SE2151291A1 - A vehicle control system adapted for increased mimicking of human behavior - Google Patents
A vehicle control system adapted for increased mimicking of human behaviorInfo
- Publication number
- SE2151291A1 SE2151291A1 SE2151291A SE2151291A SE2151291A1 SE 2151291 A1 SE2151291 A1 SE 2151291A1 SE 2151291 A SE2151291 A SE 2151291A SE 2151291 A SE2151291 A SE 2151291A SE 2151291 A1 SE2151291 A1 SE 2151291A1
- Authority
- SE
- Sweden
- Prior art keywords
- ego vehicle
- vehicle
- ego
- acceleration
- control
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 72
- 238000000034 method Methods 0.000 claims description 27
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 230000006399 behavior Effects 0.000 description 15
- 238000004422 calculation algorithm Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 6
- 230000003278 mimic effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Feedback Control In General (AREA)
Abstract
The present disclosure relates to a vehicle control system (2) comprising a control unit arrangement (3) and at least one sensor arrangement (4, 5) that is arranged to be mounted in an ego vehicle (1). The sensor arrangement (4, 5) is adapted to provide sensor information regarding at least one possible preceding target vehicle (6), where the control unit arrangement (3) is adapted to control an ego vehicle velocity (vi) and ego vehicle acceleration (ai) in dependence of the sensor information. The control unit arrangement (3) is adapted to store events where a driver overrides said control by manually braking or accelerating, and to control the ego vehicle velocity (v1) and ego vehicle acceleration (a1) also in dependence of the stored events.
Description
TITLE A vehicle control system adapted for increased mimicking of human behavior DESCRIPTION OF THE DISCLOSURE The present disclosure relates to a vehicle control system comprising a control unit arrangement and at least one sensor arrangement that is arranged to be mounted in an ego vehicle.
Many vehicles comprise environmental detection systems such as radar, Lidar and camera systems which are arranged for object detection, being able to provide a warning to a driver about an object in the path of a vehicle, e.g. Forward Collision Warning (FCW) and Rear Cross Traffic Alert (RCTA) systems. Furthermore, these sensor can also provide input to vehicle systems such as Autonomous Emergency Braking (AEB) and Adaptive Cruise Control (ACC), where ACC is a longitudinal distance controller in an ADAS (Advanced Driver Assistant System) which keeps constant distance or time-gap to a lead-vehicle in the driving lane in presence of such a lead-vehicle, or keeps a constant set speed in the absence of a lead-vehicle.
Such environmental detection systems can comprise one or more forward-looking' detectors, rearward-looking' detectors and sideward-looking detectors of one or more types. Other types of detectors include V2V (vehicle-to-vehicle) and V2X (vehicle-to- anything). ACC aims to mimic the behavior of a human driver, which represents huge challenges regarding controller design as well as regarding associated calculations.
US 6805216 discloses an ACC system adapted to adjust distance or speed in relation to the vehicle in front dependent on average distance to vehicles in adjacent lanes.
EP 3121423 discloses an ACC system adapted to control a host vehicle to follow a preceding vehicle. A driver can manually select a drive mode.
A more accurate and easily managed ACC system adapted for mimic of human behavior is, however, desired. The object of the present disclosure is therefore to provide an easily managed vehicle control system. that more accurately mimics human behavior when controlling a vehicle.
This object is achieved by means of a vehicle control system comprising a control unit arrangement and at least one sensor arrangement that is arranged to be mounted in an ego vehicle. The sensor arrangement is adapted to provide sensor information regarding at least one possible preceding target vehicle, where the control unit arrangement is adapted to control an ego vehicle velocity and ego vehicle acceleration in dependence of the sensor information. The control unit arrangement is adapted to store events where a driver overrides said control of ego vehicle velocity and ego vehicle acceleration by manually braking or accelerating, and to control the ego vehicle velocity and ego vehicle acceleration also in dependence of the stored events.
This means that the control unit arrangement is adapted to control the ego vehicle velocity and ego vehicle acceleration in dependence of stored driver behavior such as if the driver has a tendency to brake or accelerate in override situations, and to adapt the control accordingly. In this way, a more accurate mimic can be obtained when the control unit of human behavior arrangement controls the ego vehicle velocity and ego vehicle acceleration.
According to some aspects, when the control unit arrangement has determined that there is no preceding target vehicle, the control unit arrangement is adapted to control an ego vehicle velocity and ego vehicle acceleration such that an ego vehicle velocity is maintained. When the control unit arrangement has determined that there is a preceding target vehicle present, the control unit arrangement is adapted to control an ego vehicle velocity and ego vehicle acceleration such that an ego distance and/or a time gap between the ego vehicle and the preceding target vehicle is obtained. A time gap is defined as the time for travelling the ego distance at the ego vehicle velocity.
In this way, the control unit arrangement can control the ego vehicle velocity and ego vehicle acceleration in dependence of different situations.
According to some aspects, the control unit arrangement is adapted to increase a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity and ego vehicle acceleration by manually accelerating exceeds a first threshold.
According to some aspects, the control unit arrangement is adapted to decrease a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity and ego vehicle acceleration by manually braking exceeds a second threshold.
This means that the controlled ego vehicle acceleration either is increased or decreased compared to a default value depending on if the driver has overrided the control by manually accelerating or braking to a certain extent. In this way, the behavior of a defensive driver can be accurately mimicked. According to some aspects, the control unit arrangement is adapted to determine that there is a preceding target vehicle present when an identified vehicle is present within a certain distance from the sensor arrangement.
In this way, preceding target vehicles that are too far away will be regarded as not being present, and will thus not affect the control of the ego vehicle velocity and ego vehicle acceleration.
There are also disclosed herein methods and vehicles associated with the above-mentioned advantages.
BRIEF DESCRIPTION OF THE DRAWINGS The present disclosure will now be described more in detail with reference to the appended drawings, where: Figure l shows a schematic top view of an ego vehicle and a preceding target vehicle; Figure 2 shows a flowchart for methods according to the present disclosure; Figure 3 shows a flowchart illustrating an example of the present disclosure; Figure 4 schematically illustrates a control unit arrangement; and Figure 5 shows a computer program product.
DETAILED DESCRIPTION Aspects of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings. The different devices, systems, computer programs and methods disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.
The terminology used herein is for describing aspects of the disclosure only and is not intended to limit the invention. As "an" and "the" are intended used herein, the singular forms "a" to include the plural forms as well, unless the context clearly indicates otherwise. there With reference to Figure l, illustrating a first example, is an ego vehicle l that is travelling on a road 12, following a preceding target vehicle 6.
There is a vehicle control system 2 comprising a control unit arrangement 3 and at least one sensor arrangement 4, 5 that is arranged to be mounted in the ego vehicle l and is adapted to provide sensor information regarding at least one possible preceding target vehicle 6. According to some aspects, the sensor arrangement 4, 5 comprises at least one of a radar arrangement 4 and. a camera device arrangement 5. Other sensor arrangements are also conceivable. The sensor arrangement 4, 5 can be adapted to detect targets in different directions, but should be adapted to provide sensor information regarding at least one possible preceding target vehicle 6.
The control unit arrangement 3 is adapted to control an ego vehicle velocity vl and ego vehicle acceleration al in dependence of the sensor information. According to some aspects, the sensor information comprises information regarding if there is a preceding target vehicle 6, and/or an ego distance rl, and/or a time gap ATl between the ego vehicle l and the preceding target vehicle 6. A time gap ATl is defined as the time for travelling the ego distance rl at the ego vehicle velocity vl.
According to the present disclosure, the control unit arrangement 3 is adapted to store events where a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration. al by' manually' braking' or accelerating, and. to control the ego vehicle velocity vl and ego vehicle acceleration al also in dependence of the stored events.
This means that the control unit arrangement 3 is adapted to control the ego vehicle velocity vl and ego vehicle acceleration al in dependence of stored driver behavior such as if the driver has a tendency to brake or accelerate in override situations, and. to adapt the control accordingly. In this way, a more accurate mimic of human behavior can be obtained when the control unit arrangement 3 controls the ego vehicle velocity vl and ego vehicle acceleration ab According to some aspects, when the control unit arrangement 3 has determined that there is no preceding target vehicle 6, the control unit arrangement 3 is adapted to control an ego vehicle velocity vl and ego vehicle acceleration al such that an ego vehicle velocity vl is maintained. Furthermore, when the control unit arrangement 3 has determined that there is a preceding target vehicle present, the control unit arrangement 3 is adapted to control an ego vehicle velocity vl and ego vehicle acceleration al such that the ego distance rl and/or time gap ATl between the ego vehicle l and the preceding target vehicle 6 is obtained. This means that if there is no preceding vehicle, the present ego vehicle velocity vl is maintained, i.e. kept constant. If there is a preceding target vehicle 6, the ego vehicle velocity vl and ego vehicle acceleration al are controlled in dependence the control unit of the preceding target vehicle 6. In this way, arrangement 3 can control the ego vehicle velocity vl and ego vehicle acceleration al in dependence of different situations.
According to some aspects, the control unit arrangement 3 is adapted to increase a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration al by manually accelerating exceeds a first threshold.
This means that the controlled ego vehicle acceleration al is increased compared to a default value. In this case, the driver has overrided the control by manually accelerating to a certain extent, such that the control unit arrangement 3 hereafter controls the vehicle acceleration al by accelerating more than the behavior of an offensive driver can previously. In this way, be mimicked.
This can for example be due to the preceding target vehicle 6 accelerating, changing lanes or turning to another road.
According to some aspects, the default value can be deceleration such that braking is overrided with acceleration. According to some aspects, the default value can be acceleration such that acceleration is overrided with more acceleration.
The default values are according to some aspects dependent on a detected traffic situation and/or previous override situations. According to some aspects, the control unit arrangement 3 is adapted to decrease a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration al by manually braking exceeds a second threshold.
This means that the controlled ego vehicle acceleration al is decreased compared to a default value. In this case, the driver has overrided. the control by Inanually' braking' to a certain extent, such that the control unit arrangement 3 hereafter controls the vehicle acceleration al by accelerating less than the behavior of a defensive driver can previously. In this way, be mimicked.
This can for example be due to the preceding target vehicle 6 braking or a vehicle changing lanes such that it appears relatively close to the ego vehicle l.
According to some aspects, the default value can be deceleration such that braking is overrided with more braking. According to some aspects, the default value can be acceleration such that acceleration is overrided with less acceleration or braking. According to some aspects, the control unit arrangement 3 is adapted to determine that there is a preceding target vehicle 6 present when an identified vehicle is present within a certain distance from the sensor arrangement 4, 5.
In this way, preceding target vehicles that are too far away will be regarded as not being present, and will thus not affect the control of the ego vehicle velocity Xml and ego vehicle acceleration ap With reference to Figure 2, the present disclosure also relates to a næthod in a vehicle control system 2 that comprises a control unit arrangement 3 and at least one sensor arrangement 4, 5. The method comprises providing S100 sensor information regarding at least one possible preceding target vehicle 6 and controlling S200 an ego vehicle velocity vl and ego vehicle acceleration al in dependence of the sensor information. The method. further* comprises storing' S400 events where a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration al and by manually braking or accelerating, controlling S500 the ego vehicle velocity vl and ego vehicle acceleration al also in dependence of the stored events.
According to some aspects, the method comprises determining S300 if there is a preceding target vehicle 6, and if that is the case Y, the method comprises controlling S310 an ego vehicle velocity vl and ego vehicle acceleration al such that an ego vehicle velocity vl is maintained. If that is not the case N, the method comprises controlling S320 an ego vehicle velocity vl and ego vehicle acceleration al such that an ego distance rl and/or a time gap ATl between the ego vehicle l and the preceding target vehicle 6 is obtained, where a time gap ATl is defined as the time for travelling the ego distance rl at the ego vehicle velocity vl.
According to some aspects, the method comprises increasing S600 a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration al by manually accelerating exceeds a first threshold.
According to some aspects, the method comprises decreasing S700 a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity vl and ego vehicle acceleration al by manually braking exceeds a second threshold.
According to some aspects, the method comprises determining that there is a preceding target vehicle 6 present when an identified vehicle is present within a certain distance from the sensor arrangement 4, 5.
Figure 3 illustrates an automatic time gap algorithm that is an example of how the present disclosure may be implemented. Of course many other ways exist to implement present disclosure, the following only being one possible example.
At an initial step 20, the ego vehicle velocity v¿ is determined, and thereafter it is determined 21 if there is a preceding target vehicle 6. If that is not the case N, the ego vehicle velocity vl is maintained 23 and the algorithm is brought back to the it is determined 22 initial step 20, and if that is the case Y, if acceleration or deceleration will take place. At a next step it is determined if a driver override 24 is taking place. If that is not the case N, the algorithm is brought back to the initial step 20, and. if that is the case Y, the event is determined 25 and an event counter is increased. An event is a driver* override in the forn1 of acceleration. or deceleration initiated by the driver.
It is then determined 26 if a threshold is exceeded for the event counter. If that is not the case N, the algorithm is brought back to the initial step 20, and if that is the case Y, it is determined 27 if a limit is reached for increase or decrease of a predetermined acceleration of deceleration. It the limit is 11 reached Y, i.e. a most offensive or defensive setting is already applied, the algorithm is brought back to the initial step 20. If the limit is not reached N, the control is adapted 28 in accordance with the event that corresponds to the event counter that has reached a threshold, i.e. a number of acceleration or a number of decelerations that has reached a threshold. When the control has been adapted 28 accordingly, the algorithm is brought back to the initial step 20. According to some aspects, the control is adapted by means of look-up tables where a certain driver override behavior results (ACC) in a certain control in an Adaptive Cruise Control mode.
According to some aspects, the automatic time gap algorithm runs in an ACC mode.
Figure 4 schematically illustrates a control unit arrangement 3 according to aspects of the present disclosure. It is appreciated that the above described methods and techniques may be realized This hardware is in hardware. then arranged. to perforn1 the methods, whereby the same advantages and effects are obtained as have been discussed above.
Processing circuitry 35 is provided using any combination of one (CPU), (DSP), or more of a suitable central processing unit multiprocessor, microcontroller, digital signal processor etc., capable of executing software instructions stored in a computer program product, in the form of a storage medium e.g. 36. The processing circuitry 35 may further be provided as at least one application specific integrated circuit (ASIC), or field programmable gate array (FPGA).
Particularly, the processing circuitry 35 is configured to cause the control unit arrangement 3 to perform a set of operations, or steps, for example the methods described above. For example, 12 the storage medium 36 may store the set of operations, and the processing circuitry 35 may be configured to retrieve the set of operations from the storage medium 36 to cause the control unit arrangement 3 to perforn1 the set of operations. The set of operations may be provided as a set of executable instructions.
Thus, the processing circuitry 35 is thereby arranged to execute methods as herein. disclosedd According' to some aspects, the processing circuitry 35 is arranged to execute the automatic time gap algorithm according to the above.
The storage medünn 36 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.
The control unit arrangement 3 may further comprise a communication interface 37 for communication with at least one external device. As such. the communication. interface 37 may comprise one or more transmitters and. receivers, comprising analogue and digital components and a suitable number ports for wireline or wireless communication.
The processing circuitry 35 controls the general operation of the control unit arrangement 3, e.g. by sending data and control signals to the communication interface 37 and the storage medium 36, by receiving data and reports from the communication interface 37, and by retrieving data and instructions from the storage medium 36. Other components, as well as the related functionality, of the unit are omitted in order not to obscure the concepts presented herein.
Figure 5 schematically illustrates a computer program product 38 comprising a computer program 39 according to the disclosure 13 above, and a computer readable storage medium 40 on which the computer program 39 is stored.
The present disclosure is not limited to the examples described above, but may vary freely within the scope of the appended claims. For example, the control unit arrangement 3 is adapted control the ego vehicle velocity in any suitable manner as is well-known in the art. The control unit arrangement 3 may comprise one control unit or several control units that are integrated or separated.
According to some aspects, the control unit arrangement 3 is adapted to save different sets of stored driver behavior, where each stored driver behavior is linked to a certain driver. A certain driver can for example be identified when taking place in the ego vehicle l by means of a certain personal key or by of a camera. device that is means adapted. to perforn1 driver identification. When a driver has been identified, the control unit arrangement 3 is adapted to apply a corresponding stored driver behavior.
Claims (11)
1.l. A vehicle control system (2) comprising a control unit arrangement (3) and at least one sensor arrangement (4, 5) that (l), SGDSOI is arranged to be mounted in an ego vehicle where the sensor (4, 5) is information (6), is adapted to control an arrangement adapted to provide regarding at least one possible preceding target vehicle where the control unit arrangement (3) ego vehicle velocity (vl) and ego vehicle acceleration (al) in dependence of the sensor information, characterized in that the control unit arrangement (3) is adapted to store events where a driver overrides said control of ego vehicle velocity (vl) and ego vehicle acceleration (afl by' manually' braking or accelerating, and to control the ego vehicle velocity (vl) and ego vehicle acceleration (al) also in dependence of the stored events.
2. The vehicle control system (2) according to claim l, wherein, when the control unit arrangement (3) has determined (6), the control unit is adapted to control an ego vehicle velocity that there is no preceding target vehicle arrangement (3) (vl) and ego vehicle acceleration (al) such that an ego vehicle velocity (vl) is maintained, and when the control unit arrangement (3) vehicle (6) has determined that there is a preceding target present, the control unit arrangement (3) is adapted to control an ego vehicle velocity (vl) and ego vehicle acceleration (al) such that an ego distance (rl) and/or a time
3.(ATl) between the ego vehicle (l) and the preceding target gap vehicle (6) is obtained, where a time gap (ATl) is defined as the time for travelling the ego distance (rl) at the ego vehicle velocity (vfl. 3. The vehicle control system (2) according to any one of the claims l or 2, wherein the control unit arrangement (3) is adapted to increase a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity (vl) and ego vehicle acceleration (afl by manually accelerating exceeds a first threshold.
4. The vehicle control system (2) according to any one of the previous claims, wherein the control unit arrangement (3) is adapted to decrease a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity (vl) and ego vehicle acceleration (afl by manually braking exceeds a second threshold.
5. The vehicle control system (2) according to any one of the previous claims, wherein the control unit arrangement (3) is adapted to determine that there is a preceding target vehicle (6) present when an identified. vehicle is present within a certain distance from the sensor arrangement (4, 5).
6. A.method in a vehicle control system (2) that comprises a control unit arrangement (3) and at least one sensor arrangement (4, 5), the method comprising: providing (S100) sensor information regarding at least (6), an ego vehicle velocity one possible preceding target vehicle controlling (S200) hm) and ego vehicle acceleration (al) in dependence of the sensor information characterized in that the method further comprises (S400) storing events where za driver overrides said control of ego vehicle velocity (vl) and ego vehicle acceleration by manually braking or accelerating, and
7.(S500) (ai) controlling the ego vehicle velocity (vl) and ego vehicle acceleration (al) also in dependence of the stored events.7. The method according to claim 6, wherein the method comprises determining (S300) if there is a preceding target vehicle (6); and if that is the case (Y), the method comprises controlling (S310) an ego vehicle velocity (vl) and ego vehicle acceleration (al) such that an ego vehicle velocity (vfl is nmintained, and if that is not the case (N), the næthod comprises controlling (S320) an ego vehicle velocity (vl) and ego vehicle acceleration (al) such that an ego distance (rl) and/or a time gap (AT1) between the ego vehicle (1) and the preceding target vehicle (6) is obtained, where a time gap (AT1) is defined as the time for travelling the ego distance (rl) at the ego vehicle velocity (vfl.
8. The method according to any one of the claims 6 or 7, wherein the method comprises increasing (S600) a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity' (vl) and ego vehicle acceleration (ag by' manually accelerating exceeds a first threshold.
9. The næthod according to any one of the claims 6-8, wherein the method comprises decreasing (S700) a predefined acceleration when the number of stored events that relate to that a driver overrides said control of ego vehicle velocity' (vl) and ego vehicle acceleration (afl by manually braking exceeds a second threshold.
10. The method according to any one of the claims 6-9, wherein the method comprises determining that there is a preceding target vehicle (6) present when an identified vehicleis present within a certain distance from the sensor arrangement (4, 5) -
11.ll. A vehicle (l) comprising the vehicle control system (2) 5 according to any one of the claims l-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE2151291A SE2151291A1 (en) | 2021-10-22 | 2021-10-22 | A vehicle control system adapted for increased mimicking of human behavior |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE2151291A SE2151291A1 (en) | 2021-10-22 | 2021-10-22 | A vehicle control system adapted for increased mimicking of human behavior |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| SE2151291A1 true SE2151291A1 (en) | 2023-04-23 |
Family
ID=86381904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE2151291A SE2151291A1 (en) | 2021-10-22 | 2021-10-22 | A vehicle control system adapted for increased mimicking of human behavior |
Country Status (1)
| Country | Link |
|---|---|
| SE (1) | SE2151291A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629669A (en) * | 1993-05-21 | 1997-05-13 | Toyota Jidosha Kabushiki Kaisha | Running control apparatus for vehicles and alarm apparatus for vehicles |
| US20120025969A1 (en) * | 2009-04-07 | 2012-02-02 | Volvo Technology Corporation | Method and system to enhance traffic safety and efficiency for vehicles |
| WO2021018374A1 (en) * | 2019-07-29 | 2021-02-04 | Toyota Motor Europe | Adaptive cruise control method and system |
| US20210171038A1 (en) * | 2019-12-04 | 2021-06-10 | Hyundai Motor Company | Vehicle travel control system and control method therefor |
-
2021
- 2021-10-22 SE SE2151291A patent/SE2151291A1/en not_active Application Discontinuation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629669A (en) * | 1993-05-21 | 1997-05-13 | Toyota Jidosha Kabushiki Kaisha | Running control apparatus for vehicles and alarm apparatus for vehicles |
| US20120025969A1 (en) * | 2009-04-07 | 2012-02-02 | Volvo Technology Corporation | Method and system to enhance traffic safety and efficiency for vehicles |
| WO2021018374A1 (en) * | 2019-07-29 | 2021-02-04 | Toyota Motor Europe | Adaptive cruise control method and system |
| US20210171038A1 (en) * | 2019-12-04 | 2021-06-10 | Hyundai Motor Company | Vehicle travel control system and control method therefor |
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