WO2000009357A1 - Reglage de la distance entre vehicules et dispositif a cet effet - Google Patents

Reglage de la distance entre vehicules et dispositif a cet effet Download PDF

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Publication number
WO2000009357A1
WO2000009357A1 PCT/GB1999/002604 GB9902604W WO0009357A1 WO 2000009357 A1 WO2000009357 A1 WO 2000009357A1 GB 9902604 W GB9902604 W GB 9902604W WO 0009357 A1 WO0009357 A1 WO 0009357A1
Authority
WO
WIPO (PCT)
Prior art keywords
headway
controller
vehicle
responsive
driver
Prior art date
Application number
PCT/GB1999/002604
Other languages
English (en)
Inventor
Karen Gail Hall
Original Assignee
Lucas Industries Plc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lucas Industries Plc filed Critical Lucas Industries Plc
Publication of WO2000009357A1 publication Critical patent/WO2000009357A1/fr

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
    • B60W30/14—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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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

Definitions

  • the present invention relates to a method of and apparatus for controlling headway of a vehicle controlled by a progress management system.
  • a cruise controller represents an example of a progress management system.
  • the headway is the gap, which can be expressed in distance or time between the vehicle being controlled by the progress controller and a target vehicle ahead of the controlled vehicle.
  • EP 0612641 A describes an improved control system in which a radar detector is used to identify the distance to and relative speed of a vehicle, hereinafter the target vehicle, travelling in front of a controlled vehicle.
  • the cruise controller calculates a desired range to the target vehicle and uses this, in combination with the measured range, to calculate a range error.
  • the range error and relative speed difference are then combined in a weighted manner in order to derive an acceleration demand signal which is used to control both the throttle and brake systems.
  • the cruise controller will control the vehicle up to a set speed. However, if the vehicle under control approaches a slower vehicle from behind, the cruise control system will automatically decelerate the controlled vehicle in order to ensure that the controlled vehicle remains at a predetermined distance, the headway distance, behind the target vehicle without the need for driver intervention.
  • the desired range S is determined in accordance with the following function:
  • the headway setting circuit is controllable by the driver so as to select any time separation, and hence desired range, within predetermined limits.
  • the distance to a target vehicle impacts on how quickly the controlled vehicle can perform an overtaking manoeuvre.
  • the driver may seek to reduce the headway to its minimum value when he anticipates overtaking one or more vehicles, or when driving in a "sports" mode.
  • the driver may select a "normal” or “comfort” mode wherein the headway is increased compared to the sports mode.
  • the headway has a minimum value in order to ensure a margin of safety giving greater vehicle separation.
  • a headway controller for adjusting a desired headway on the vehicle controlled by a progress management system, wherein the headway is derived as a function of at least one measurement indicative of vehicle status or conditions external to the vehicle.
  • the headway is a function of the desired headway set by the driver, H set , and one or more other inputs indicative of vehicle and/or external conditions.
  • the headway controller is responsive to one or more vehicle systems.
  • a self test routine establishes that a fault exists in a safety related system which may degrade the vehicle's performance or that of the cruise controller, then the headway may be increased.
  • ABS anti-lock braking system
  • the vehicle's braking performance will be diminished and consequently the headway should be increased.
  • vehicle sensors detect that the brake fluid is low, or that excessive brake-wear is detected for one or more of the vehicle brakes, or a brake is detected as running hot, then the headway should be increased.
  • the headway control is also responsive to systems which monitor environmental conditions or which are typically controlled by the driver in response to adverse environmental conditions.
  • the headway controller is responsive to a rain sensor carried by the vehicle and or to a temperature sensor for ice detection. The occurrence of rain, ice or snow typically means that frictional contact with the surface over which the vehicle is travelling will be reduced and consequently the headway should be increased.
  • the headway controller may also be responsive to vehicle sensors or systems which can derive a measure of surface roughness.
  • vehicle sensors or systems which can derive a measure of surface roughness.
  • Such systems may include an engine knock detector (which needs to filter out speed variations due to surface roughness), sensors in a vehicle suspension system, a steering input sensor which may be responsive to vibrations transmitted back up the steering mechanism as a result of driving on an uneven surface, or by monitoring the error signal in a closed loop electronic steering system.
  • the headway controller may interface with a traction and/or stability controller which may hold an estimate of the coefficient of friction with the surface beneath the vehicle.
  • the system may be responsive to driver actuation of one or more vehicle subsystems, such as the windscreen wipers or the vehicle lights.
  • vehicle subsystems such as the windscreen wipers or the vehicle lights.
  • Use of the windscreen wipers is indicative of rain.
  • operation of the vehicle lights can be taken to be indicative of reduced visibility, either as a result of fog, rain or darkness, and in any event the headway should be increased in order to give the driver more time to respond to unexpected events.
  • Optical detectors may also be provided to detect fog and rain and, additionally, may also detect when the sun is at a low angle such that the driver may experience difficulty in seeing surrounding objects.
  • the headway controller is arranged to activate an alarm when the vehicle's proximity detector, e.g. radar, provided as part of the cruise controller, detects the presence of a slow moving or stationary object ahead of the vehicle or another vehicle to close.
  • the alarm function may be enabled only when the headway exceeds a predetermined threshold.
  • the alarm may be audible, visual or both.
  • the headway controller may, optionally, be responsive to the time of day, thus, the headway may be slightly increased at those times when accidents are statistically more likely to happen as a result of driver fatigue.
  • the headway controller may also be responsive to signals monitoring the vehicle suspension which may indicate that the vehicle is heavily loaded, or badly loaded, and as a result the braking distance can be expected to increase. Similarly, the headway controller may also monitor connections, either continuously or before initiation, to a vehicle trailer socket in order to determine whether or not the vehicle is towing an item, and if so, to increase the headway to allow an improved margin of safety.
  • the headway controller may also be responsive to transmitted data representative of roadside events, such as details of traffic queues, accidents, roadworks and the like.
  • the headway controller may also be responsive to an onboard vehicle location and map system which may perform a look-ahead in order to determine expected road conditions.
  • an onboard vehicle location and map system which may perform a look-ahead in order to determine expected road conditions.
  • a method of controlling the desired distance between a controlled vehicle and a target vehicle comprising the steps of deriving data from one or more sensors indicative of vehicle status or environmental conditions, and calculating a desired headway as a function of the data derived from the sensors.
  • a computer program product for causing a data processor to implement the method according to the second aspect of the present invention.
  • Figure 1 schematically illustrates a cruise controller
  • Figure 2 schematically illustrates the interconnection between a vehicle headway controller and a plurality of onboard vehicle subsystems.
  • Figure 1 schematically illustrates the interconnection between various vehicle systems for a vehicle generally indicated 1 equipped with an adaptive cruise controller, ACC, based on that described in EP 0612641 A, which is incorporated herein by reference.
  • a radar sensor provides data representing the speed and distance to one or more target vehicles.
  • the cruise controller uses this information to derive an acceleration signal and a deceleration signal for controlling the engine and brakes of the vehicle.
  • a headway controller 2 provides a headway signal to a cruise control 4.
  • the headway control 2 is responsive to a driver actuated headway set control 6 which enables the driver to adjust the headway between first and second limits, typically representing inter-vehicle delays equivalent to 0.8 to 4 seconds.
  • the headway control 2 is also responsive to a status signal issued by a vehicle anti-lock brake system 8 which confirms that the anti-lock brake system 8 is functioning correctly, an estimate of road friction as derived from an engine management unit/traction controller 10, a radio receiver 12 which can receive traffic bulletins giving details of road works or queues, a vehicle speed sensor 14, and automatic rain detector 16, and the vehicle light system 18, which includes sensors for sidelights, headlights, and fog lights and outside air temperature sensor 20. Based on this information, the headway control 2 calculates the desired headway in accordance with the strategy described herein below and outputs this signal to the cruise controller 4.
  • the actual headway, H ac t controlled by the system is a function of the driver selection and the input from other appropriate vehicle systems.
  • the headway can be generated by the formula:
  • H S ei is the headway selected by the driver, and i ⁇ ..i n are the n inputs from vehicle subsystems from external sources.
  • one input may be from a rain sensor.
  • the value derived from this input will be zero.
  • the value may be in the order of 0.2 to 0.5 seconds, whereas in heavy rain the value is likely to tend towards the maximum headway setting of the cruise control systems.
  • the exact values produced are a matter of design preference for a particular vehicle and are chosen with reference to such parameters such as its braking ability and stability control.
  • Another input (i 2 ) to the headway controller is the lamp status, i.e. on, sidelights only, dipped beam, full beam or fog lights on.
  • the fog lights will only be actuated when the driving conditions are foggy.
  • poor visibility can be inferred from the status of the fog light and used to provide an increased headway.
  • This has the ancillary benefit in training drivers to switch their fog lights off when they are not required in order to reduce the headway.
  • an input indicating fog lights are in use results in the headway calculation approaching the maximum headway value.
  • An indication that sidelights are on would, however, only give rise to a small or even zero increase in the calculated headway distance.
  • a simple system which takes inputs only from a rain sensor and a lamp status indicator could operate with a range of headways from H min to H max , where H m j n is the minimum headway that the driver can select and H max is the maximum headway that the cruise control system can reliably tolerate whilst locking on to target vehicles.
  • H m j n is the minimum headway that the driver can select
  • H max is the maximum headway that the cruise control system can reliably tolerate whilst locking on to target vehicles.
  • the actual headway may be calculated by
  • Hact max ((H S et + f ⁇ lamps) + ⁇ rain)), H max ) where:
  • f(iram) is the contribution from the rain sensor
  • f ⁇ iamps is the contribution from the lamp circuit
  • the range of values taken by f iamps could be in the range from zero to 3.5 seconds
  • the range of headway's which could be selected could range from 0.8 to 4.0 seconds and the maximum headway which the system could support could be 5.0 seconds.
  • the range of values which could be derived ranges from 0.8 to 5.0 seconds.
  • correlation between various inputs could be used to provide a more appropriate headway control, since, in heavy rain lamps are frequently used. Thus if the head lamps are in a dipped mode and the windscreen wipers are
  • H ac max ((H sct + f ⁇ lamps, irain)), H ma ⁇ )
  • Additional factors can be included in the headway calculation in a similar way.
  • Hact max(((f(iiamps) + f(ira,n))*H se t), H ma ⁇ )
  • the system need not only be responsive to vehicle sensors, such as an ABS fault monitor, a rain sensor or a light sensor, but may also be responsive to external factors such as data transmitted by roadside beacons or radio stations to indicate that queues or slow moving traffic exist on a particular road. This data may then be compared with an onboard vehicle position determining system, if fitted, to be used to check if the vehicle is travelling on the affected road. If this is the case, an additional headway safety factor can be produced in order to ensure that the vehicle can respond safely to the requirement to slow or stop suddenly and/or that an appropriate warning can be issued to the driver.
  • vehicle sensors such as an ABS fault monitor, a rain sensor or a light sensor
  • external factors such as data transmitted by roadside beacons or radio stations to indicate that queues or slow moving traffic exist on a particular road. This data may then be compared with an onboard vehicle position determining system, if fitted, to be used to check if the vehicle is travelling on the affected road. If this is the case, an additional headway safety factor can be produced in order

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

La présente invention concerne un régulateur (2) de distance entre véhicules, et notamment par rapport au véhicule précédent, dans le cas d'un régulateur de vitesse (4). Cette régulation intervient en réaction à des données caractéristiques de l'état système d'un véhicule, notamment l'état système des freins, ou les conditions atmosphériques, et notamment le verglas, auquel cas, il est prudent d'augmenter la distance avec le véhicule précédent.
PCT/GB1999/002604 1998-08-12 1999-08-09 Reglage de la distance entre vehicules et dispositif a cet effet WO2000009357A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9817579.7A GB9817579D0 (en) 1998-08-12 1998-08-12 Method of and apparatus for controlling headway
GB9817579.7 1998-08-12

Publications (1)

Publication Number Publication Date
WO2000009357A1 true WO2000009357A1 (fr) 2000-02-24

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PCT/GB1999/002604 WO2000009357A1 (fr) 1998-08-12 1999-08-09 Reglage de la distance entre vehicules et dispositif a cet effet

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WO (1) WO2000009357A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1308339A2 (fr) * 2001-11-05 2003-05-07 General Motors Corporation Système de commande de vitesse adaptatif
EP1110794A3 (fr) * 1999-12-22 2004-01-28 Visteon Global Technologies, Inc. Régulateur de vitesse avec régulation de la distance entre deux véhicules, à base du coefficient de frottement routier
WO2005063521A1 (fr) * 2003-12-20 2005-07-14 Daimlerchrysler Ag Dispositif d'assistance a la conduite, vehicule et procede pour la regulation de la vitesse de marche d'un vehicule
WO2018178052A1 (fr) * 2017-03-31 2018-10-04 Connaught Electronics Ltd. Commande de distance pour un véhicule avec remorque
WO2020009690A1 (fr) 2018-07-02 2020-01-09 Josef Lotz Système de verrouillage de régulateur de vitesse

Citations (10)

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Publication number Priority date Publication date Assignee Title
JPS6116137A (ja) * 1984-07-02 1986-01-24 Nissan Motor Co Ltd 車両用走行制御装置
DE3502568A1 (de) * 1985-01-26 1986-07-31 Bayerische Motoren Werke AG, 8000 München Verfahren zur leistungsregelung des motors eines kraftfahrzeuges und elektronische motorleistungs-regeleinrichtung
EP0387874A2 (fr) * 1989-03-17 1990-09-19 Toyota Jidosha Kabushiki Kaisha Dispositif de régulation pour traction d'un véhicule
EP0441522A2 (fr) * 1990-02-09 1991-08-14 Hitachi, Ltd. Appareil de commande pour automobile
EP0612641A1 (fr) 1993-02-20 1994-08-31 Lucas Industries Public Limited Company Méthode et dispositif pour contrôler la vitesse de croisière
DE4417593A1 (de) * 1993-05-19 1994-11-24 Mazda Motor Vorrichtung zur Geschwindigkeitsregelung für Fahrzeuge
US5454442A (en) * 1993-11-01 1995-10-03 General Motors Corporation Adaptive cruise control
US5594645A (en) * 1993-05-19 1997-01-14 Mazda Motor Corporation Cruise controller for vehicles
WO1997006997A1 (fr) * 1995-08-17 1997-02-27 Robert Bosch Gmbh Detecteur de distance de visibilite et de presence de pluie
DE19638511A1 (de) * 1996-09-20 1998-03-26 Porsche Ag Längsregelsystem für Kraftfahrzeuge mit Einbindung von Informationen zum Straßenverlauf

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6116137A (ja) * 1984-07-02 1986-01-24 Nissan Motor Co Ltd 車両用走行制御装置
DE3502568A1 (de) * 1985-01-26 1986-07-31 Bayerische Motoren Werke AG, 8000 München Verfahren zur leistungsregelung des motors eines kraftfahrzeuges und elektronische motorleistungs-regeleinrichtung
EP0387874A2 (fr) * 1989-03-17 1990-09-19 Toyota Jidosha Kabushiki Kaisha Dispositif de régulation pour traction d'un véhicule
EP0441522A2 (fr) * 1990-02-09 1991-08-14 Hitachi, Ltd. Appareil de commande pour automobile
EP0612641A1 (fr) 1993-02-20 1994-08-31 Lucas Industries Public Limited Company Méthode et dispositif pour contrôler la vitesse de croisière
DE4417593A1 (de) * 1993-05-19 1994-11-24 Mazda Motor Vorrichtung zur Geschwindigkeitsregelung für Fahrzeuge
US5594645A (en) * 1993-05-19 1997-01-14 Mazda Motor Corporation Cruise controller for vehicles
US5454442A (en) * 1993-11-01 1995-10-03 General Motors Corporation Adaptive cruise control
WO1997006997A1 (fr) * 1995-08-17 1997-02-27 Robert Bosch Gmbh Detecteur de distance de visibilite et de presence de pluie
DE19638511A1 (de) * 1996-09-20 1998-03-26 Porsche Ag Längsregelsystem für Kraftfahrzeuge mit Einbindung von Informationen zum Straßenverlauf

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Title
GRAEFE V: "ECHTZEIT-BILDVERARBEITUNG FUR EIN FAHRER-UNTERSTUTZUNGSSYSTEM ZUM ENSATZ AUF AUTOBAHNEN", IT + TI INFORMATIONSTECHNIK UND TECHNISCHE INFORMATIK, vol. 36, no. 1, 1 February 1994 (1994-02-01), pages 16 - 24, XP000435494, ISSN: 0944-2774 *
PATENT ABSTRACTS OF JAPAN vol. 010, no. 163 (M - 487) 11 June 1986 (1986-06-11) *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1110794A3 (fr) * 1999-12-22 2004-01-28 Visteon Global Technologies, Inc. Régulateur de vitesse avec régulation de la distance entre deux véhicules, à base du coefficient de frottement routier
EP1308339A2 (fr) * 2001-11-05 2003-05-07 General Motors Corporation Système de commande de vitesse adaptatif
EP1308339A3 (fr) * 2001-11-05 2005-11-23 General Motors Corporation Système de commande de vitesse adaptatif
WO2005063521A1 (fr) * 2003-12-20 2005-07-14 Daimlerchrysler Ag Dispositif d'assistance a la conduite, vehicule et procede pour la regulation de la vitesse de marche d'un vehicule
WO2018178052A1 (fr) * 2017-03-31 2018-10-04 Connaught Electronics Ltd. Commande de distance pour un véhicule avec remorque
US11370429B2 (en) 2017-03-31 2022-06-28 Connaught Electronics Ltd. Distance control for a vehicle with trailer
WO2020009690A1 (fr) 2018-07-02 2020-01-09 Josef Lotz Système de verrouillage de régulateur de vitesse
EP3817959A4 (fr) * 2018-07-02 2022-08-03 Paccar Inc Système de verrouillage de régulateur de vitesse

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