WO2006061106A1 - Procede pour adapter des parametres d'intervention d'un systeme d'assistance de vehicule - Google Patents

Procede pour adapter des parametres d'intervention d'un systeme d'assistance de vehicule Download PDF

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Publication number
WO2006061106A1
WO2006061106A1 PCT/EP2005/012614 EP2005012614W WO2006061106A1 WO 2006061106 A1 WO2006061106 A1 WO 2006061106A1 EP 2005012614 W EP2005012614 W EP 2005012614W WO 2006061106 A1 WO2006061106 A1 WO 2006061106A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
steering wheel
angular velocity
angle
assistance system
Prior art date
Application number
PCT/EP2005/012614
Other languages
German (de)
English (en)
Inventor
Bernd Danner
Thomas Dohmke
Jörg Hillenbrand
Volker Schmid
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 WO2006061106A1 publication Critical patent/WO2006061106A1/fr

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Classifications

    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • 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
    • 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

Definitions

  • the present invention relates to a method for adapting intervention parameters of an assistance system of a vehicle and in particular to a method for adapting a braking intervention by an assistance system for avoiding collisions and / or for reducing the collision consequences of a vehicle.
  • Assistance systems in vehicles to reduce the magnitude of an unavoidable collision or to avoid collisions or rear-end collisions must not make emergency braking in accordance with rigid specifications if the driver of the vehicle wishes to evade braking in an accident-prone driving situation instead of braking.
  • the assistance system must not perform an automated braking intervention, since an automatic activation of the braking function, for example in a curve, if already a large part of the traction potential of the tire is already exploited by the transverse forces occurring due to the lateral acceleration, can lead to the liability limit of the tires is exceeded. This would lead to a skid of the vehicle.
  • Such an assistance system is described in DE 102 31 584 A1.
  • an automatic triggering of a deceleration of a vehicle to prevent a collision or to reduce the consequences of an imminent collision occurs only when one or more variables representing a collision hazard with another object are within a predeterminable triggering range.
  • This tripping area can be varied as a function of driver reactions, wherein the change in the tripping area takes place as a function of the driver response by means of signals from a steering angle sensor, a brake pedal sensor and / or an accelerator pedal sensor.
  • the driving situation is evaluated only on the basis of static values for the steering angle speed, in order to detect an evasive maneuver when a predetermined steering angle is exceeded. Such a rough assessment of the driving condition, however, does not generally do justice to the driving dynamics peculiarities encountered in traffic.
  • the object of the present invention is to provide a method for adapting intervention parameters of an assistance system of a vehicle, by which a better evaluation of the driving condition of the vehicle for recognizing a required adaptation of intervention parameters is ensured.
  • the present invention is based, besides the steering wheel angular velocity, also includes the absolute steering wheel angle, both of which in particular have a predetermined correlation with one another and have corresponding threshold values of both variables can be varied as a function of the vehicle speed.
  • the above-mentioned problem is solved by providing a method for adapting intervention parameters of an assistance system of a vehicle with the following steps:
  • an angle corresponding to the steering wheel angle of the adjusting angle of a wheel of a steerable axle of a vehicle and an angular speed corresponding to the steering wheel angular speed are the actuating speed of the wheel.
  • corresponding variables for identifying an evasive maneuver in an advantageous manner, wherein, in addition to the setting angle of a wheel of a steerable axle, further corresponding ones are also provided Sizes, for example from the steering gear or an electric steering device, come into question.
  • the intervention parameters of the assistance system are changed to the effect that an automatic braking intervention in an identified manual evasive maneuver is omitted, reduced in its braking force or aborted.
  • the threshold values each have a constant value, which are independent of each other. In a plane which is spanned by the steering wheel angle and the steering wheel angular velocity, there is thus a rectangular course of the threshold values parallel to the coordinate axes. The adaptation of the parameters of the assistance system does not occur within this rectangle, which is limited by the threshold values.
  • the one threshold value is dependent on the other threshold value. In this way, a correlation between the two variables which satisfies the driving dynamics is advantageously achieved.
  • the threshold values are dependent on a vehicle speed such that the threshold values decrease as the speed of the vehicle increases. Increases the speed of the vehicle, so even at smaller steering angles higher lateral accelerations are built, which claims the adhesion of the tires, that is, the traction potential of each tire. Accordingly, the threshold values must be selected to be smaller with increasing speed, so that a parameter adjustment of the assistance system must already take place at smaller values of the steering wheel angular velocity and / or the steering wheel angle.
  • the threshold value Up to a first predetermined vehicle speed, the threshold value remains constant; between the first predetermined vehicle speed and a higher second predetermined vehicle speed, the threshold value decreases in a parabolic manner; and above the second predetermined vehicle speed, the threshold value remains constant again.
  • the vehicle environment is detected, and when cornering the vehicle with limited or unreliable sensor information, one of the vehicle surroundings detection, in particular due to a restricted field of view and / or sensor detection angle, the assistance system does not automatically engage the steering and / or the vehicle Braking system of the vehicle.
  • the assistance system can not be intervened if no or contradictory information is generated by a given environment detection.
  • the steering wheel angular velocity or the variable corresponding thereto is determined by the time derivative of the steering wheel angle or the variable corresponding to the steering wheel angle, in particular forming a difference quotient of two directly adjacent values which divide a predetermined time interval.
  • the steering wheel angular velocity or the variable corresponding thereto is calculated to form a difference quotient of two values separated by an intermediate value, which are two predetermined time intervals apart.
  • the steering wheel angular velocity is advantageously determined with a sampling interval that is twice as long, which serves to smooth the determined values.
  • the discrete values resulting from the difference quotients become the determined steering wheel angular velocity, preferably with a characteristic of a PTI element, filtered. This advantageous smoothing of the determined values of the steering wheel angular velocity ensures improved processability of the values.
  • a lateral acceleration and / or a yaw rate of the vehicle and / or a distance to a vehicle driving in front, in particular using a mathematical vehicle model are included in the assessment.
  • This has the advantage of a more precise decision-making by the assistance system, if there is an evasive maneuver in which, for example, an automated braking intervention better not or not so strong should be performed so as not to exceed the liability limit of the tires.
  • the curve radius of a curve of an electronically stored road map of a navigation system in particular of a GPS system, is compared with an evasion maneuver of the vehicle at a predetermined deviation of the radii from one another to identify. This allows an advantageous further refined evaluation of the driving situation by the assistance system.
  • the respective threshold value is adapted as a function of the grip of the tires of the vehicle during cornering, the limit of liability of the tires preferably taking place indirectly by detecting the lateral acceleration and / or directly by detecting the yaw rate of the vehicle.
  • a verification can take place in the assessment of the driving situation, whether an evasive maneuver exists, even if the liability limit of the vehicle has already been exceeded, so that a yaw rate, that is, a rotation about the vertical axis of the vehicle, occurs.
  • a braking intervention in such a driving situation results in a further destabilization of the driving condition and must be prevented by the vehicle assistance system.
  • Fig. 1 is a schematic representation of a dependence of the steering wheel angular velocity of the steering angle for explaining an embodiment of the present invention
  • Figure 2a is a schematic representation of a dependence of the steering wheel angular velocity on the vehicle speed for explaining a further embodiment of the present invention.
  • 2b is a schematic representation of a dependence of the steering wheel angle on the vehicle speed for explaining a further embodiment of the present invention
  • Fig. 3 is a schematic representation of the steering wheel angular velocity and the steering wheel angle as a function of the vehicle speed for explaining an embodiment of the present invention.
  • Fig. 4 is a block diagram for explaining an embodiment of the present invention.
  • Fig. 1 is a diagram of the course of the threshold value of the steering wheel angular velocity ⁇ s (delta) as a function of
  • the function of the threshold value ⁇ s takes the form of an ellipse, wherein a driver's manual evasive maneuver is identified by an assistance system of a vehicle when the steering wheel angle ⁇ or an angle corresponding to the steering wheel angle, such as, for example, a wheel angle of a steerable wheel steerable vehicle axle and / or the steering wheel angular velocity
  • Angular velocity ⁇ and / or the steering wheel angle ⁇ outside the preferably elliptical limit curve ⁇ s so there is no brake intervention in a corresponding traffic situation, so as not to exceed the adhesion potential of the tires of the vehicle by the additional braking forces. If an automated braking intervention has already been activated by the assistance system and if a manual evasive maneuver is identified by a value outside the limit curve ⁇ s , the automated braking is interrupted or at least reduced so much that the grip limit of the tires is not exceeded in order to prevent the vehicle from skidding to exclude by a loss of liability.
  • a device for detecting the vehicle lateral acceleration and / or a device for determining the yaw rate of the vehicle are used in order to remain within the liability limit of the tires of the vehicle even during a manual acute avoidance maneuver of the driver.
  • the ⁇ - ⁇ plane is also considered a rectangular shape, which extend through the half-axis sections of the ellipse and have parallel edges to the coordinate axes.
  • a linear decrease in the limit curve between the two semiaxis sections is also possible, as is a hyperbolic curve of the limit curve. Since a higher lateral acceleration occurs with increasing vehicle speed at a constant steering wheel angle, according to a preferred development of the present invention, it is expedient to make the threshold curve ⁇ s dependent on the vehicle speed. At a higher vehicle speed, an evasive maneuver, which is initiated manually by the driver, therefore already has to occur at lower steering wheel angles ⁇ and / or steering wheel angle.
  • kel yorken ⁇ s be identified. This is illustrated by the elliptical family ⁇ S vi / ⁇ SV n, ⁇ S vi 2 and ⁇ S v 2 in FIG. 1.
  • the vehicle speed Vi is smaller than vii, which is smaller than V 12 and again smaller than V 2 .
  • the following equation can thus be established according to the preferred embodiment of the ellipse as limit curve or threshold value:
  • a dodge is recognized as a relevant driver activity and intervention parameters of the assistance system of the vehicle, in particular an automated braking intervention is not or only with reduced braking force.
  • FIG. 2 a shows a preferred progression of the threshold value ⁇ s over the vehicle speed v. The ordinate
  • Threshold ⁇ s (v) initially runs horizontally parallel to the v axis, since at low speeds nevertheless
  • the limit value curve preferably drops in a parabolic manner with those also shown in FIG.
  • FIG. 2 b shows a preferred progression of the threshold value ⁇ s over the vehicle speed v.
  • Threshold ⁇ s (v) initially runs horizontally parallel to the v axis, since at low speeds nevertheless
  • the threshold curve preferably falls Parabeiförmig from with the also shown in Fig. 1
  • Steering wheel angle ⁇ SV2 passes, above which at this speed V 2 an evasive maneuver is detected.
  • a linearly decreasing profile of the threshold value between the velocity Vi and the velocity V 2 is also possible in principle.
  • FIG. 3 a combination of Figures 1 and 2 is shown in schematic form.
  • An ellipse group ⁇ S vi, ⁇ svn, ⁇ SV i2 and ⁇ S v2 are shown, which are parallel to the ⁇ -d ⁇ / dt plane and in their ordinate extent (in d ⁇ / dt).
  • the determination of the steering wheel angle or an angle corresponding to the steering wheel angle preferably takes place via a protractor which, in the case of a steering wheel angle measuring device, if as standard between left and right stop about three steering wheel revolutions, a resolution between 1 and 5 degrees is preferably provided between two and three degrees. This is possible, for example, by means of an optical or electromagnetic protractor.
  • a protractor which, in the case of a steering wheel angle measuring device, if as standard between left and right stop about three steering wheel revolutions, a resolution between 1 and 5 degrees is preferably provided between two and three degrees. This is possible, for example, by means of an optical or electromagnetic protractor.
  • it is preferable to derive the steering wheel angle value over time by forming a differential limit quotients of two adjacent steering wheel angle samples divided by the sampling time, ie:
  • FIG. 4 shows a schematic block diagram for explaining a preferred embodiment of the method according to the invention.
  • the steering wheel angle ⁇ detected by a steering wheel angle sensor becomes an evaluation device
  • the steering wheel angle ⁇ is determined by differentiation and smoothing in a filter having a PTI characteristic in a steering wheel angular velocity measurement. 11, the steering wheel angular velocity ⁇
  • the steering wheel angular velocity ⁇ is then also supplied to the evaluation device 10.
  • the vehicle speed v determined via a speed detection device is now used to determine the envelope curves, that is to say the limits of the semiaxis values of the
  • the evaluation of the steering wheel angle, the steering wheel angular velocity, possibly also an estimate of a corresponding wheel angle or the like, and the driving speed, for example by the analysis of individual wheel speeds, allows under a preferably given detection of the lateral acceleration or the yaw rate of the vehicle and a distance to If necessary, the preceding vehicle may also generate the generation of a detailed image of a current traffic situation using a mathematical vehicle model.
  • Steering wheel angular velocity ⁇ or a related measure such as the corresponding wheel angle of a steerable wheel evasive maneuvers, which are manually initiated by the driver, are identified by the assistance system.
  • the use of a driving speed-dependent ellipse as a limit curve or threshold in the plane spanned by the steering wheel angular velocity and the steering wheel angle is advantageous because the current steering wheel angle and the current steering wheel angular velocity are used simultaneously. If the current steering wheel angular velocity and the current steering wheel angle in the above-mentioned plane are outside the described ellipse, this is recognized as a manual evasive maneuver.
  • Such an ellipse or a curve similar thereto has the advantage that, in one criterion, both a sufficiently large steering angle and a sufficiently large steering wheel angular velocity and a combination of both dimensions are evaluated more realistically in comparison with a rectangular curve of the limit curve. This results from the fact that the set steering wheel angle or the steering wheel angular velocity typically decreases towards higher driving speeds. Therefore, the limited ellipse becomes smaller toward higher driving speeds.
  • a limitation of the assistance function when cornering and / or to take account of sensor limitations can make the limitation as a function of the steering wheel angle and its course, since the vehicle speed maximum allowed steering angle in a stationary state only allows a certain lateral acceleration without the assistance system Dodge, that is, the exceeding of a limit detects, which leads to the shutdown of the assistance function or does not allow the intervention of such assistance function.
  • the assistance system To supplement the variables used by the assistance system is also the possibility of use also for attraction as a limiting criterion for the lateral acceleration, the yaw rate, the distance to the car in front, the speed difference to the car in front, the acceleration of the own and the front vehicle and derived variables or combinations from that.
  • the envelope of the steering wheel angular velocity ⁇ ⁇ above the vehicle speed v can also assume any monotone decreasing functions.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un procédé pour adapter des paramètres d'intervention d'un système d'assistance de véhicule. Ce procédé comprend les étapes qui consistent : à détecter un angle de volant (d) ou un angle correspondant à un angle de volant ; à déterminer une vitesse angulaire de volant (d) ou une vitesse angulaire correspondant à une vitesse angulaire de volant ; à évaluer les grandeurs (d,d) définies précédemment, de manière à identifier une manoeuvre manuelle alternative du véhicule quand les grandeurs définies précédemment dépassent respectivement une valeur seuil prédéterminée (d<SUB>s</SUB>, d<SUB>s</SUB>), et ; à adapter les paramètres d'intervention du système d'assistance, en fonction de ladite évaluation.
PCT/EP2005/012614 2004-12-08 2005-11-25 Procede pour adapter des parametres d'intervention d'un systeme d'assistance de vehicule WO2006061106A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410059002 DE102004059002A1 (de) 2004-12-08 2004-12-08 Verfahren zur Anpassung von Eingriffsparametern eines Assistenzsystems eines Fahrzeuges
DE102004059002.8 2004-12-08

Publications (1)

Publication Number Publication Date
WO2006061106A1 true WO2006061106A1 (fr) 2006-06-15

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1889765A1 (fr) * 2006-08-17 2008-02-20 Delphi Technologies, Inc. Procédé de prédiction d'une collision et de réduction de sa gravité pour véhicule
CN110709727A (zh) * 2017-06-09 2020-01-17 维宁尔瑞典公司 用于检测迎面车辆的车辆系统
CN114771644A (zh) * 2022-05-11 2022-07-22 一汽解放汽车有限公司 主动转向控制方法、装置、计算机设备和存储介质
CN115009012A (zh) * 2022-06-17 2022-09-06 一汽奔腾轿车有限公司 防止误把油门当刹车使用的安全控制方法及系统

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EP2323890B1 (fr) 2008-09-10 2012-09-05 Continental Teves AG & Co. oHG Procede d'assistance a la direction en cas de manoeuvre d'urgence
CN102421645B (zh) 2009-05-07 2015-06-24 大陆-特韦斯贸易合伙股份公司及两合公司 用于执行车辆驾驶稳定性的闭环或开环控制的方法和设备
DE102012203182A1 (de) 2011-03-01 2012-09-06 Continental Teves Ag & Co. Ohg Sicherheitsvorrichtung für ein Kraftfahrzeug und Verfahren zum Betrieb eines Kraftfahrzeugs
DE102012203187A1 (de) 2011-03-01 2012-09-06 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Prädiktion und Adaption von Bewegungstrajektorien von Kraftfahrzeugen
US9174641B2 (en) 2011-03-09 2015-11-03 Continental Teves Ag & Co. Ohg Safety device for a motor vehicle and method for operating a motor vehicle
DE102011107271B4 (de) * 2011-07-15 2016-01-28 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Steuerung einer Bremse eines Fahrzeugs sowie Fahrzeug
DE112013006126A5 (de) 2012-12-20 2015-09-10 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum automatisierten Bremsen und Lenken eines Fahrzeugs
DE102016219757A1 (de) 2016-10-11 2018-04-12 Volkswagen Aktiengesellschaft Ausweichunterstützung für ein Fahrzeug
CN114882706B (zh) * 2022-05-31 2023-06-16 华中科技大学 一种基于非结构性路面的周向防碰撞预警方法及系统

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WO2004005092A1 (fr) * 2002-07-05 2004-01-15 Continental Teves Ag & Co.Ohg Systeme d'assistance au conducteur et dispositif de regulation de freinage
US20040135431A1 (en) * 2002-10-25 2004-07-15 Honda Motor Co., Ltd. Vehicular brake system

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WO2004005092A1 (fr) * 2002-07-05 2004-01-15 Continental Teves Ag & Co.Ohg Systeme d'assistance au conducteur et dispositif de regulation de freinage
US20040135431A1 (en) * 2002-10-25 2004-07-15 Honda Motor Co., Ltd. Vehicular brake system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1889765A1 (fr) * 2006-08-17 2008-02-20 Delphi Technologies, Inc. Procédé de prédiction d'une collision et de réduction de sa gravité pour véhicule
CN110709727A (zh) * 2017-06-09 2020-01-17 维宁尔瑞典公司 用于检测迎面车辆的车辆系统
CN110709727B (zh) * 2017-06-09 2023-04-07 安致尔软件公司 用于检测迎面车辆的车辆系统
CN114771644A (zh) * 2022-05-11 2022-07-22 一汽解放汽车有限公司 主动转向控制方法、装置、计算机设备和存储介质
CN115009012A (zh) * 2022-06-17 2022-09-06 一汽奔腾轿车有限公司 防止误把油门当刹车使用的安全控制方法及系统

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