WO2005014370A1 - Procede pour eviter l'entree en collision d'un vehicule - Google Patents

Procede pour eviter l'entree en collision d'un vehicule Download PDF

Info

Publication number
WO2005014370A1
WO2005014370A1 PCT/EP2004/008571 EP2004008571W WO2005014370A1 WO 2005014370 A1 WO2005014370 A1 WO 2005014370A1 EP 2004008571 W EP2004008571 W EP 2004008571W WO 2005014370 A1 WO2005014370 A1 WO 2005014370A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
objects
stored
collision
surroundings
Prior art date
Application number
PCT/EP2004/008571
Other languages
German (de)
English (en)
Inventor
Alexander Schanz
Andreas Spieker
Original Assignee
Daimlerchrysler Ag
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 Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2005014370A1 publication Critical patent/WO2005014370A1/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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—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
    • 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

Definitions

  • the invention relates to a method for preventing damage to a vehicle due to a collision, in which the surroundings of the vehicle are detected, the current distances to other objects are determined, and a collision is avoided by means of automatically suitable braking and / or automatically suitable interventions in the steering the driver is warned of a collision.
  • an automatic parking device for motor vehicles which has motion sensors for measuring the movement distance of the car, obstacle sensors for determining the position of the obstacles around a car and a microcomputer which, in accordance with the instructions of the Driver and the data obtained from the aforementioned motion sensors and obstacle sensors generates numerous signals to instruct the driver to advance, stop, turn left or right or reset to park the car along a specific path. Furthermore, the microcomputer can generate an output signal to control the control mechanism, the gear shift, the accelerator and the braking system in order to automatically park the car.
  • DE 198 09 416 AI describes a method for assisted parking of a motor vehicle and an apparatus for performing the method.
  • a downstream processing device uses the distance data to determine the size of a potential parking space and, if appropriate, the type of its surroundings, and a possible strategy for parking the motor vehicle in the potential parking space.
  • the strategy determined is output to the driver by means of a display device.
  • the object of the present invention is to provide a method for preventing damage to a vehicle due to a collision, with which collisions with stationary or slowly moving obstacles can be reliably avoided.
  • This object is achieved according to the invention by a method of the type mentioned at the outset, in which information about the detected environment is stored, the position of the vehicle is detected and the distance to objects detected in the past is determined.
  • This measure makes it possible to also look at the surroundings of the vehicle in the past in order to avoid future collisions. In this way, a model of the surroundings of the vehicle can be created.
  • distances to objects can be determined or calculated that are currently not seen or detected by the vehicle's sensor system. Because the position of the vehicle is recorded and the recorded environment is saved, a local coordinate system can be set up in which the other objects are stored and a correlation to the other objects can be created.
  • the position of the vehicle can be determined globally and / or relative to the detected objects.
  • the method according to the invention avoids damage to the vehicle or to objects (obstacles) which can occur on these objects by driving onto these objects or scarring along them. Interventions in the steering and / or in the service or parking brake are provided for this purpose. Depending on the environment-sensing sensors used, moving and non-moving other objects can be recorded and stored. The sensor data can be evaluated and / or processed before or after storage.
  • the method according to the invention is therefore not limited to a parking aid, but is suitable for avoiding collisions in flowing, in particular in slowly flowing, traffic.
  • the movement of the vehicle and / or the other objects is recorded.
  • the position or movement of the vehicle and the external objects can be determined, for example, by a laser scanner, by ultrasound sensors, by radar, by cameras with downstream image processing, by wheel speed sensors, yaw rate sensors, global positioning system (GPS), optical systems for determining transverse speed (correvit) as well as longitudinal and transverse sensors, the one Determine the longitudinal and transverse movement of objects or the vehicle.
  • GPS global positioning system
  • a representation of the surroundings of the vehicle is created in which information about the position and the movement behavior of the vehicle and the other objects is stored or displayed.
  • a representation can be, for example, a local map in the vicinity of the vehicle. This map shows the position of the vehicle and the position of objects or obstacles that are currently and in the past recognized. In particular, the position, the own movement behavior, the positions and the movement behavior of the recognized objects are related to each other in the map.
  • the use of such a card is particularly suitable for taking into account moving other objects in collision monitoring. Possible collisions with a recently detected moving object can be identified and avoided.
  • it is possible to classify the other objects that is to say in particular to indicate whether the object is a wall, a car, a pedestrian or the like.
  • the different objects can be displayed differently on the map.
  • the movement behavior of the objects can be determined, for example, by tracking or by Cayman filtering, i.e. an estimate of several measurement data and a mathematical model.
  • Cayman filtering i.e. an estimate of several measurement data and a mathematical model.
  • the stored environment or the stored information about the environment and / or the display is updated and managed becomes.
  • the stored data or the representation (map) are kept up to date and a collision can be reliably avoided.
  • the minimum distances at which a collision can be avoided by braking and / or avoiding are advantageously determined.
  • the minimum distances can depend on the vehicle speed or on the relative speed to the other objects. Therefore, the minimum distances can change and it is advantageous not to choose a predetermined minimum distance but to adapt the minimum distances to the respective situation. Different minimum distances can apply to different points of the vehicle, in particular for different distance sensors. If a vehicle travels in one direction, for example, then the minimum distances in the direction of travel may be larger than perpendicular to the direction of travel. In particular, in the case of slow-moving traffic, a greater safety distance must be maintained from a vehicle traveling ahead in the same lane than from the side of a parked vehicle.
  • the driver is visually and / or acoustically and / or haptically warned of a collision.
  • the driver is made aware of a possible collision by vibration of the steering wheel and / or the pedals.
  • the driving seat is set in motion.
  • the driver can be made aware of a dangerous situation by briefly abruptly braking the vehicle.
  • a system for preventing damage to a vehicle comprising a sensor system for detecting the surroundings of the vehicle, actuating means for automatic braking and / or steering to avoid collisions with other objects and / or a warning device, and a control unit for Determination of the distance of the vehicle to objects in the vicinity of the vehicle from the signals from the sensors and for the generation of signals for automatic braking and / or steering and / or warning to avoid collisions, a position detection device for detecting the position of the vehicle , a storage device for storing the environmental data recorded by the sensor system and means for determining the distance from stored objects are provided.
  • collisions are not only avoidable when parking, but collisions can be avoided especially in slow-moving traffic, in particular in traffic jams or in slow-moving traffic.
  • the means for determining the distance to stored objects can be arranged in the control unit.
  • a movement detection device can be provided. With such a movement detection device, both the movement of the vehicle and the other objects can be detected. A relative movement of the vehicle to the other objects can in turn be determined from the detected movements.
  • the sensor system advantageously includes distance sensors. By repetitive distance measurement between the vehicle and an object, taking into account the position or change in position of the vehicle, it can be determined whether the other object is moving or stationary, the relative Movement of the vehicle to the object can be determined and a prediction can be made for a direction of movement of the object in the future.
  • the driver can be shown a realistic image of the surroundings of the vehicle.
  • Figure 1 is a schematic representation to illustrate the inventive method and the inventive system.
  • Fig. 2 is a schematic block diagram of a system for collision avoidance.
  • FIG. 1 shows a plan view of a roadway 1, which is delimited by a roadway boundary 2.
  • Vehicles 3, 4 are parked along the lane boundary 2. You are therefore at a standstill.
  • a vehicle 5 in which the collision avoidance system according to the invention is implemented runs parallel to vehicles 3, 4 in the direction of arrow 6.
  • a vehicle 7 is traveling in the same lane and immediately behind it Vehicle 5 drives vehicle 8.
  • vehicles 9, 10 drive in the same direction at a higher speed than vehicle 5.
  • Distance sensors 11-16 are provided on vehicle 5, which detect the surroundings in the vicinity of vehicle 5.
  • the vehicles 3, 4, 7, 9, 10 are detected in the direction of the arrows 6, 17-20 and the current distance to the vehicles 3, 4, 7, 9, 10 is determined.
  • the absolute and relative speeds of vehicles 3, 4, 7, 9, 10 can be determined.
  • a model of the surroundings of the vehicle 5 can be determined for the area 21 with the currently determined and stored data.
  • a type of map can be generated that can also be visualized for the driver of vehicle 5.
  • the vehicle 8 is no longer detected by the distance sensors 13, 14. However, since it was recorded before the vehicle 5 accelerated, this information is still available to the system, so that the area 21 also contains objects such as the vehicle 8 that can be taken into account in collision monitoring, although it is not currently detected become.
  • the driver of the vehicle 5 may intend to steer onto the lane in front of the vehicle 4. It is conceivable that at the moment of the intended lane change, the vehicle 4 is not being detected by the distance sensors 11, 12, 13, but a lane change would lead to a collision with the vehicle 4. Since the position of the vehicle 4 was recorded and stored in the past, the system determines from this data and the movement of the vehicle 5 since then or current position that a collision is to be feared and warns the driver or automatically performs a braking and / or steering intervention in order to prevent the collision.
  • the system can determine the distance to the vehicle 5 in such a way that there is no collision when the vehicle 10 cuts in.
  • a predictive driving style can therefore be simulated by the system.
  • the system 30 comprises a control unit 31, which is connected to a sensor system 32.
  • the sensor system 32 comprises a plurality of distance sensors 33 and cameras 34.
  • the data from the sensor system 32 are fed to the control unit 31, where the data are processed, evaluated and stored.
  • Means for recognizing and classifying objects are provided in the control unit 31.
  • the means are in particular an image processing unit which determines the objects from the camera images and classifies them, for example into moving or stationary objects, houses, vehicles or pedestrians.
  • the control unit 31 is assigned a memory 35 in which the environmental data determined by the sensor system 32 are stored.
  • the control unit 31 also receives data from a position detection device 36 and a movement detection device 37, for example, a wheel speed sensor. An impending collision with another object can be determined from this data. If an impending collision is detected, the control unit 31 controls actuating means 38, 39 designed as motors in order to influence the steering and / or brake of the vehicle in such a way that that a collision is avoided.
  • the recorded and stored data can also be used to generate an image of the surroundings, in particular a map of the surroundings of the vehicle, which can be displayed to the driver via a display unit 40.
  • the invention relates to a method for collision avoidance of a vehicle (5) with other objects, in which the surroundings of the vehicle (5) are continuously detected, the distance to other objects is determined and stored, and from the detected position of the vehicle and the current and stored ones An upcoming collision is determined by environmental data and is prevented by appropriate interventions in the brake and / or steering.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour éviter l'entrée en collision d'un véhicule (5) avec d'autres objets. Selon ce procédé, l'environnement du véhicule (5) est surveillé en permanence, la distance séparant le véhicule d'autres objets est déterminée et mémorisée, et à partir de la position détectée du véhicule et des données d'environnement du moment mémorisées, une collision imminente est déterminée et empêchée par une intervention correspondante au niveau du sytème de freinage et/ou de la direction.
PCT/EP2004/008571 2003-08-12 2004-07-30 Procede pour eviter l'entree en collision d'un vehicule WO2005014370A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10336986.4 2003-08-12
DE10336986A DE10336986A1 (de) 2003-08-12 2003-08-12 Verfahren zum Vermeiden von Kollisionen eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2005014370A1 true WO2005014370A1 (fr) 2005-02-17

Family

ID=34129547

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/008571 WO2005014370A1 (fr) 2003-08-12 2004-07-30 Procede pour eviter l'entree en collision d'un vehicule

Country Status (2)

Country Link
DE (1) DE10336986A1 (fr)
WO (1) WO2005014370A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006050879A1 (fr) * 2004-11-12 2006-05-18 Daimlerchrysler Ag Procede pour faire fonctionner un vehicule equipe d'un systeme anticollision et dispositif permettant de mettre en oeuvre ce procede
WO2006092431A1 (fr) * 2005-03-03 2006-09-08 Continental Teves Ag & Co. Ohg Procede et dispositif d'evitement d'une collision lors d'un changement de voie d'un vehicule
WO2006125560A1 (fr) * 2005-05-24 2006-11-30 Daimlerchrysler Ag Procede et dispositif pour eviter une collision entre une automobile et un objet
WO2007031580A1 (fr) * 2005-09-15 2007-03-22 Continental Teves Ag & Co. Ohg Procede et dispositif permettant de predire une trajectoire de mouvement
EP1839961A1 (fr) * 2006-03-31 2007-10-03 IEE INTERNATIONAL ELECTRONICS & ENGINEERING S.A. Système de protection des piétons
WO2007145564A1 (fr) * 2006-06-11 2007-12-21 Volvo Technology Corporation Procédé et appareil permettant d'utiliser un système automatisé de maintien de voie afin de maintenir un espacement latéral de véhicule
WO2009121427A1 (fr) * 2008-04-02 2009-10-08 Robert Bosch Gmbh Procédé et dispositif d'assistance au conducteur
FR3032675A1 (fr) * 2015-02-12 2016-08-19 Bosch Gmbh Robert Procede et dispositif pour reduire le risque de collision entre deux vehicules circulant dans un parc de stationnement

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005016086A1 (de) * 2005-04-08 2006-10-12 GM Global Technology Operations, Inc., Detroit Aktives Sicherheitssystem für ein Kraftfahrzeug mit einer eine Überlagerungslenkung oder ein ?steer by wire? System aufweisenden Fahrzeuglenkung
DE102006002662A1 (de) * 2006-01-19 2007-08-02 GM Global Technology Operations, Inc., Detroit Sicherheitseinrichtung für ein Fahrzeug und Verfahren zum Betrieb einer Sicherheitseinrichtung
DE102007022589A1 (de) 2007-05-14 2008-11-27 Robert Bosch Gmbh Vorausschauende Sicherheitsvorrichtung für Fahrzeuge
DE102007038973A1 (de) 2007-08-17 2009-02-19 GM Global Technology Operations, Inc., Detroit Kraftfahrzeug mit einem Umgebungssensor
DE102008012644A1 (de) * 2008-03-05 2009-09-10 Robert Bosch Gmbh Längsführungsassistent mit Seitenassistenzfunktion für Kraftfahrzeuge
DE102009013564A1 (de) 2009-03-17 2009-11-19 Daimler Ag Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung für ein Fahrzeug
DE102009025607A1 (de) 2009-03-17 2010-02-11 Daimler Ag Verfahren und Vorrichtung zur Vermeidung von Heckkollisionen
US8509982B2 (en) 2010-10-05 2013-08-13 Google Inc. Zone driving
DE102010050573A1 (de) * 2010-11-05 2012-05-10 Valeo Schalter Und Sensoren Gmbh Verfahren zum Vermeiden von seitlichen Kollisionen eines Kraftfahrzeugs mit fahrzeugexternen Hindernissen, Fahrerassistenzsystem und Kraftfahrzeug
DE112012001092A5 (de) * 2011-03-04 2014-06-18 Continental Teves Ag & Co. Ohg Begrenzung der Aktivierung eines Ausweichassistenten
WO2012119596A1 (fr) * 2011-03-04 2012-09-13 Continental Teves Ag & Co. Ohg Procédé de présentation prédictive d'une manoeuvre d'évitement
DE102011086858A1 (de) * 2011-11-22 2013-05-23 Robert Bosch Gmbh Fahrassistenzsystem
DE102011087781A1 (de) * 2011-12-06 2013-06-06 Robert Bosch Gmbh Verfahren und System zur Verminderung von Unfallschäden bei einer Kollision zwischen zwei Fahrzeugen
DE102012211509A1 (de) * 2012-07-03 2014-01-09 Robert Bosch Gmbh Verfahren zur Kollisionsvermeidung oder zur Verminderung von Unfallschäden und Fahrerassistenzsystem
DE102013001228A1 (de) 2013-01-25 2014-07-31 Wabco Gmbh Verfahren zum Ermitteln eines Auslösekriteriums für eine Bremsung und Notbremssystem für ein Fahrzeug
DE102013001229A1 (de) 2013-01-25 2014-07-31 Wabco Gmbh Verfahren zum Ermitteln eines Auslöekriteriums für eine Bremsung und ein Notbremssystem zur Durchführung des Verfahrens
US9437111B2 (en) 2014-05-30 2016-09-06 Ford Global Technologies, Llc Boundary detection system
US9321461B1 (en) 2014-08-29 2016-04-26 Google Inc. Change detection using curve alignment
US9248834B1 (en) 2014-10-02 2016-02-02 Google Inc. Predicting trajectories of objects based on contextual information

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4465155A (en) * 1981-06-17 1984-08-14 Collins Marshall S Automated operatorless vehicles
US4630109A (en) * 1985-02-28 1986-12-16 Standard Telephones & Cables Public Limited Company Vehicle tracking system
DE3813083A1 (de) 1988-04-19 1989-11-02 Ind Tech Res Inst Automatische einparkeinrichtung fuer kraftfahrzeuge
EP0582236A1 (fr) * 1992-08-04 1994-02-09 Takata Corporation Système de commande à réseau neuronal pour prévoir et éviter les collisions pour un véhicule
US5710565A (en) * 1995-04-06 1998-01-20 Nippondenso Co., Ltd. System for controlling distance to a vehicle traveling ahead based on an adjustable probability distribution
US5913375A (en) * 1995-08-31 1999-06-22 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering force correction system
DE19809416A1 (de) 1998-03-05 1999-09-09 Volkswagen Ag Einparkassistent
US6038500A (en) * 1997-03-12 2000-03-14 Deere & Company Computer/bus message system for vehicle drive control system
US20010018641A1 (en) * 1998-08-20 2001-08-30 Honda Giken Kogyo Kabushiki Kaisha Safety running system for vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4465155A (en) * 1981-06-17 1984-08-14 Collins Marshall S Automated operatorless vehicles
US4630109A (en) * 1985-02-28 1986-12-16 Standard Telephones & Cables Public Limited Company Vehicle tracking system
DE3813083A1 (de) 1988-04-19 1989-11-02 Ind Tech Res Inst Automatische einparkeinrichtung fuer kraftfahrzeuge
EP0582236A1 (fr) * 1992-08-04 1994-02-09 Takata Corporation Système de commande à réseau neuronal pour prévoir et éviter les collisions pour un véhicule
US5710565A (en) * 1995-04-06 1998-01-20 Nippondenso Co., Ltd. System for controlling distance to a vehicle traveling ahead based on an adjustable probability distribution
US5913375A (en) * 1995-08-31 1999-06-22 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering force correction system
US6038500A (en) * 1997-03-12 2000-03-14 Deere & Company Computer/bus message system for vehicle drive control system
DE19809416A1 (de) 1998-03-05 1999-09-09 Volkswagen Ag Einparkassistent
US20010018641A1 (en) * 1998-08-20 2001-08-30 Honda Giken Kogyo Kabushiki Kaisha Safety running system for vehicle

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006050879A1 (fr) * 2004-11-12 2006-05-18 Daimlerchrysler Ag Procede pour faire fonctionner un vehicule equipe d'un systeme anticollision et dispositif permettant de mettre en oeuvre ce procede
WO2006092431A1 (fr) * 2005-03-03 2006-09-08 Continental Teves Ag & Co. Ohg Procede et dispositif d'evitement d'une collision lors d'un changement de voie d'un vehicule
US7893819B2 (en) 2005-03-03 2011-02-22 Continetntal Teves AG & Co, oHG Method and device for avoiding a collision in a lane change maneuver of a vehicle
WO2006125560A1 (fr) * 2005-05-24 2006-11-30 Daimlerchrysler Ag Procede et dispositif pour eviter une collision entre une automobile et un objet
WO2007031580A1 (fr) * 2005-09-15 2007-03-22 Continental Teves Ag & Co. Ohg Procede et dispositif permettant de predire une trajectoire de mouvement
US8340883B2 (en) 2005-09-15 2012-12-25 Continental Teves Ag & Co. Ohg Method and apparatus for predicting a movement trajectory
EP1839961A1 (fr) * 2006-03-31 2007-10-03 IEE INTERNATIONAL ELECTRONICS & ENGINEERING S.A. Système de protection des piétons
WO2007145564A1 (fr) * 2006-06-11 2007-12-21 Volvo Technology Corporation Procédé et appareil permettant d'utiliser un système automatisé de maintien de voie afin de maintenir un espacement latéral de véhicule
US8170788B2 (en) 2006-06-11 2012-05-01 Volvo Technology Corporation Method and apparatus for using an automated lane keeping system to maintain lateral vehicle spacing
WO2009121427A1 (fr) * 2008-04-02 2009-10-08 Robert Bosch Gmbh Procédé et dispositif d'assistance au conducteur
CN101983153B (zh) * 2008-04-02 2014-10-22 罗伯特·博世有限公司 用于驾驶员辅助的方法和设备
FR3032675A1 (fr) * 2015-02-12 2016-08-19 Bosch Gmbh Robert Procede et dispositif pour reduire le risque de collision entre deux vehicules circulant dans un parc de stationnement

Also Published As

Publication number Publication date
DE10336986A1 (de) 2005-03-17

Similar Documents

Publication Publication Date Title
WO2005014370A1 (fr) Procede pour eviter l'entree en collision d'un vehicule
DE102009006336B4 (de) Verfahren zur Überwachung eine Einparkvorgangs
EP2583263B1 (fr) Procédé pour fusionner un système de reconnaissance d'un panneau de signalisation et un système de reconnaissance de voie d'un véhicule automobile
EP2455250B1 (fr) Procédé pour détecter l'environnement d'un véhicule
EP2646304B1 (fr) Dispositif d'aide à la conduite pour un conducteur de véhicule automobile
EP2464992B1 (fr) Collision surpervision pour véhicule
DE102015200342A1 (de) Vorrichtung und computerprogramm zum steuern eines ein zielfahrzeug nachverfolgenden fahrzeugs
WO2006125560A1 (fr) Procede et dispositif pour eviter une collision entre une automobile et un objet
DE102008036009A1 (de) Verfahren zum Kollisionsschutz eines Kraftfahrzeugs und Parkhausassistent
DE102014217565A1 (de) Kollisionswarnung für ein fahrergesteuertes fahrzeug
DE10244205A1 (de) Verfahren und Einrichtung zur Verhinderung der Kollision von Fahrzeugen
DE102016223579A1 (de) Verfahren zum Ermitteln von Daten einer Verkehrssituation
DE102017003751B4 (de) Fahrassistenzvorrichtung
EP2504827A1 (fr) Procédé d'avertissement concernant l'existence d'un objet dans l'environnement d'un véhicule et système d'aide à la conduite
WO2005009787A1 (fr) Procede et dispositif pour determiner la position et/ou la position anticipee d'un vehicule pendant une operation de stationnement en relation avec la voie de circulation opposee d'une route a voies multiples
EP1724175B1 (fr) Procédé et dispositif d'assistance au conducteur
DE102006050214A1 (de) Verfahren zum Unterstützen eines Fahrers beim Fahren mit einem Fahrzeug
DE102011104740A1 (de) Verfahren und Vorrichtung zur Totwinkelüberwachung für ein Fahrzeug
DE102012007127A1 (de) Verfahren zum Bestimmen einer Bewegungsbahn für ein Fahrzeug
DE102010003375B4 (de) Umfeldbewertungssystem in einem Fahrzeug mit Sensormitteln zur Erfassung von Objekten im Umfeld des Fahrzeuges
DE102016203727A1 (de) Verfahren zum Vermeiden eines Auffahrunfalls zwischen einem ersten Fahrzeug und einem zweiten Fahrzeug und Steuergerät
DE102006060456A1 (de) Verfahren und System zum Lenken eines Fahrzeugs in eine Parklücke
DE102012222855A1 (de) Qualitätsindex abhängige Steuerung eines Fahrerassistenzsystems
DE102011106173A1 (de) Verfahren zur Unterstützung eines Fahrers beim Führen eines mehrgliedrigen Fahrzeugs
EP2654027B1 (fr) Procédé d'émission d'un avertissement avant un dépassement

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DPEN Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101)
122 Ep: pct application non-entry in european phase