WO2010045903A1 - Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes - Google Patents

Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes Download PDF

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Publication number
WO2010045903A1
WO2010045903A1 PCT/DE2009/001230 DE2009001230W WO2010045903A1 WO 2010045903 A1 WO2010045903 A1 WO 2010045903A1 DE 2009001230 W DE2009001230 W DE 2009001230W WO 2010045903 A1 WO2010045903 A1 WO 2010045903A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicles
vehicle
adaptive cruise
parameter data
control system
Prior art date
Application number
PCT/DE2009/001230
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Matthias 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
Priority to DE112009001740T priority Critical patent/DE112009001740A5/de
Publication of WO2010045903A1 publication Critical patent/WO2010045903A1/fr

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Classifications

    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping

Definitions

  • the invention relates to an apparatus and a method for controlling and / or regulating an adaptive cruise control system of a vehicle using information about at least one further vehicle according to claim 1, 3 or 8.
  • Adaptive Cruise Control ACC
  • FSRA Fill Speed Range ACC
  • Stop & Go ACC ACC
  • Stop & Go ACC ACC
  • lane change warning devices also referred to as Lane Change Assist (LCA)
  • LCA Lane Change Assist
  • 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 preceding vehicle.
  • Today's ACC systems are purely systems aimed at vehicles in front, other traffic situations are not intended as input information for today's ACC systems.
  • Today's lane change assistants (Lane Change Assist or Blind Spot Detection) monitor the rearward neighboring lanes (ie the left and right lanes of one's own vehicle) and warn the driver if a lane change due to a vehicle coming from behind would be dangerous.
  • Today's lane change warning systems are therefore purely on vehicles of adjacent lanes directed systems, other traffic situations are not provided for today's lane change Wamsystem ⁇ as input information.
  • the aforementioned current systems are not networked, ie there is no data exchange or other interaction between these systems. So it is in the hitherto known prior art to systems that operate independently of each other and use completely different traffic situations or traffic information as input information, each of the systems is specialized in its respective traffic situation.
  • This object is achieved by a device for controlling and / or
  • An essential idea of the invention is to provide an interaction, in particular a data exchange, between driver warning and / or driver assistance systems, such that information that is typically acquired and / or generated and / or used by a driver warning and / or driver assistance system now be made available to another driver warning and / or driver assistance system for its improved function.
  • Driver assistance system in a simple and effective way broadened by already existing information from other driver warning and / or driver assistance systems in an advantageous manner be used.
  • control and / or regulation of driver warning and / or driver assistance systems can be advantageously improved by creating a broader information base without additional hardware on wall such as additional sensors or the like.
  • the present invention relates in one embodiment to an apparatus for controlling and / or regulating an adaptive cruise control system of a vehicle using information about at least one other vehicle.
  • the device according to the invention according to this embodiment has at least:
  • a data generating device for generating monitoring data based on the monitoring of vehicles of adjacent traffic lanes
  • a determination device for determining driving parameter data of vehicles of neighboring lanes from the monitoring data
  • a control and / or regulating device for controlling and / or regulating the Adaptive Cruise Control system based on the determined driving parameter data of vehicles of adjacent lanes.
  • control and / or regulating device for controlling and / or regulating the Adaptive Cruise Control system can be designed as part of the Adaptive Cruise Control system itself, but it can also be designed as a device of another driver warning and / or driver assistance system.
  • control and / or regulating device can also be designed as a separate device outside of existing driver warning and / or driver assistance systems. All of the above applies in principle for the
  • Monitoring device the data-generating device and / or the detection device, but at least one of these devices as a separate, separate from the Adaptive Cruise Control system Device is formed. Consequently, according to this embodiment of the invention, additional information for broadening the information base for the operation of the Adaptive Cruise Control system can be made available to the Adaptive Cruise Control system, namely information about vehicles of adjacent lanes.
  • An embodiment of the invention provides that at least the monitoring device and / or the data generation device and / or the determination device and / or the control and / or regulating device is designed as a device of another driver warning and / or driver assistance system.
  • a special embodiment of this provides that the further driver warning and / or driver assistance system is designed as a lane change warning system.
  • the present invention relates to a device for controlling and / or regulating operating parameters of a vehicle using information about at least one further vehicle, comprising at least
  • driver warning and / or driver assistance system and the Adaptive Cruise Control system are connected in terms of data that driving parameter data of vehicles of adjacent lanes and / or control and / or control data from the driver warning and / or driver assistance system to the Adaptive Cruise Control system are communicable.
  • Adaptive Cruise Control system Broadening the information base provided for the operation of the Adaptive Cruise Control system, namely - either directly or indirectly by way of control and / or regulation data - information about vehicles of neighboring lanes.
  • a special embodiment of this provides that the driver warning and / or driver assistance system is designed as a lane change warning system.
  • An embodiment of the invention provides that the device and / or the system for determining driving parameter data is designed to determine speed parameter data of vehicles of adjacent lanes.
  • the device and / or the system for determining driving parameter data may in particular be designed to determine average speeds and / or minimum speeds and / or maximum speeds and / or speed differences of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes and / or from the traffic density of vehicles of adjacent lanes.
  • the driving parameter data can thus relate purely to the speed parameters of other vehicles, or also to a relation of speed parameters of the own vehicle to speed parameters of other vehicles.
  • traffic densities such as e.g. Vehicles per unit time, per unit length or per unit angle are used.
  • the ACC With the monitoring of the adjacent lanes by the committeewam- and / or driver assistance system, in particular by a lane change warning system such as the speed and the average speed of the vehicles are determined on these adjacent lanes, alternatively or additionally, the traffic density.
  • the behavior of the ACC is adapted to these speeds or traffic density.
  • the information about the speed of the adjacent lane may be used if a speed limit is detected. If this speed limit is lower than the speed of the adjacent lane and is the vehicle in an overtaking process, for example, the ACC controls the speed limit only after the end of the overtaking process.
  • Speed parameter data can be controlled and / or regulated such that the acceleration behavior of the Adaptive Cruise Control system is variable as a function of this speed parameter data.
  • the behavior of the Adaptive Cruise Control system e.g. when performing a lane change, to be adapted to speed parameters of vehicles of adjacent lanes and so on
  • the average speed and / or the lowest speed of the adjacent lane are used to adjust the acceleration behavior of the Adaptive Cruise Control system to the difference between the current speed and the average speed or lowest speed of the secondary lane.
  • the acceleration can be adapted to the differential speed, ie low acceleration at low differential speed. Conversely, when approaching from behind a vehicle with a large differential speed and shears its own
  • the present invention relates in a further embodiment to a method for controlling and / or regulating an adaptive cruise control system of a vehicle using information about at least one further vehicle.
  • the method has at least the following, automatically performed steps: monitoring of vehicles of adjacent lanes, Generation of monitoring data based on the monitoring of vehicles of adjacent traffic lanes,
  • the previously said analog i.
  • additional information can be provided to the Adaptive Cruise Control system to broaden the information base for the operation of the Adaptive Cruise Control system, namely, information about vehicles of adjacent lanes.
  • the control and / or regulation of the Adaptive Cruise Control system can be performed in the Adaptive Cruise Control system itself, but it can also be performed in a facility of another driver control and / or driver assistance system or in a separate device.
  • An embodiment of the invention provides that, as part of the determination of driving parameter data, a determination of speed parameters of vehicles of adjacent traffic lanes takes place.
  • Speed differences of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes and / or the traffic density of vehicles of adjacent lanes occurs.
  • the determination of the driving parameter data can thus extend purely to the speed parameters of other vehicles, or even to a relation of speed parameters of the own vehicle to speed parameters of others Vehicles.
  • traffic densities such as vehicles per time of day, per unit of length or per angular unit, as has already been carried out in the context of the devices according to the invention.
  • the Adaptive Cruise Control system is controlled and / or regulated as a function of the speed parameter data in such a way that the acceleration behavior of the Adaptive Cruise Control system is changed as a function of this speed parameter data.
  • This in turn allows the behavior of the Adaptive Cruise Control system, e.g. when performing a lane change, be adapted to the speed parameters of vehicles adjacent lanes and so a lane change optimized to be performed.
  • a corresponding embodiment of the method according to the invention provides that speed parameter data of vehicles of adjacent lanes are compared with driving parameter data of the vehicle and checked for the presence of possible dangerous situations for the vehicle. This comparison may be e.g. based on stored models, optimal values or limits on driving parameter data and speed parameter data. If possible dangerous situations such as an accident or collision hazard are detected, the acceleration behavior of the Adaptive Cruise Control system is controlled and / or regulated in such a way that the dangerous situation is avoided. Alternatively or additionally, the driver can be warned visually or acoustically, for example, of the dangerous situation.
  • An embodiment of this inventive method provides that before a lane change driving parameter data on the acceleration behavior of the Adaptive Cruise Control system with Speed parameter data - eg regarding average speeds of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes - are compared.
  • Speed parameter data eg regarding average speeds of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes - are compared.
  • Acceleration behavior is not sufficient for a lane change - in order to avoid a dangerous situation, the acceleration behavior of the Adaptive Cruise Control system is controlled and / or regulated in such a way that the vehicle is braked.
  • An alternative embodiment of the aforementioned method according to the invention provides that when obstacles are detected in the lane of the vehicle (for example with the aid of the abovementioned monitoring device) driving parameter data about the acceleration behavior of the Adaptive Cruise Control system with speed parameter data - e.g. relating to average speeds of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes.
  • speed parameter data e.g. relating to average speeds of vehicles of adjacent lanes and / or speed differences to vehicles of adjacent lanes.
  • the invention thus comprises an adaptation of the behavior of an ACC to the speed and average speed of vehicles as well as the traffic density, which are determined by monitoring the lateral tracks by a lane change warning sensor system on these tracks.
  • the average speed and / or the lowest lateral lane speed can be used to estimate the ACC's impact behavior on the difference adjust between current speed and average speed or lowest speed of the secondary lane.
  • the acceleration is adapted to the differential speed, ie low acceleration at low differential speed.
  • the information about the speed of the sub-track may be used if a speed limit is detected. If this speed limit is lower than the speed of the secondary lane and if the vehicle is currently in an overtaking maneuver, the ACC will only adjust to the speed limit after the end of the overtaking maneuver.
  • a control and / or regulating device 8 carries out a control and / or a regulation of the Adaptive Cruise Control system 9 on the basis of driving parameter data, which in relation to the at least one further Vehicle 2 were determined on the adjacent lane 4.
  • driving parameter data As Fahrparameter- data here speed parameter data and possibly also or alternatively traffic density data of the adjacent lane 4 are used.
  • a monitoring device 5 for monitoring vehicles 2 which are located on an adjacent lane 4.
  • This monitoring device 5 is connected to a data generating device 6 for generating monitoring data based on the monitoring of vehicles 2 adjacent lanes 4 data technically.
  • a determination device 7 for determining driving parameter data of vehicles 2 of adjacent lanes 4 from the monitoring data is provided, which in turn is connected to the data generation device 6 and to the control and / or regulating device 8 in terms of data technology.
  • the monitoring device 5, the data generation device 6, the determination device 7 and the control and / or regulating device 8 are designed as devices of a driver warning system 10 already present in the vehicle 1, namely as devices of a lane change warning system. It can therefore be used to implement the invention according to the embodiment of FIG. 1 simply on existing hardware. There are therefore no additional hardware requirements in the form of additional environmental sensors or the like.
  • FIG. 2 shows, as an alternative to the exemplary embodiment according to FIG. 1, an implementation of the invention in which the control and / or regulating device 8 is designed as a device of the Adaptive Cruise Control System 9. Again, can be used to implement the invention on existing hardware.
  • the driver warning system 10 (here in the form of a lane change warning system) and the adaptive cruise control system 9 are connected in terms of data technology such that speed parameter data and possibly also or alternatively traffic density data of the adjacent lane 4 of the driver warning system 10 to the control and / or regulating device 8 and the Adaptive Cruise Control System 9 can be transmitted.
  • the average speed and / or the lowest speed of the vehicles 2 on the adjacent lane 4 may be used to determine the acceleration behavior of the adaptive cruise control system 9 to the difference between the current speed and the average speed or lowest speed of the adjacent lane 4 adapt. If it has now been recognized, for example, that another vehicle has overtaken just before a lane change of the vehicle 1, then the ACC 9 is automatically controlled or regulated such that the acceleration is adapted to the differential speed, ie low acceleration at low differential speed. If, on the other hand, a vehicle 2 approaches from behind with a large differential speed and nevertheless shears off its own vehicle 1, then the ACC 9 is automatically selected or regulated in such a way as to select a suitable acceleration.
  • the vehicle 1 drives with activated ACC 9 on a highway and has set as Setspeed 200 km / h. However, the front vehicle only allows a speed of 130 km / h. On the left secondary lane 4 drives a vehicle 2 with 150 km / h over. The driver of the vehicle 1 shears shortly behind this vehicle 2 on the adjacent lane 4. By knowing the difference speed to the vehicle 2, the ACC 9 accelerates only moderately.
  • the vehicle 1 drives with activated ACC 9 on a highway and has set as Setspeed 200 km / h. However, the front vehicle only allows a speed of 130 km / h. Therefore, the driver of vehicle 1 shears off on the adjacent lane 4. Shortly before, however, the system 9, 10 has recognized that from behind a vehicle 2 approaches at 180 km / h. Therefore, the ACC 9 accelerates greatly to avoid a dangerous situation.
  • Example 3 A vehicle 1 is driving on a motorway with activated ACC 9 and has entered a set speed of 200 km / h. However, the front vehicle only allows a speed of 130 km / h. Therefore, the driver of vehicle 1 shears off on the adjacent lane 4. About the lateral sensors, so the monitoring device 5, the data generating device 6 and the detection device 7 was previously recognized that the
  • Average speed on this track is about 160 km / h, but not overly dense traffic. Therefore the ACC 9 accelerates only moderate and only up to a little over 160 km / h, so as not to force unnecessary braking.
  • Example 4 The vehicle 1 drives on a motorway with activated ACC 9 and has entered 200 km / h as Setspeed. However, the front vehicle only allows a speed of 130 km / h. Therefore, the driver of vehicle 1 shears off on the adjacent lane 4.
  • the lateral sensors that is to say the monitoring device 5, the data generation device 6 and the determination device 7, it was previously recognized that the
  • Average speed on this adjacent lane 4 is about 160 km / h, but with very dense traffic. Therefore, the ACC 9 accelerates sharply to get as fast as possible on the average speed of the adjacent lane 4 and to allow a liquid traffic.
  • the vehicle 1 with activated ACC 9 overtakes a preceding vehicle 2 on a single-lane road. First of all, therefore, both vehicles are located on a common traffic lane 4. The vehicle here drives 90 km / h. In the middle of the overtaking process both vehicles 1, 2 reach a zone with an allowed speed of 80 km / h. The system of the vehicle 1 recognizes that there is still a vehicle 2 - now on an adjacent lane 4 - located next to the vehicle 1 and vehicle 1 is in an overtaking process and therefore sets the
  • the vehicle 1 drives with activated ACC 9 on a highway and has set as Setspeed 200 km / h.
  • the front vehicle leaves only one Speed of 80 km / h too.
  • On the adjacent lane 4 a very high average speed of 180 km / h is determined. If the acceleration behavior of the vehicle 1 is not sufficient to reliably perform a lane change, then the driver is already warned when approaching (that is, when accelerating). Should it nevertheless come to a dangerous situation, the vehicle 1 can also brake at the last possible moment to avoid an accident.
  • Example 7 The vehicle 1 drives on a motorway with activated ACC 9 and has entered 200 km / h as Setspeed. However, the front vehicle only allows a speed of 130 km / h. Suddenly the front vehicle brakes hard. At the same time it is recognized that there is no possibility to dodge on the secondary lanes. In such a situation, emergency braking by the activated ACC 9 can take place more autonomously and earlier and a threatening accident can be avoided.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif pour commander et/ou réguler des paramètres de fonctionnement d'un véhicule (1) au moyen d'informations concernant au moins un autre véhicule (2). Ce dispositif présente au moins un système d'avertissement du conducteur et/ou d'aide à la conduite (10) pour contrôler des véhicules (2) circulant sur des voies adjacentes (4), ainsi qu'un régulateur de vitesse et d'espacement (9), le système d'avertissement du conducteur et/ou d'aide à la conduite (10) et le régulateur de vitesse et d'espacement (9) étant reliés à des fins de transmission de données de telle sorte que des données de paramètres de conduite relatives à des véhicules (2) circulant sur des voies adjacentes (4) et/ou des données de commande et/ou de régulation du système d'avertissement du conducteur et/ou d'aide à la conduite (10) puissent être transmises au régulateur de vitesse et d'espacement (9).
PCT/DE2009/001230 2008-10-21 2009-09-02 Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes WO2010045903A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112009001740T DE112009001740A5 (de) 2008-10-21 2009-09-02 Vorrichtung und Verfahren zur Steuerung und/oder Regelung eines Fahrzeugs unter Verwendung von Informationen über Fahrzeuge benachbarter Fahrspuren

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008043007.2 2008-10-21
DE102008043007 2008-10-21

Publications (1)

Publication Number Publication Date
WO2010045903A1 true WO2010045903A1 (fr) 2010-04-29

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PCT/DE2009/001230 WO2010045903A1 (fr) 2008-10-21 2009-09-02 Dispositif et procédé pour commander et/ou réguler un véhicule au moyen d'informations concernant des véhicules circulant sur des voies adjacentes

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WO (1) WO2010045903A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014183908A1 (fr) * 2013-05-13 2014-11-20 Robert Bosch Gmbh Procédé et dispositif pour faire fonctionner un véhicule
CN111186440A (zh) * 2018-11-14 2020-05-22 本田技研工业株式会社 车辆控制装置，车辆控制方法以及车辆控制程序
CN112277944A (zh) * 2020-10-30 2021-01-29 浙江吉利控股集团有限公司 一种道路巡航方法、装置及介质
CN113129624A (zh) * 2019-12-30 2021-07-16 百度（美国）有限责任公司 交通堵塞情况下的最快车道确定算法
US20210331672A1 (en) * 2018-09-25 2021-10-28 Volkswagen Aktiengesellschaft Method and Device for Supporting a Lane Changing Procedure for a Vehicle
CN115206053A (zh) * 2022-06-02 2022-10-18 河南越秀尉许高速公路有限公司 一种低虚警率的高速公路施工区预警方法

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EP1607264A1 (fr) * 2004-06-17 2005-12-21 Robert Bosch GmbH Dispositif d'assistance au changement de voie pour véhicule automibile
EP1852325A1 (fr) * 2006-05-06 2007-11-07 Bayerische Motoren Werke Aktiengesellschaft Procédé de régulation de suivi automatisé pour un véhicule automobile
WO2008004963A1 (fr) * 2006-07-05 2008-01-10 Scania Cv Ab (Publ) Dispositif de détermination de la situation d'un environnement
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EP1997705A1 (fr) * 2005-12-28 2008-12-03 National University Corporation Nagoya University Dispositif d'estimation de comportement de conduite, dispositif de support de conduite, systeme d'evaluation de vehicule, dispositif de fabrication de modele de conducteur, et dispositif de determination de comportement de conduite
WO2009074656A1 (fr) * 2007-12-11 2009-06-18 Continental Teves Ag & Co. Ohg Commande de véhicule par communication véhicule à véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1607264A1 (fr) * 2004-06-17 2005-12-21 Robert Bosch GmbH Dispositif d'assistance au changement de voie pour véhicule automibile
EP1997705A1 (fr) * 2005-12-28 2008-12-03 National University Corporation Nagoya University Dispositif d'estimation de comportement de conduite, dispositif de support de conduite, systeme d'evaluation de vehicule, dispositif de fabrication de modele de conducteur, et dispositif de determination de comportement de conduite
EP1852325A1 (fr) * 2006-05-06 2007-11-07 Bayerische Motoren Werke Aktiengesellschaft Procédé de régulation de suivi automatisé pour un véhicule automobile
WO2008004963A1 (fr) * 2006-07-05 2008-01-10 Scania Cv Ab (Publ) Dispositif de détermination de la situation d'un environnement
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WO2009074656A1 (fr) * 2007-12-11 2009-06-18 Continental Teves Ag & Co. Ohg Commande de véhicule par communication véhicule à véhicule

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014183908A1 (fr) * 2013-05-13 2014-11-20 Robert Bosch Gmbh Procédé et dispositif pour faire fonctionner un véhicule
CN105723435A (zh) * 2013-05-13 2016-06-29 罗伯特·博世有限公司 用于运行车辆的方法和设备
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
CN111186440A (zh) * 2018-11-14 2020-05-22 本田技研工业株式会社 车辆控制装置，车辆控制方法以及车辆控制程序
CN113129624A (zh) * 2019-12-30 2021-07-16 百度（美国）有限责任公司 交通堵塞情况下的最快车道确定算法
US11880201B2 (en) 2019-12-30 2024-01-23 Baidu Usa Llc Fastest lane determination algorithm under traffic jam
CN112277944A (zh) * 2020-10-30 2021-01-29 浙江吉利控股集团有限公司 一种道路巡航方法、装置及介质
CN112277944B (zh) * 2020-10-30 2022-10-11 浙江吉利控股集团有限公司 一种道路巡航方法、装置及介质
CN115206053A (zh) * 2022-06-02 2022-10-18 河南越秀尉许高速公路有限公司 一种低虚警率的高速公路施工区预警方法
CN115206053B (zh) * 2022-06-02 2023-10-03 河南越秀尉许高速公路有限公司 一种低虚警率的高速公路施工区预警方法

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