WO2009074656A1 - Commande de véhicule par communication véhicule à véhicule - Google Patents

Commande de véhicule par communication véhicule à véhicule Download PDF

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Publication number
WO2009074656A1
WO2009074656A1 PCT/EP2008/067346 EP2008067346W WO2009074656A1 WO 2009074656 A1 WO2009074656 A1 WO 2009074656A1 EP 2008067346 W EP2008067346 W EP 2008067346W WO 2009074656 A1 WO2009074656 A1 WO 2009074656A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
driver assistance
assistance system
control device
maintained
Prior art date
Application number
PCT/EP2008/067346
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Adam Swoboda
Thomas Grotendorst
Mattias Strauss
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2009074656A1 publication Critical patent/WO2009074656A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping

Definitions

  • Today's motor vehicles include comfort systems which, for example, such as adaptive cruise control (simply called ACC), allow control of the (safety) distances.
  • ACC adaptive cruise control
  • Such systems are based on sensors with which the objects relevant to the observation of the vehicle environment, such as vehicles and / or road markings, are identified.
  • a control system for a driver assistance system for a vehicle which comprises a communication device for providing vehicle-to-vehicle communication (C2C communication) with neighboring vehicles, a control unit and a first interface for connecting the control device to a vehicle Driver assistance system has.
  • C2C communication vehicle-to-vehicle communication
  • control device furthermore has a second interface for connecting the control device to a vehicle sensor system, wherein measurement data of the vehicle sensor system are also taken into account for calculating the distance, the speed and / or the acceleration.
  • a method for controlling a vehicle providing vehicle-to-vehicle communication with adjacent vehicles is a distance to be maintained from a vehicle in front based on vehicle-to-vehicle communication received data is calculated and the calculated distance to be maintained is used as a direct default by a driver assistance system.
  • the vehicle sensor system 104 includes, for example, a camera 108, a radar sensor 109, a lidar sensor 110
  • control system 200 may be configured such that the driver assistance system 106 (ie, for example, the ACC) is automatically activated in corresponding traffic situations (special situations) without requiring driver-side intervention.
  • the ACC can be activated automatically in these special situations. In this way, the traffic flow can be maintained by automatically taking over the longitudinal guidance of the vehicle by the driver assistance system.
  • control system is able to control and regulate the traffic flow by means of the automatic acceptance of the longitudinal guidance by the driver assistance system, so that after a recognition and the occurrence of a special situation, the driver assistance system automatically takes over the longitudinal guidance, wherein at the end of the situation, the driver gets back the control he had before the activation of the driver assistance system.
  • an overtake assistant 115 signals the control unit 102 that no overtaking is possible for a certain time.
  • the driver assistance system 106 (such as an ACC) in this case takes over the longitudinal guidance of the vehicle with z. B. the currently applicable speed limit or
  • the special situations can also take place with the aid of a mobile radio communication connection, possibly in combination with the evaluation of measurement data of the vehicle's environment sensors.
  • the mobile communication link is based, for example, on 2G, 2.5G, 3G and / or 4G mobile networks.
  • Fig. 2 shows two vehicles 201, 202, each one
  • Acceleration of the vehicle can lead, which is set fully automatically.
  • Today's ACC systems pay attention to the vehicle in front of their own vehicle and adjust the speed of their own vehicle, if necessary, to the speed of the vehicle ahead.
  • Today's Lane Change Assist monitors the backward neighbor lanes (ie the left and right lanes) of the own vehicle) and warn if necessary the driver, if a lane change would be dangerous because of a vehicle coming from behind. Both systems are not networked.
  • a vehicle A drives ACC on a highway and has as

Abstract

Selon un mode de réalisation, l'invention concerne un système de commande pour véhicule comprenant un dispositif de commande et un système d'assistance à la conduite. L'unité de commande est en mesure de calculer une distance à maintenir par rapport au véhicule circulant devant, sur la base de communication C2C (véhicule à véhicule). Le système d'assistance à la conduite adopte cette distance à maintenir calculée, directement comme référence pour assurer la commande du véhicule. Un autre mode de réalisation concerne une activation automatique de la régulation adaptative de vitesse (ACC) dans des situations particulières. Selon un autre mode de réalisation encore, l'itinéraire prévisionnel ACC est utilisé pour filtrer des messages d'alerte entre véhicules. Selon un autre mode de réalisation, des informations concernant la circulation dans des voies adjacentes sont utilisées pour assurer la commande de l'ACC.
PCT/EP2008/067346 2007-12-11 2008-12-11 Commande de véhicule par communication véhicule à véhicule WO2009074656A1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
DE102007059830 2007-12-11
DE102007059830.2 2007-12-11
DE102008008698.3 2008-02-11
DE102008008698 2008-02-11
DE102008043007.2 2008-10-21
DE102008043007 2008-10-21
DE102008043073 2008-10-22
DE102008043073.0 2008-10-22
DE102008061303.7 2008-12-11
DE102008061303A DE102008061303A1 (de) 2007-12-11 2008-12-11 Fahrzeugsteuerung unter Verwendung von Fahrzeug-zu-Fahrzeug-Kommunikation

Publications (1)

Publication Number Publication Date
WO2009074656A1 true WO2009074656A1 (fr) 2009-06-18

Family

ID=40344934

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/067346 WO2009074656A1 (fr) 2007-12-11 2008-12-11 Commande de véhicule par communication véhicule à véhicule

Country Status (2)

Country Link
DE (1) DE102008061303A1 (fr)
WO (1) WO2009074656A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010045903A1 (fr) * 2008-10-21 2010-04-29 Continental Teves Ag & Co. Ohg Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes
EP2584314A2 (fr) 2011-10-20 2013-04-24 Continental Teves AG & Co. oHG Procédé et dispositif de placement flou d'une information de position et/ou d'informations qui en découlent
CN107662608A (zh) * 2016-07-29 2018-02-06 罗伯特·博世有限公司 用于执行车辆中的功能的方法
CN108520626A (zh) * 2018-03-20 2018-09-11 深圳市金溢科技股份有限公司 V2x车载终端、路侧基站、路况信息获取方法及系统
CN108648486A (zh) * 2018-04-11 2018-10-12 上海淞泓智能汽车科技有限公司 一种智能网联汽车路侧交通信号协议转换系统及方法
CN109544987A (zh) * 2012-01-05 2019-03-29 罗伯特·博世有限公司 驾驶员辅助服务
US10757485B2 (en) 2017-08-25 2020-08-25 Honda Motor Co., Ltd. System and method for synchronized vehicle sensor data acquisition processing using vehicular communication
US20200290621A1 (en) * 2019-03-11 2020-09-17 Hyundai Mobis Co., Ltd. Vehicle lane change control apparatus and method
US11097730B2 (en) * 2018-12-05 2021-08-24 Volkswagen Aktiengesellschaft Implicit activation and control of driver assistance systems
US20210331672A1 (en) * 2018-09-25 2021-10-28 Volkswagen Aktiengesellschaft Method and Device for Supporting a Lane Changing Procedure for a Vehicle
US11163317B2 (en) 2018-07-31 2021-11-02 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing
DE112009005105B4 (de) 2009-07-29 2021-11-04 Toyota Jidosha Kabushiki Kaisha Fahrzeugsteuerung, steuerverfahren für ein fahrzeug und steuersystem für ein fahrzeug
US11181929B2 (en) 2018-07-31 2021-11-23 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing

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DE102009021476A1 (de) * 2009-05-15 2010-11-18 Audi Ag Verfahren zur automatischen Längsführung eines Kraftfahrzeugs umfassend ein adaptives Längsführungssystem (ACC-System)
DE102009027535A1 (de) * 2009-07-08 2011-01-20 Robert Bosch Gmbh Vorrichtung zur Unterstützung eines Einschervorgangs bei Fahrzeugen
US9998451B2 (en) 2009-12-14 2018-06-12 Continental Automotive Gmbh Method for communicating between a first motor vehicle and at least one second motor vehicle
DE102010009898A1 (de) * 2010-03-02 2011-09-08 GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) Verfahren zur Regelung eines Folgeabstands eines ersten Fahrzeugs zu einem zweiten Fahrzeug
JP5152244B2 (ja) * 2010-04-06 2013-02-27 トヨタ自動車株式会社 追従対象車特定装置
DE102010028637A1 (de) * 2010-05-05 2011-11-10 Bayerische Motoren Werke Aktiengesellschaft Elektronische Kopplung von Fahrzeugen zur Reduzierung des Luftwiderstands
JP5077402B2 (ja) 2010-08-17 2012-11-21 トヨタ自動車株式会社 交通制御システム
DE112012006364B4 (de) 2012-05-14 2018-08-30 Mitsubishi Electric Corporation Fahrer-Unterstützungsvorrichtung
DE102012011994A1 (de) 2012-06-16 2013-12-19 Volkswagen Aktiengesellschaft Verfahren zur Unterstützung von Fahrerassistenz- und/oder Sicherheitsfunktionen von Kraftfahrzeugen
DE102014216784A1 (de) 2013-08-26 2015-02-26 Continental Teves Ag & Co. Ohg Verarbeitungspfadabhängige Filterung von im Car2X-Netzwerk empfangenen Datenpaketen
DE102014000843A1 (de) 2014-01-22 2014-08-14 Daimler Ag Spurwechselassistenz für autonom fahrende Kraftfahrzeuge
EP2945140A1 (fr) 2014-05-12 2015-11-18 AVL List GmbH Système et procédé de fonctionnement d'un véhicule autonome
DE102014209844A1 (de) * 2014-05-23 2015-11-26 Continental Automotive Gmbh Fahrerassistenzsystem zum Bereitstellen, Empfangen und Anzeigen von Fahrinformationen
DE102015203804A1 (de) 2015-03-03 2016-09-08 Conti Temic Microelectronic Gmbh Verfahren zur Unterstützung eines Fahrzeugführers eines Folgefahrzeugs beim Anpassen eines Sicherheitsabstandes zum vorausfahrenden Fahrzeug
US11458970B2 (en) 2015-06-29 2022-10-04 Hyundai Motor Company Cooperative adaptive cruise control system based on driving pattern of target vehicle
KR102107774B1 (ko) * 2016-12-30 2020-05-07 현대자동차주식회사 목표차량의 운전패턴에 따른 협조 적응 순항 제어 시스템
US9666079B2 (en) * 2015-08-20 2017-05-30 Harman International Industries, Incorporated Systems and methods for driver assistance
CN106485952B (zh) * 2016-10-28 2020-07-28 北京航空航天大学 一种基于v2v的弯道前车识别方法
DE102017004741A1 (de) * 2017-05-17 2018-11-22 Wabco Gmbh Steueranordnung zum Einstellen eines Abstandes zwischen zwei Fahrzeugen sowie Verfahren zum Einstellen eines Abstandes zwischen zwei Fahrzeugen mit einer derartigen Steueranordnung
KR101973627B1 (ko) 2017-07-11 2019-04-29 엘지전자 주식회사 차량에 구비된 차량 제어 장치 및 차량의 제어방법
DE102018110570B4 (de) 2018-05-03 2019-07-18 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren und System zum gezielten Übermitteln einer Nachricht
DE102020126687A1 (de) 2020-10-12 2022-04-14 Bayerische Motoren Werke Aktiengesellschaft Fahrzeugführungssystem und Verfahren zur Erhöhung der Aufmerksamkeit eines Fahrers beim Betrieb einer Fahrfunktion

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DE102005029662A1 (de) * 2004-06-22 2006-01-19 Deutsches Zentrum für Luft- und Raumfahrt e.V. Umgebungserfassung bei Landfahrzeugen
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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010045903A1 (fr) * 2008-10-21 2010-04-29 Continental Teves Ag & Co. Ohg Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes
DE112009005105B4 (de) 2009-07-29 2021-11-04 Toyota Jidosha Kabushiki Kaisha Fahrzeugsteuerung, steuerverfahren für ein fahrzeug und steuersystem für ein fahrzeug
EP2584314A2 (fr) 2011-10-20 2013-04-24 Continental Teves AG & Co. oHG Procédé et dispositif de placement flou d'une information de position et/ou d'informations qui en découlent
DE102011084878A1 (de) 2011-10-20 2013-04-25 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Unschärfestellung einer Positionsinformation und/oder davon abgeleiteter Informationen
EP2584314A3 (fr) * 2011-10-20 2014-11-26 Continental Teves AG & Co. oHG Procédé et dispositif de placement flou d'une information de position et/ou d'informations qui en découlent
CN109544987A (zh) * 2012-01-05 2019-03-29 罗伯特·博世有限公司 驾驶员辅助服务
CN107662608A (zh) * 2016-07-29 2018-02-06 罗伯特·博世有限公司 用于执行车辆中的功能的方法
US10757485B2 (en) 2017-08-25 2020-08-25 Honda Motor Co., Ltd. System and method for synchronized vehicle sensor data acquisition processing using vehicular communication
CN108520626A (zh) * 2018-03-20 2018-09-11 深圳市金溢科技股份有限公司 V2x车载终端、路侧基站、路况信息获取方法及系统
CN108648486A (zh) * 2018-04-11 2018-10-12 上海淞泓智能汽车科技有限公司 一种智能网联汽车路侧交通信号协议转换系统及方法
US11163317B2 (en) 2018-07-31 2021-11-02 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing
US11181929B2 (en) 2018-07-31 2021-11-23 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing
US20210331672A1 (en) * 2018-09-25 2021-10-28 Volkswagen Aktiengesellschaft Method and Device for Supporting a Lane Changing Procedure for a Vehicle
US11745739B2 (en) * 2018-09-25 2023-09-05 Volkswagen Aktiengesellschaft Method and device for supporting a lane changing procedure for a vehicle
US11097730B2 (en) * 2018-12-05 2021-08-24 Volkswagen Aktiengesellschaft Implicit activation and control of driver assistance systems
US20200290621A1 (en) * 2019-03-11 2020-09-17 Hyundai Mobis Co., Ltd. Vehicle lane change control apparatus and method
US11479252B2 (en) * 2019-03-11 2022-10-25 Hyundai Mobis Co., Ltd. Vehicle lane change control apparatus and method
US20230017222A1 (en) * 2019-03-11 2023-01-19 Hyundai Mobis Co., Ltd. Vehicle lane change control apparatus and method
US11667294B2 (en) 2019-03-11 2023-06-06 Hyundai Mobis Co., Ltd. Vehicle lane change control apparatus and method

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