 2015-08-12 | 2015-08-12 | 차량 및 그 충돌 회피 방법 |
KR1020220042508A KR102543525B1 (ko) | 2015-08-12 | 2022-04-05 | 차량 및 그 충돌 회피 방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150114071A KR102386317B1 (ko) | 2015-08-12 | 2015-08-12 | 차량 및 그 충돌 회피 방법 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020220042508A Division KR102543525B1 (ko) | 2015-08-12 | 2022-04-05 | 차량 및 그 충돌 회피 방법 |
Publications (3)
Publication Number | Publication Date |
---|---|
KR20170019794A KR20170019794A (ko) | 2017-02-22 |
KR102386317B1 KR102386317B1 (ko) | 2022-04-13 |
KR102386317B9 true KR102386317B9 (ko) | 2023-05-11 |
Family
ID=58314800
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020150114071A KR102386317B1 (ko) | 2015-08-12 | 2015-08-12 | 차량 및 그 충돌 회피 방법 |
KR1020220042508A KR102543525B1 (ko) | 2015-08-12 | 2022-04-05 | 차량 및 그 충돌 회피 방법 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020220042508A KR102543525B1 (ko) | 2015-08-12 | 2022-04-05 | 차량 및 그 충돌 회피 방법 |
Country Status (1)
Country | Link |
---|---|
KR (2) | KR102386317B1 (ko) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102386317B1 (ko) * | 2015-08-12 | 2022-04-13 | 현대모비스 주식회사 | 차량 및 그 충돌 회피 방법 |
KR102331025B1 (ko) * | 2017-02-23 | 2021-11-25 | 현대자동차주식회사 | 영상정보 획득장치, 차량, 및 그 제어방법 |
DE102018108572B4 (de) * | 2017-04-12 | 2023-05-04 | Toyota Jidosha Kabushiki Kaisha | Spurwechselunterstützungsvorrichtung für ein fahrzeug |
CN111301407B (zh) * | 2018-12-11 | 2021-09-21 | 杭州海康威视数字技术股份有限公司 | 一种危险车辆确定方法、装置、电子设备及可读存储介质 |
KR20200102004A (ko) * | 2019-01-28 | 2020-08-31 | 주식회사 만도 | 충돌 방지 장치, 시스템 및 방법 |
KR102669424B1 (ko) * | 2019-10-14 | 2024-05-29 | 현대모비스 주식회사 | 자율주행 차량의 측위정보 공유장치 및 그 제어방법 |
CN111338344A (zh) * | 2020-02-28 | 2020-06-26 | 北京小马慧行科技有限公司 | 车辆的控制方法及装置、运载工具 |
KR102370976B1 (ko) * | 2020-10-29 | 2022-03-04 | 한국교통대학교산학협력단 | 객체 특징점을 이용한 차선 변경 지원 시스템 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4923520B2 (ja) * | 2005-11-07 | 2012-04-25 | 日産自動車株式会社 | 車両位置推定装置、車両用走行支援装置及び車両位置推定方法 |
JP2007178271A (ja) * | 2005-12-28 | 2007-07-12 | Aisin Aw Co Ltd | 自位置認識システム |
JP2008276642A (ja) * | 2007-05-02 | 2008-11-13 | Xanavi Informatics Corp | 走行車線認識装置および走行車線認識方法 |
JP5287441B2 (ja) * | 2009-04-06 | 2013-09-11 | トヨタ自動車株式会社 | 走行制御装置 |
RU2570191C2 (ru) * | 2011-09-26 | 2015-12-10 | Тойота Дзидося Кабусики Кайся | Вспомогательная система управления транспортным средством |
JP2015116918A (ja) * | 2013-12-18 | 2015-06-25 | 株式会社ジェイテクト | 車両制御装置 |
KR102386317B1 (ko) * | 2015-08-12 | 2022-04-13 | 현대모비스 주식회사 | 차량 및 그 충돌 회피 방법 |
-
2015
- 2015-08-12 KR KR1020150114071A patent/KR102386317B1/ko active IP Right Grant
-
2022
- 2022-04-05 KR KR1020220042508A patent/KR102543525B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
KR20220048980A (ko) | 2022-04-20 |
KR102386317B1 (ko) | 2022-04-13 |
KR102543525B1 (ko) | 2023-06-16 |
KR20170019794A (ko) | 2017-02-22 |
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Legal Events
Date | Code | Title | Description |
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A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
G170 | Re-publication after modification of scope of protection [patent] |