WO2008065396A1 - Systèmes de freinage électronique - Google Patents

Systèmes de freinage électronique Download PDF

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Publication number
WO2008065396A1
WO2008065396A1 PCT/GB2007/004560 GB2007004560W WO2008065396A1 WO 2008065396 A1 WO2008065396 A1 WO 2008065396A1 GB 2007004560 W GB2007004560 W GB 2007004560W WO 2008065396 A1 WO2008065396 A1 WO 2008065396A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
proximity detection
detection system
electronic braking
object proximity
Prior art date
Application number
PCT/GB2007/004560
Other languages
English (en)
Inventor
William Charles Paulson
Original Assignee
Sentinel Systems Limited
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 Sentinel Systems Limited filed Critical Sentinel Systems Limited
Priority to GB0914970A priority Critical patent/GB2459416B/en
Publication of WO2008065396A1 publication Critical patent/WO2008065396A1/fr

Links

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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • 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
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • 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
    • B60T2201/10—Automatic or semi-automatic parking aid 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/08—Driving in reverse

Definitions

  • This invention relates to vehicle braking systems and in particular to vehicles provided with an electronic braking system (EBS). More especially, the invention relates to an interface between the vehicle EBS and an object proximity detection system (OPDS) that enables the application of the service brake and/or the park brake on a vehicle in response to the detection of an object, such as a person, in the path of the vehicle.
  • OPDS object proximity detection system
  • the invention has application to a wide range of vehicles including cars, vans, trucks and lorries and is particularly useful for automatically applying the service brake and/or park brake when reversing the vehicle in response to detection of an object in the path of the vehicle.
  • apparatus including an electronic braking system for controlling braking, an object proximity detection system for detecting an object in the path of the vehicle, and means for interfacing between the object proximity detection system and the electronic braking system such that, in use, the electronic braking system is responsive to detection of an object within a pre-determined distance of the vehicle by the object proximity detection system to cause braking of the vehicle.
  • a method of controlling braking of a vehicle fitted with an electronic braking system to avoid collision with objects in the path of the vehicle including providing the vehicle with an object proximity detection system including at least one sensor for detecting an object in the path of the vehicle, and providing means for interfacing between the object proximity detection system and the electronic braking system such as to cause braking of the vehicle in response to detection of an object within a pre-determined distance of the vehicle.
  • the object proximity detection system may comprise one or more sensors mounted on the vehicle for detecting an object within a pre-determined distance of the vehicle.
  • the or each sensor is an ultrasonic sensor.
  • a plurality of sensors are provided at appropriate locations on the vehicle.
  • the sensors may be built-into the vehicle, for example in the bumpers at the front and/or rear of the vehicle.
  • the sensors may be provided in a separate support member for mounting on the vehicle, for example a profile strip carrying one or more sensors for detachable mounting at the front and/or rear of the vehicle.
  • the sensors may be configured to detect an object in an area that is not visible to the driver when manoeuvring the vehicle, for example objects that are hidden from the driver when reversing a vehicle.
  • the sensors may be adjustable to alter the area/zone covered by each sensor. For example, each sensor may generate a signal covering a cone or fan-shaped area and be adjustable to change the height and/or direction of the area covered by the signal.
  • the object proximity detection system includes control means such as an electronic control unit configured to receive signals from the sensors and provide a signal via the interface means to activate automatically the electronic braking system when an object is detected within a pre-determined distance of the vehicle.
  • control means such as an electronic control unit configured to receive signals from the sensors and provide a signal via the interface means to activate automatically the electronic braking system when an object is detected within a pre-determined distance of the vehicle.
  • the interface means may be configured to interface between the electronic control unit of the object proximity detection system and an electronic control unit of the electronic braking system.
  • the electronic braking system may be of any suitable type.
  • the electronic braking system may control application of a service brake and/or park brake of the vehicle via a CAN (controller area network) bus and the interface means may provide a CAN bus signal from the object proximity detection system to the electronic braking system for actuating the service brake and/or park brake. Any other suitable bus system may be employed.
  • control unit of the object proximity detection system may receive digital signals from the or each sensor " and convert these to a CAN bus signal for input to the control unit of the electronic braking system.
  • Other means of interfacing between the electronic braking system and the object proximity detection system are envisaged including both wired and wireless interfaces.
  • the service brake and/or park brake is applied for a predetermined time following detection of an object within a pre-determined distance of the vehicle after which the brake is released and the system re-set if the object is no longer detected within the pre-determined distance of the vehicle.
  • the system is triggered by the detection of a person within the pre-determined distance who then moves away from the vehicle before the system times out.
  • the system will not re-set and the brakes remain applied, however, if a detected object remains within the pre-determined distance when the system times out. In this way, the vehicle is prevented from moving until the presence of the object has been investigated and, where appropriate, removed.
  • means may be provided to over-ride the automatic application of the brakes under the direction of the driver to enable the vehicle to be moved.
  • the object proximity detection system may be de-activated for normal driving of the vehicle and activated when carrying out a manoeuvre requiring knowledge of objects in the path of the vehicle such as when reversing the vehicle and/or when parking the vehicle.
  • the electronic braking system may be manually operated allowing the object proximity detection system to be activated and de-activated by the driver when required.
  • the CAN bus may interface with means to provide the driver with a visual and/or audible warning that the system has been activated to reduce the risk of the system being left on inadvertently when driving the vehicle normally, for example a flashing light or buzzer.
  • the object proximity detection system may be configured so as to be operable at low speeds and automatically de-activated when the vehicle speed exceeds a predetermined limit, for example five miles an hour.
  • the object proximity detection system may be activated/de-activated automatically in response to selection/deselection of reverse gear.
  • the object proximity detection system may be configured to activate/de-activate the sensors at the rear of the vehicle automatically in response to selection/deselection of reverse gear and to activate/deactivate the sensors at the front of the vehicle manually in response to means operable by the driver, for example a switch.
  • means operable by the driver may be employed to select manually the sensors at the front and/or rear of the vehicle according to requirements of the manoeuvre being carried out.
  • the electronic control unit may be configured to respond to the sensors at the front only for forward movement of the vehicle and to the sensors at the rear only for backward movement of the vehicle.
  • both the front and rear sensors may be operable at the same time.
  • the electronic braking system is configured to control the service brake and/or park brake when signalled in response detection of an object in the path of the vehicle by the object proximity detection system to apply the required level of braking pressure to stop the vehicle.
  • the electronic control unit of the braking system may be operable to calculate the necessary braking force in response to the speed, weight and direction of the vehicle.
  • the system may be configured to provide self-test and/or diagnostic facility for producing information on the status/health of the electronic braking system and/or the object proximity detection system.
  • the self-test and/or diagnostic facility may generate pass/fail codes/signals for any part of the system and may permit identification of a failed part to facilitate repair/maintenance of the system.
  • the system may be configured to record self-test and/or diagnostic results for analysis to assist monitoring of the system and possible identification of a fault before it occurs or becomes serious enough to present a safety risk.
  • the system may also be configured to record information relating to operation of the system such as the date, time of day, the name of the driver and if the brakes were activated automatically in response to detection of an object in the path of the vehicle. Such information may be useful in investigating any incident that occurs.
  • Local or remote interrogation of the system including any stored data may be provided for any purpose.
  • local interrogation may be provided via a hand held device such as a laptop or palmtop computer or similar data-handling device via any suitable connection such as an infrared data port.
  • remote interrogation may be provided via a wireless link such as a radio frequency or infrared link to a computer or similar data-handling device.
  • the control unit of the electronic braking system may be provided with an appropriate connection for a CAN bus signal line from the control unit of the object proximity detection system whereby the object proximity detection system can be retrofitted to an existing vehicle having an electronic braking system.
  • the CAN bus signal line from the control unit of the object proximity detection system may be provided with a waterproof plug or the like for releasable connection to the control unit of the electronic braking system.
  • the system may be built-into a new vehicle.
  • an electronic braking system for a vehicle the electronic braking system being operable to cause braking of the vehicle in response to detection of an object in the path of the vehicle.
  • the electronic braking system is responsive to detection of an object by an object proximity detection system including one or more sensors configured to detect an object within a pre-determined distance or detection zone of the vehicle.
  • the electronic braking system may be configured to ignore a signal from the object proximity detection system above a pre-determined speed or particular direction of the vehicle.
  • the electronic braking system may be configured to apply a service brake for a pre-determined period of time in response to detection of an object in the detection zone. After the pre- determined period of time, the service brake is released if the object proximity detection system does not detect an object in the detection zone or if a park brake has been applied.
  • the object proximity detection system may be configured to switch off automatically after a predetermined period of time or if a park brake has been applied.
  • an object proximity detection system for a vehicle, the object proximity detection system including at least one sensor for detecting an object in a detection zone and operable to interface with an electronic braking system for braking the vehicle in response to detection of an object in the detection zone.
  • the electronic braking system controls the service brake and/or park brake of the vehicle via a bus system, typically a CAN bus for applying the brakes in response to a signal, typically a CAN bus signal, from the object proximity detection system.
  • the electronic braking system may apply the brakes to slow and/or stop the vehicle according to the detected condition.
  • the electronic braking system may apply the required braking force in response to one or more of the weight, speed and direction of the vehicle and/or the distance between the object and the vehicle.
  • the object proximity detection system comprises a pair of sensors 2a, 2b that are mounted on the rear of the vehicle to detect an object in the path of the vehicle while reversing.
  • the sensors 2a, 2b may be built-in to the vehicle (while allowing removal for repair or replacement) or a detachable mounting may be provided for transferring the sensors between vehicles. While two sensors are shown, it will be understood that any number of sensors from one or more may be employed according to requirements.
  • the sensors 2a, 2b may be of any suitable type including, but not limited to, contactless sensors such as ultrasonic sensors and contact sensors such as rubber bumpers.
  • the sensors 2a, 2b are operatively connected to a control unit 4 having a suitable power source.
  • the control unit 4 is connected to a 24 volt supply 6 which may be provided by the vehicle battery or by a separate battery.
  • the object proximity detection system is activated by connecting the battery power supply 6 to the control unit 4 either automatically when reverse gear is selected or manually by a switch or other means typically provided in the vicinity of the driver. Where the system is operated manually, the switch or other means may be configured to prevent or inhibit accidental "switch-ons" causing the system to be activated inadvertently.
  • the control unit 4 When activated, the control unit 4 receives a signal from the sensors 2a, 2b when an object is detected within a pre-determined detection zone.
  • each sensor transmits an ultrasonic signal and receives a reflected signal from an object in the path of the sensor which is sent to the control unit 4 for processing.
  • contact sensors such as rubber bumpers
  • each sensor sends a signal upon contact with an object in the path of the sensor to the control unit 4 for processing.
  • control unit 4 is an electronic control unit with a programmable controller (not shown) such as a microprocessor that is operable is response to the signals received from the sensors 2a, 2b to generate a signal for transmission to a control unit 8 of the electronic braking system for activating the vehicle brakes.
  • a programmable controller such as a microprocessor that is operable is response to the signals received from the sensors 2a, 2b to generate a signal for transmission to a control unit 8 of the electronic braking system for activating the vehicle brakes.
  • the sensors 2a, 2b may be set up to work individually or together and the controller programmed to respond accordingly.
  • the controller may be programmed to ignore objects nearer than a pre-determined minimum distance from the vehicle, for example, when reversing in a confined space signals from objects close the rear corners of the vehicle not directly in the path of the vehicle may be ignored.
  • the controller may be programmable to vary the range of the sensor detection zone by any suitable means. Where a contact sensor such as a rubber bumper is employed, the range of the sensor detection zone may be varied by adjusting the mounted position of the sensor.
  • the control unit 4 may include a memory to input and store data relating to the systems settings and operation of the system, for example the date and time of each activation may be stored. Stored data may be retrieved for analysis to check the operation of the system during routine maintenance/servicing and/or in the event of an accident.
  • the control unit 4 may be provided with a port for connecting a device such as a laptop, palmtop or the like to input/retrieve data locally.
  • control unit 8 is an electronic control unit that is connected to the vehicle service brakes by a CAN bus system and the control unit 4 converts digital signals received from a pair of ultrasonic sensors 2a, 2b into a CAN bus signal compatible with the CAN bus system for input to the control unit 8 via a CAN bus signal line 10 that is connected to the control unit 8 by a suitable connector (not shown) .
  • the control unit 8 may be provided with a dedicated port for connecting the signal line 10 such that the object proximity detection system can be retrofitted to an existing vehicle fitted with the electronic braking system.
  • the object proximity detection system and electronic braking system may be factory fitted as original equipment during manufacture of the vehicle.
  • the control unit 8 of the electronic braking system has a programmable controller such as a microprocessor and is operable in response to a signal from the control unit 4 of the object proximity detection system to apply the service brakes in a controlled manner. More specifically, the control unit 8 of the electronic braking system is operable to determine the weight, speed and direction of the vehicle and to apply sufficient brake pressure, typically via an air-line, to stop the vehicle in a pre-determined distance to avoid contact with a detected object in the path of the vehicle. In this way, the braking force is controlled to match the requirements for stopping the vehicle. The braking force may be higher when the vehicle is fully loaded than when it is partially loaded or empty.
  • the control unit 8 may be configured to apply the service brakes for a pre-determined period of time after which the service brakes are released if the object proximity detection system does not detect an object in the path of the vehicle or if the park brake has been applied to prevent movement of the vehicle.
  • the object proximity detection system may be configured to switch off automatically after a pre-determined period of time, for example five minutes, or if the park brake has been applied to prevent movement of the vehicle.
  • the control unit 8 may include a memory to input and store data relating to the operation of the braking system, for example the date and time of operation together with information such as the weight, speed and direction of the vehicle, the applied brake force, duration of the applied force and stopping distance may be stored. Stored data may be retrieved for analysis to check the operation of the system during routine maintenance/servicing and/or in the event of an accident.
  • the control unit 8 may be provided with a port for connecting a device such as a laptop, palmtop or the like to input/retrieve data locally. Alternatively, data may be input/retrieved remotely by any suitable means.
  • the control unit 8 may also be configured to store information relating to the driver of the vehicle. For example, the driver may be required to input personal identification details via a keypad, swipe card or other suitable means on start-up before the vehicle can be moved. In this way, the person in control of the vehicle at the time of an accident can be identified.
  • the object proximity detection system when activated, the object proximity detection system carries out an integrity self-test check on start-up and notifies the electronic braking system if any fault is detected.
  • the electronic braking system in turn can notify the driver that there is a fault with the object proximity detection system, for example by providing a visual and/or audible warning of the fault condition such as a flashing light.
  • the object proximity detection system may provide the warning to the driver. Under these conditions, the vehicle can still be driven and can be reversed but the driver may require assistance when reversing to warn of any objects in the path of the vehicle.
  • the fault should be rectified as soon as possible and data relating to the cause of the fault may be stored in the memory of the object proximity detection system or the electronic braking system for downloading to assist any repair.
  • the object proximity detection system may be configured to provide an audible and/or visual warning of the distance to an object in the path of the vehicle.
  • the audible warning may change according to the distance of the object from the vehicle.
  • the audible warning may comprise a continuous noise such as a buzzer or discontinuous noise such as beeps that increase in intensity (sound level) as the vehicle gets nearer to the object.
  • the electronic braking system may be configured to ignore any signal received from the object proximity detection system when the vehicle is travelling above a pre-determined speed or in a particular direction. For example, if the object proximity detection system is activated while the vehicle is travelling forward at or above the pre-determined speed, the vehicle brakes will not be activated if the object proximity detection system detects another vehicle approaching the rear of the vehicle within range of the sensors.
  • the object proximity detection system may be also provided with sensors at the front of the vehicle. These sensors may be arranged to detect if the front corners of the vehicle approach an object whilst reversing. This can be particular problem when reversing commercial vehicles such as vans, trucks and lorries, especially articulated vehicles of the tractor/trailer type, where the driver is concentrating to avoid a collision at the rear of the vehicle and may not be aware of a potential impact at the front corners of the vehicle.
  • Signals from the front sensors may be used to provide an audible and/or visual warning of the distance of an object from the vehicle without applying the brakes. Alternatively or additionally, the signals from the front sensors may be used to apply the brakes.
  • the invention has application to a wide range of vehicles and operating conditions.
  • means may be provided to operate the systems when the trailer is coupled to a shunting unit to manoeuvre the trailer when disconnected from the tractor unit.
  • a back-up battery may be provided to power the electronic braking system and object proximity detection system and a wireless link may be employed between the shunting unit and trailer to activate the back-up battery and/or provide the driver of the shunting unit with an audible or visual warning of the proximity of any objects while manoeuvring the trailer.
  • control unit of the object proximity detection system may be located close to the sensors away from the control unit of the electronic braking system.
  • the control units may be mounted close to each other or even one mounted on the other.
  • the units may be combined in a single unit. Whatever arrangement is employed an appropriate interface is provided for the electronic braking system to respond to detection of an object by the object proximity detection system and apply a braking force to the slow down or stop the vehicle.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un appareil comportant un système de freinage électronique pour commander le freinage d'un véhicule en réponse à la détection d'un objet dans une zone de détection prédéterminée par des capteurs (2a, 2b) d'un système de détection de proximité d'objets. Les capteurs (2a, 2b) sont connectés de façon fonctionnelle à une unité de commande (4) du système de détection de proximité d'objets et à des moyens d'interface entre le système de détection de proximité d'objets et le système de freinage électronique de telle sorte que, lors de l'utilisation, le système de freinage électronique est sensible à la détection d'un objet situé à une distance prédéterminée du véhicule par le système de détection de proximité d'objets et provoque le freinage du véhicule.
PCT/GB2007/004560 2006-11-28 2007-11-28 Systèmes de freinage électronique WO2008065396A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB0914970A GB2459416B (en) 2006-11-28 2007-11-28 Braking systems

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0623711A GB0623711D0 (en) 2006-11-28 2006-11-28 Braking systems
GB0623711.9 2006-11-28

Publications (1)

Publication Number Publication Date
WO2008065396A1 true WO2008065396A1 (fr) 2008-06-05

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ID=37671426

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Application Number Title Priority Date Filing Date
PCT/GB2007/004560 WO2008065396A1 (fr) 2006-11-28 2007-11-28 Systèmes de freinage électronique

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GB (2) GB0623711D0 (fr)
WO (1) WO2008065396A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014117915A1 (fr) * 2013-01-29 2014-08-07 Audi Ag Procédé permettant de faire fonctionner un système d'aide au stationnement et véhicule à moteur
US10053065B2 (en) 2014-02-27 2018-08-21 Robert Bosch Gmbh Automatic rear braking

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4339066A1 (de) * 1993-11-16 1995-05-18 Bosch Gmbh Robert Einparkhilfe mit Bremseingriff
DE19831262A1 (de) * 1998-07-11 2000-01-13 Wabco Gmbh Verfahren und Einrichtung zur Unterstützung des Fahrers eines Fahrzeuges bei Rückwärtsfahrt
FR2816432A1 (fr) * 2000-11-09 2002-05-10 Delphi Tech Inc Systeme anti-collision pour vehicule automobile et vehicule automobile equipe d'un tel systeme
EP1470977A1 (fr) * 2003-04-23 2004-10-27 Volkswagen Aktiengesellschaft Appareil d'assistance au parking et a la conduite pour un vehicule automobile
DE202004012886U1 (de) * 2004-08-16 2004-11-18 Wöhe, Rico Warn- und Beweissicherungssystem für die Nutzung in Kraftfahrzeugen
EP1516767A2 (fr) * 2003-09-18 2005-03-23 Robert Bosch Gmbh Procédé et dispositif de régulation de la vitesse d'un véhicule, au cours de manoeuvre et/ou de stationnement du véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4339066A1 (de) * 1993-11-16 1995-05-18 Bosch Gmbh Robert Einparkhilfe mit Bremseingriff
DE19831262A1 (de) * 1998-07-11 2000-01-13 Wabco Gmbh Verfahren und Einrichtung zur Unterstützung des Fahrers eines Fahrzeuges bei Rückwärtsfahrt
FR2816432A1 (fr) * 2000-11-09 2002-05-10 Delphi Tech Inc Systeme anti-collision pour vehicule automobile et vehicule automobile equipe d'un tel systeme
EP1470977A1 (fr) * 2003-04-23 2004-10-27 Volkswagen Aktiengesellschaft Appareil d'assistance au parking et a la conduite pour un vehicule automobile
EP1516767A2 (fr) * 2003-09-18 2005-03-23 Robert Bosch Gmbh Procédé et dispositif de régulation de la vitesse d'un véhicule, au cours de manoeuvre et/ou de stationnement du véhicule
DE202004012886U1 (de) * 2004-08-16 2004-11-18 Wöhe, Rico Warn- und Beweissicherungssystem für die Nutzung in Kraftfahrzeugen

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014117915A1 (fr) * 2013-01-29 2014-08-07 Audi Ag Procédé permettant de faire fonctionner un système d'aide au stationnement et véhicule à moteur
US10053065B2 (en) 2014-02-27 2018-08-21 Robert Bosch Gmbh Automatic rear braking

Also Published As

Publication number Publication date
GB2459416B (en) 2011-06-01
GB2459416A (en) 2009-10-28
GB0623711D0 (en) 2007-01-10
GB0914970D0 (en) 2009-09-30

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