WO2006053655A1 - Procede pour eviter une collision ou pour reduire les consequences d'une collision et dispositif pour realiser ce procede - Google Patents

Procede pour eviter une collision ou pour reduire les consequences d'une collision et dispositif pour realiser ce procede Download PDF

Info

Publication number
WO2006053655A1
WO2006053655A1 PCT/EP2005/011930 EP2005011930W WO2006053655A1 WO 2006053655 A1 WO2006053655 A1 WO 2006053655A1 EP 2005011930 W EP2005011930 W EP 2005011930W WO 2006053655 A1 WO2006053655 A1 WO 2006053655A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
collision
tta
vehicle
driver
Prior art date
Application number
PCT/EP2005/011930
Other languages
German (de)
English (en)
Inventor
Bernd Danner
Thomas Dohmke
Jörg Hillenbrand
Volker Schmid
Andreas Spieker
Original Assignee
Daimlerchrylser 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 Daimlerchrylser Ag filed Critical Daimlerchrylser Ag
Publication of WO2006053655A1 publication Critical patent/WO2006053655A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • 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
    • B60T2201/024—Collision mitigation 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
    • 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
    • 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

Definitions

  • the invention relates to a method for collision avoidance or Kollisions Facilitminderung according to the preamble of patent claim 1 and an apparatus for performing the method.
  • a generic method and a device for carrying out such a method are known for example from DE 101 02 772 A2.
  • the remaining time span until an expected collision of the motor vehicle with an obstacle is calculated as an escape time span and it is checked whether the vehicle can still avoid the obstacle within this time span. If avoidance is no longer possible, an automatic brake intervention or an automatic steering intervention is initiated to avoid collision or collision consequences.
  • the avoidance period is calculated independently of the current driving speed, so that the intervention at low speeds can take place earlier than expected by the driver, which is perceived by the driver as implausible or patronizing. On the other hand, the intervention too late at high speeds, thereby compromising the reliability of the process.
  • the invention has for its object to provide a method according to the preamble of claim 1, which is based on a comparison with the prior art more accurate calculation of the avoidance period.
  • the invention is further based on the object of specifying a device for carrying out the method.
  • the relative speed between the motor vehicle and the obstacle is determined as a variable describing the state of motion of the obstacle.
  • a time remaining until the latest start of a collision-avoiding avoidance maneuver is then determined as the time of avoidance and a collision-avoiding or collision-sequence-reducing action is carried out as a function of the determined avoidance time span.
  • the escape time span is hereby calculated as the time required to reduce the distance between the motor vehicle and the obstacle at the instantaneous relative speed between the motor vehicle and the obstacle to a limit distance which can be predetermined as a function of the relative speed and the travel speed of the motor vehicle.
  • the avoidance period is thus dependent on both the Relativ ⁇ speed and the own driving speed of the motor vehicle.
  • the collision-avoiding or collision-sequence-reducing action is thus triggered speed-dependent, which, in addition to an increase in traffic safety, also leads to an increase in the acceptance of the method, since the driver rather expects the triggered action and thus does not feel patronized.
  • the limit distance is given as a value that is proportional to the ratio of relative speed to vehicle speed of the motor vehicle and is propor tional to a dependent of the driving speed of the motor vehicle Vortex.
  • the limit distance becomes according to the equation
  • sA stands for the limit distance
  • b stands for a lateral offset by which the motor vehicle is to be offset by the evasive maneuver
  • vego stands for the current driving speed of the motor vehicle
  • ay stands for a maximum achievable lateral acceleration
  • 1 for a distance of the front of the motor vehicle is up to its center of gravity
  • vrel stands for the relative speed between the motor vehicle and the obstacle, ie for the approach speed with which the motor vehicle approaches the obstacle.
  • a warning is issued to the driver as a collision-avoiding or collision-sequence-reducing action.
  • a brake intervention can also be undertaken.
  • the warning is preferably output to the driver when the determined avoidance period falls below a predetermined first time threshold.
  • This first period of time is advantageously chosen equal to twice the driver's reaction time.
  • the brake when the brake is actuated by the driver, it is checked whether the driver has actuated the brake in a manner sufficient to avoid collision. If this is not the case, a corrective braking intervention is undertaken in order to avoid a collision by a targeted increase in the brake pressure.
  • the increase of the brake pressure can take place, for example, in such a way that the motor vehicle is brought to a standstill at a certain target distance from the obstacle or at least is delayed to the speed of the obstacle until the target distance is reached.
  • an automatic braking intervention is initiated when it is determined that the evasive time period is below a second time threshold, which in turn is less than the first time threshold. This ensures that interventions in the traffic situation only occur when the driver has not responded to a warning regarding a possible impending collision.
  • the traffic situation in the rear environment is the Motor vehicle detected and controlled the braking intervention depending on the rear traffic situation.
  • the braking intervention can be controlled so that the subsequent traffic is not unduly endangered thereby.
  • a driving route is determined, which represents the prospective future position of the motor vehicle.
  • An apparatus for carrying out the method according to the invention comprises detection means for detecting obstacles in the forward environment of the motor vehicle and for determining at least the relative speed between the motor vehicle and the potential obstacle.
  • the device further comprises calculating means cooperating with the detection means for calculating the avoidance time span and a control device cooperating with the calculating means for controlling a collision-avoiding or collision-sequence-reducing action, in particular a braking intervention.
  • the device further comprises warning means for warning the driver of a possible collision with the obstacle.
  • the device further comprises detection means for detecting the traffic situation in the rearward environment of the motor vehicle. These detection means cooperate with the calculation means and allow the control of the braking intervention taking into account the subsequent traffic.
  • FIG. 1 shows an example of the calculation of the
  • Figure 2 is a schematic representation of a vehicle in which the inventive method is implemented.
  • FIG. 1 a vehicle 10 and a slower vehicle 20 driving ahead on the same lane are shown as a potential obstacle.
  • the vehicle 10 moves in the vehicle longitudinal direction at the driving speed vego and the vehicle 20 at the speed vG.
  • the vehicle 10 is further shown in a position 11, which it will occupy at a time to start at the latest with the initiation of an evasive maneuver, if a rear-end collision with the slower vehicle 20 is to be avoided by avoiding.
  • the vehicle 10 has approached the preceding vehicle 20 up to a limit distance sA at this time.
  • An alternate time period TTA time to avoid represents the time t that is required to reduce the distance s between the vehicles 10, 20 from the current distance value sM to the limit distance sA, ie. the amount of time remaining until the latest time for the driver to initiate a collision avoiding maneuver.
  • the figure also shows the trajectory 30 of the Aus ⁇ maneuver and a predicted Fahrschlauch 40, i. the area that the vehicle 10 is likely to drive in the near future.
  • the vehicle 10 is further shown in a position 12, which it will occupy next to the vehicle 20 after performing the evasive maneuver.
  • the vehicle 10 is offset by the lateral offset b from the original driving direction or from the center of the predicted driving tube 40.
  • the lateral offset b must be at least equal to half the width of the vehicle 10 plus half the width of the vehicle 20.
  • the limit distance sA is calculated according to the invention according to the following equation:
  • b stands for the required lateral offset, vego for the driving speed of the vehicle 10, 1 for the distance from the front of the vehicle 10 to its center of gravity, vG for the speed of the vehicle 20, and ay for a maximum possible achievable lateral acceleration , which is achieved on the narrowest possible stable negotiable circular path and which is advantageously adapted to the current road conditions, in particular the friction value.
  • the road condition in particular the road wetness or road slipperiness, can be determined, for example, with a rain sensor or a sensor or wind sensor activity evaluating the windshield wiper activity. be detected with a temperature sensor.
  • the limit distance sA is thus proportional to the ratio of the relative speed vrel to the Fahrgeschwin ⁇ speed vego of the vehicle 10 and further proportional to a pre-factor represented by the root expression, which in turn is dependent on the driving speed vego of the vehicle 10, of the maximum possible lateral acceleration ay, the required lateral offset b and the distance 1 between the front of the vehicle 10 and its center of gravity.
  • the fallback period TTA can then be calculated as follows:
  • TTA SM - SA vrel
  • sM stands for the instantaneous distance between the vehicles
  • sA for the limit distance
  • vrel for the instantaneous relative speed between the vehicles 10, 20.
  • a corrective braking intervention is carried out by a targeted increase in braking force such that the vehicle 10 performs a target braking with a small remaining distance to the vehicle 20 ahead, the remaining distance advantageously taking into account the possibly following one backward traffic is determined.
  • autonomous braking is initiated as soon as the avoidance period TTA falls below a second time threshold t2 that lies below the first time threshold t1.
  • the vehicle 10 is shown schematically.
  • the vehicle 10 has detection means 101 for the metrological detection of the traffic situation in front of the motor vehicle 10 and detection means 102 for detecting the furnishsitu ⁇ tion behind the vehicle 10.
  • the detection means 101, 102 may be formed as an environment-sensing sensors, such as a radar, camera or laser scanner.
  • the detection means 101, 102 are connected to an evaluation device 103 with which, on the basis of the sensor signals of the detection means 101, 102, variables such as the distance, the speed or the acceleration of preceding or succeeding objects can be determined and tracked.
  • means 104 are provided for determining vehicle data, such as the airspeed, the self-acceleration, the assumed coefficient of friction of the road, the brake actuation, the steering wheel actuation and the driving course or driving hose predicted from the steering angle and / or lane recognition.
  • calculation means 105 can be used to determine the latest escape time TTA, to which a driver must initiate an evasive maneuver, in order to collide with an object 20 in the direction of travel safely prevent in front of the vehicle 10.
  • a control unit 106 it is checked whether the period of time until the escape time TTA determined in the means 105 is below the first threshold t1.
  • a warning means 107 can be activated. If the time interval is below the first threshold t 1 but above the second threshold t 2, a warning means 107 can be activated. If the time interval is below the second threshold t2, it can be monitored with the means 104 as to whether the driver has actuated the brake, which brake request he has possibly made, and if this is sufficient to ensure that the vehicle 10 is timed to a predetermined target distance to the object 20 in the direction of travel in front of the vehicle to bring to a standstill or to delay the vehicle 10 to the Ge speed vG of the object 20 until the time of reaching the target distance. Furthermore, it can be monitored whether the driver intends to drive an evasive maneuver, which can be detected, for example, by means of the steering wheel actuation and / or the actuation of the direction indicator.
  • a brake control device 108 can control an intelligent brake booster in order to selectively apply the braking force to increase a measure required for collision avoidance, or to initiate autonomous emergency braking.
  • a steering control device 109 initiate an autonomous evasive maneuver if the evaluation device 103 judges that an accident can thereby be avoided or at least that the consequences of accidents can be reduced.
  • the control of the braking force or the decision to carry out an autonomous evasive maneuver can also take place taking into account the subsequent traffic in order to avoid a rear-end collision with the subsequent traffic or at least minimize the consequences of such an accident.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé pour éviter une collision ou pour réduire les conséquences d'une collision pendant la marche d'un véhicule (10) lorsque celui-ci s'approche d'un obstacle (20), notamment d'un véhicule roulant devant lui. Selon ce procédé, la vitesse relative (vrel) entre le véhicule (10) et l'obstacle (20) au moins est déterminée, un laps de temps restant jusqu'au début d'une manoeuvre d'évitement de collision est déterminé en tant que laps de temps d'évitement (TTA), et une action visant à éviter une collision ou à réduire les conséquences d'une collision est mise en place en fonction du laps de temps d'évitement (TTA) déterminé. Le laps de temps d'évitement (TTA) est calculé comme étant le laps de temps nécessaire pour réduire la distance (s) entre le véhicule (10) et l'obstacle (20) en tenant compte de la vitesse relative (vrel) momentanée et pour la faire passer à une distance limite (sA) définie en fonction de la vitesse relative (vrel) et de la vitesse de marche (vego) du véhicule (10).
PCT/EP2005/011930 2004-11-20 2005-11-08 Procede pour eviter une collision ou pour reduire les consequences d'une collision et dispositif pour realiser ce procede WO2006053655A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004056120A DE102004056120A1 (de) 2004-11-20 2004-11-20 Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung und Vorrichtung zur Durchführung des Verfahrens
DE102004056120.6 2004-11-20

Publications (1)

Publication Number Publication Date
WO2006053655A1 true WO2006053655A1 (fr) 2006-05-26

Family

ID=36313786

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/011930 WO2006053655A1 (fr) 2004-11-20 2005-11-08 Procede pour eviter une collision ou pour reduire les consequences d'une collision et dispositif pour realiser ce procede

Country Status (2)

Country Link
DE (1) DE102004056120A1 (fr)
WO (1) WO2006053655A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008041627A1 (de) 2008-08-28 2010-03-04 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung von Feuchtigkeit

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4222398B2 (ja) 2006-09-21 2009-02-12 株式会社デンソー 車両用衝突判定装置
DE102007013303A1 (de) 2007-03-16 2008-09-18 Robert Bosch Gmbh Verfahren zur Berechnung einer kollisionsvermeidenden Trajektorie für ein Fahrmanöver eines Fahrzeugs
FR2915160B1 (fr) * 2007-04-19 2009-08-28 Renault Sas Dispositif d'aide a la conduite d'un vehicule motorise.
DE102008009900B4 (de) * 2008-02-19 2010-12-02 Fendt, Günter Verfahren und Vorrichtung zum Steuern einer Fahrzeugbremse
DE102008001409A1 (de) 2008-04-28 2009-11-05 Robert Bosch Gmbh Verfahren zur Bestimmung von freien Bereichen in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs
DE102008040077A1 (de) 2008-07-02 2010-01-07 Robert Bosch Gmbh Fahrerassistenzverfahren
DE102008043232A1 (de) * 2008-10-28 2010-04-29 Robert Bosch Gmbh Verfahren und Steuergerät zum Abbremsen eines Fahrzeugs
DE102009045661A1 (de) 2009-10-14 2011-04-21 Robert Bosch Gmbh Verfahren zur Bestimmung wenigstens eines befahrbaren Bereichs in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs
DE102010006215A1 (de) * 2010-01-29 2011-10-06 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung
WO2012117057A1 (fr) 2011-03-01 2012-09-07 Continental Teves Ag & Co. Ohg Dispositif de sécurité pour véhicule automobile et procédé permettant de faire fonctionner un véhicule automobile
EP2681085B1 (fr) 2011-03-01 2017-05-10 Continental Teves AG & Co. oHG Procédé et dispositif de prédiction et d'adaptation de trajectoires de déplacement de véhicules automobiles
WO2012120076A1 (fr) 2011-03-09 2012-09-13 Continental Teves Ag & Co. Ohg Dispositif de sécurité pour véhicule automobile et procédé permettant de faire fonctionner un véhicule automobile
DE112013006126A5 (de) 2012-12-20 2015-09-10 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum automatisierten Bremsen und Lenken eines Fahrzeugs
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
DE102013204893A1 (de) * 2013-03-20 2014-09-25 Robert Bosch Gmbh Verfahren und System zur Vermeidung einer Kollision im Zusammenhang mit Fahrzeugen
DE102014208026A1 (de) 2014-04-29 2015-10-29 Continental Teves Ag & Co. Ohg Verfahren und vorrichtung zur warnung von verkehrsteilnehmern
DE102015200776B4 (de) 2015-01-20 2023-08-03 Robert Bosch Gmbh Sicherheitssystem für ein Fahrzeug
CN109969116B (zh) * 2017-12-28 2021-01-29 大众汽车（中国）投资有限公司 一种用于车辆的防撞方法和系统
KR102120650B1 (ko) 2018-04-25 2020-06-26 주식회사 만도 차량 충돌 회피 제어 장치 및 그 제어 방법
CN109795412A (zh) * 2019-03-27 2019-05-24 深圳市元征科技股份有限公司 一种车门防碰撞预警方法及相关设备
CN111775833A (zh) * 2019-04-04 2020-10-16 上海博泰悦臻网络技术服务有限公司 一种提醒方法、装置及计算机存储介质
DE102020214029A1 (de) 2020-11-09 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Steuern einer Sicherheitseinrichtung eines Fahrzeugs und Sicherheitssystem für ein Fahrzeug
DE102020214030A1 (de) 2020-11-09 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Steuern einer Sicherheitseinrichtung eines Fahrzeugs und Sicherheitssystem für ein Fahrzeug
DE102021111031A1 (de) 2021-04-29 2022-11-03 Ford Global Technologies, Llc Verfahren zum Betreiben einer Einpark-Assistenzfunktion eines Kraftfahrzeugs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3830790A1 (de) * 1988-09-09 1990-03-15 Freund Eckhard Verfahren und vorrichtung zur automatischen kollisionsvermeidung fuer automatisch fuehrbare fahrzeuge
EP0545437A2 (fr) * 1991-12-06 1993-06-09 Bayerische Motoren Werke Aktiengesellschaft Méthode pour éviter les collisions entre véhicules
EP0976627A1 (fr) * 1998-02-18 2000-02-02 Honda Giken Kogyo Kabushiki Kaisha Systeme de commande de frein de vehicule
DE10102772A1 (de) 2001-01-23 2002-07-25 Bosch Gmbh Robert Vorrichtung zur adaptiven Fahrgeschwindigkeitsregelung eines Kraftfahrzeugs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3830790A1 (de) * 1988-09-09 1990-03-15 Freund Eckhard Verfahren und vorrichtung zur automatischen kollisionsvermeidung fuer automatisch fuehrbare fahrzeuge
EP0545437A2 (fr) * 1991-12-06 1993-06-09 Bayerische Motoren Werke Aktiengesellschaft Méthode pour éviter les collisions entre véhicules
EP0976627A1 (fr) * 1998-02-18 2000-02-02 Honda Giken Kogyo Kabushiki Kaisha Systeme de commande de frein de vehicule
DE10102772A1 (de) 2001-01-23 2002-07-25 Bosch Gmbh Robert Vorrichtung zur adaptiven Fahrgeschwindigkeitsregelung eines Kraftfahrzeugs

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008041627A1 (de) 2008-08-28 2010-03-04 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung von Feuchtigkeit

Also Published As

Publication number Publication date
DE102004056120A1 (de) 2006-05-24

Similar Documents

Publication Publication Date Title
WO2006053655A1 (fr) Procede pour eviter une collision ou pour reduire les consequences d'une collision et dispositif pour realiser ce procede
EP3504109B1 (fr) Système d'assistance de changement de voie et procédé d'exécution de changement de voies multiples
EP2404195B1 (fr) Procédé pour la détection automatique d'une manoeuvre de conduite d'un véhicule automobile et système d'assistance au conducteur comprenant ce procédé
EP2353957B2 (fr) Procédé et dispositif destinés à assister un conducteur lors d'une action de dépassement
EP2948349B1 (fr) Procédé permettant de déterminer un critère de déclenchement d'un freinage, et système de freinage d'urgence pour un véhicule
EP2814704B2 (fr) Procédé pour déterminer une situation de freinage d'urgence d'un véhicule
EP1559607B1 (fr) Système d'avertissement anticollision pour véhicules
DE102019100178A1 (de) Fahrsteuerungsvorrichtung für ein fahrzeug
EP2043896B1 (fr) Procede et dispositif pour prevenir et/ou diminuer les consequences des collisions
DE102007060862B4 (de) Notbremsassistenzsystem
DE102019124700A1 (de) Fahrsteuerungsvorrichtung für ein fahrzeug
DE102020100342A1 (de) Fahrsteuerungsvorrichtung für ein fahrzeug
DE102011109697A1 (de) Verfahren zum Betreiben eines Kraftfahrzeuges und Fahrerassistenzsystem zur Durchführung des Verfahrens
EP3016828A1 (fr) Procédé pour le fonctionnement d'un véhicule automobile lors d'un changement de voie et véhicule automobile
DE102019134079A1 (de) Fahrsteuerungsvorrichtung für ein fahrzeug
DE102010010856A1 (de) Verfahren zur automatischen Unterstützung eines Fahrers eines Kraftfahrzeugs bei seiner Fahraufgabe
DE102008011128B4 (de) Fahrassistenzsteuereinheit, Fahrassistenzsystem und Assistenzverfahren zum Unterstützen eines kollisionsfreien Führen eines Kraftfahrzeugs
WO2009109419A1 (fr) Assistant de guidage longitudinal comportant une fonction d'assistance latérale pour des véhicules motorisés
EP2788239A1 (fr) Procédé et système permettant de réduire les dommages d'un accident lors d'une collision entre deux véhicules
WO2011101014A1 (fr) Procédé permettant d'éviter des collisions ou de diminuer une force de collision d'un véhicule
EP3177505B1 (fr) Fourniture d'instructions de conduite au cours d'une manoeuvre de stationnement
DE102009020647A1 (de) Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung für ein Kraftfahrzeug
DE102014210174B4 (de) Bestimmen eines kritischen Fahrzeugzustands und einer Fahrzeugmindestentfernung
DE102008013988B4 (de) Verfahren und Vorrichtung zum Durchführen eines Ausweichmanövers
DE102006057842A1 (de) Verfahren zur Unterstützung des Fahrers eines Fahrzeugs bei der Querführung des Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens

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 KM KN KP KR KZ LC LK LR LS LT LU LV LY MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM 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 IS IT LT LU LV 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
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 05808219

Country of ref document: EP

Kind code of ref document: A1