WO2012097940A1 - Procédé de maintien d'un véhicule dans une voie de circulation - Google Patents

Procédé de maintien d'un véhicule dans une voie de circulation Download PDF

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Publication number
WO2012097940A1
WO2012097940A1 PCT/EP2011/073552 EP2011073552W WO2012097940A1 WO 2012097940 A1 WO2012097940 A1 WO 2012097940A1 EP 2011073552 W EP2011073552 W EP 2011073552W WO 2012097940 A1 WO2012097940 A1 WO 2012097940A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane
section
signal
lane keeping
Prior art date
Application number
PCT/EP2011/073552
Other languages
German (de)
English (en)
Inventor
Lutz Buerkle
Thomas Glaser
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012097940A1 publication Critical patent/WO2012097940A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/082—Lane monitoring; Lane Keeping Systems using alarm actuation
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/20—Road shapes
    • B60T2210/24—Curve radius
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/36—Global Positioning System [GPS]
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the invention relates to a method for holding a vehicle in a traffic lane by means of a lane keeping system.
  • Various lane-tracking systems for cars or trucks are known from the prior art, which assist the driver in controlling the vehicle. Some of the known systems generate directional steering torque on the steering wheel, which is tactile to the driver and causes the driver to steer the vehicle in the indicated direction. Other systems run the vehicle fully automatically in the lane.
  • Known lane keeping systems generally include a lane recognition system with which the lane course in front of the vehicle and the relative position of the vehicle in the lane can be determined. For this, the traffic space in front of the vehicle, e.g. detected by a video camera and evaluated the gray scale images obtained in a control unit. Some systems also incorporate data from a digital map to support and expand the video-based lane information.
  • a desired trajectory is then determined which the vehicle is to follow. If the vehicle deviates too far from the target trajectory, the system intervenes e.g. via a guide torque on the steering wheel or by targeted braking on a particular wheel in the driving operation and leads the vehicle on the
  • Video sensors lane markings on the roads can no longer be detected.
  • Lane keeping system can lead to dangerous situations in the driver's inattention.
  • information relating to one's own vehicle is also preferably taken into consideration, such as eg. B. whose position and / or speed and / or distance and / or driving condition (braking,
  • An upstream section may e.g. from the vehicle to about 200 m or 500 m in front of the vehicle.
  • Track section may be of the vehicle speed or other size, eg. B. also be dependent on weather data.
  • the timing of issuing the warning signal can be determined by the
  • Vehicle speed or another size At high speeds or adverse weather conditions, a warning to the driver should in principle be given earlier than at lower speeds
  • the data analyzed by the lane keeping system over a preceding section of the route may e.g. B. data on curve radii and / or
  • Traffic zones, traffic jams and / or traffic conditions included can be used in conjunction with information about your own vehicle (e.g.
  • At least part of the data on the route ahead is determined from a digital map.
  • the data on the preceding section of the route can also come from other sources, for example a video and / or radar system, the traffic information system, a temperature or rain sensor, or other sensors.
  • System boundaries of the lane keeping system may be e.g. Be a curve with a radius that is smaller than a predetermined threshold, a predetermined maximum lateral acceleration of the vehicle, an intersection, a roundabout, a junction, a priority, a construction site and / or other traffic obstruction, a predetermined traffic zone, such.
  • a predetermined threshold e.g. Be a curve with a radius that is smaller than a predetermined threshold, a predetermined maximum lateral acceleration of the vehicle, an intersection, a roundabout, a junction, a priority, a construction site and / or other traffic obstruction, a predetermined traffic zone, such.
  • a system limit is exceeded, for example, when the vehicle is traveling in a curve whose radius is smaller than a predetermined threshold, or the vehicle is driving in a roundabout. In such situations, the lane keeping system is no longer able to guide the vehicle safely in the lane.
  • the aforementioned signal generator can emit an optical, acoustic or haptic perceptible by the driver signal.
  • An optical signal can e.g. by means of a flashing or illuminated light or a
  • Screen are generated. On a screen or another
  • Display device may also be displayed detailed information, such. For example, how long the remaining time to failure.
  • an acoustic signal e.g. sound a sound, e.g. louder or can change the frequency, as long as the driver does not intervene and the closer the failure moves.
  • Other ways of informing the driver are e.g. in a vibration of the steering wheel or the driver's seat. Also possible is a
  • the driver is informed in good time about the imminent failure of the lane keeping system.
  • the time or place where the warning signal is output is preferably adjustable. It may be dependent on vehicle speed or other size.
  • a lane keeping system comprises a control device with an algorithm which analyzes data over a preceding section of the route and determines from these data whether a predetermined system limit of the
  • Lane keeping system is expected to be exceeded when the vehicle passes through the section. If exceeding a system boundary is expected, a buzzer will be activated to warn the driver well in advance of the impending failure.
  • the controller is preferably connected to various other devices from which it receives data about its own vehicle or a forward link, e.g. with a navigation system, a memory with a digital map, with a rain sensor, a
  • Temperature sensor with wheel speed sensors, or another sensor or source that provides decision-relevant data.
  • the algorithm mentioned above decides, taking into account all available information, whether at reaching the next
  • Figure 1 is a schematic representation of a vehicle on a road, as well as a track section lying ahead.
  • Fig. 2 is a schematic block diagram of the essential components of a system for warning a driver of a possible failure of a lane keeping system.
  • FIG. 1 shows a vehicle 1 which moves forward at a speed v on a lane 6.
  • the vehicle 1 is located in the illustrated
  • the vehicle 1 is equipped with a lane keeping system, which guides the vehicle 1 fully automatically in the lane 6.
  • the lane keeping system includes a lane detection camera 9. From the image data of the camera 9 lane markers 10 are identified and thus the edge of the lane 6 detected.
  • the surveillance area of the camera 9 is identified by the reference numeral 12.
  • the lane keeping system determines the relative position of the vehicle 1 on the lane 6 and calculates a target trajectory 1 1. If the vehicle 1 deviates too much from the target trajectory 11, the lane keeping system intervenes by targeted steering interventions and returns the vehicle 1 to the target trajectory 11 ,
  • the vehicle 1 further comprises means for analyzing a forward link 2, which may be from the vehicle 1 to a certain one
  • the essential components a lane keeping system that will warn the driver of an imminent
  • Fig. 2 shows a schematic block diagram of a lane keeping system with warning device, the processing unit 3, such. B. includes a controller in which an algorithm 7 is implemented.
  • the algorithm continuously analyzes on the basis of various data 4 whether a system limit of the lane keeping system is likely to be exceeded when passing through a preceding section 2.
  • the algorithm 7 takes into account all the data 4 which is responsible for the
  • Priority regulations road type, speed limits, weather data, construction sites or other obstructions, traffic zones, traffic jams and / or traffic conditions. Based on this data can be with knowledge of information about your own vehicle, such. B. whose position,
  • the data and information 4 required for monitoring can come from different sources, such as: B. from a digital map 14, wheel speed sensors 15 (for determining the vehicle speed), a
  • Sensor 16 for measuring environmental influences such. As a rain sensor, from a traffic announcement center 17 or an acceleration or yaw rate sensor.
  • the controller is here connected to the sources 14-17 shown, although more or less data sources may be provided.
  • the data 4 are stored here in a memory 8.
  • a signal generator 5 is further connected, by means of which the driver can be warned visually, acoustically or in tactile perceptible manner on a possible imminent failure of the lane keeping system.
  • the function of the lane keeping system in the event of an imminent failure of the system is explained below by way of example with reference to the driving situation illustrated in FIG.
  • the algorithm 7 determines a leading left-hander curve with a minimum radius r determined in the vertex of the curve. This radius r is compared to a threshold. If the radius is smaller than the threshold, a failure of the lane keeping system is likely, so that the controller 3 consequently drives the signal generator 5 via a control line 13 and activates to warn the driver.
  • the signal generator 5 can, for. B. a screen 19 of the on-board computer or a speaker 20 be. On the screen 19 z.
  • a voice as known from navigation systems warns the driver from the loudspeaker 20: "In 250 meters: failure lane keeping system (left turn).” Warning, failure of the lane keeping system in 250 meters.
  • the screen of the on-board computer 19 will display: "In 200 meters: failure lane keeping system
  • the message is repeated by a voice from the loudspeaker 20 and additionally emits a signal tone, which is set only when the driver has taken over the steering. Thus, the driver is warned of the failure of the lane keeping system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de guidage d'un véhicule (1) dans une voie de circulation (6) au moyen d'un système de maintien de trajectoire (9), selon lequel le véhicule (1) est guidé dans la voie de circulation (6) par des corrections de direction automatiques. L'invention vise à avertir le conducteur en temps utile avant une défaillance du système de maintien de trajectoire. A cet effet, on évalue des données (4) relatives à une section à parcourir (2), et on détermine à partir de ces dernières si une limite prédéfinie du système de maintien de trajectoire (9) sera dépassée lors du passage de la section de parcours (2). Un signal est transmis au conducteur s'il est établi que la limite prédéfinie du système sera vraisemblablement dépassée.
PCT/EP2011/073552 2011-01-20 2011-12-21 Procédé de maintien d'un véhicule dans une voie de circulation WO2012097940A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011002911A DE102011002911A1 (de) 2011-01-20 2011-01-20 Verfahren zum Halten eines Fahrzeuges in einer Fahrspur
DE102011002911.7 2011-01-20

Publications (1)

Publication Number Publication Date
WO2012097940A1 true WO2012097940A1 (fr) 2012-07-26

Family

ID=45440534

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/073552 WO2012097940A1 (fr) 2011-01-20 2011-12-21 Procédé de maintien d'un véhicule dans une voie de circulation

Country Status (2)

Country Link
DE (1) DE102011002911A1 (fr)
WO (1) WO2012097940A1 (fr)

Cited By (8)

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CN103085816A (zh) * 2013-01-30 2013-05-08 同济大学 一种用于无人驾驶车辆的轨迹跟踪控制方法及控制装置
WO2014055023A1 (fr) * 2012-10-03 2014-04-10 Scania Cv Ab Dispositif et procédé pour le diagnostic des fonctions d'un véhicule
EP2921363A1 (fr) * 2014-03-18 2015-09-23 Volvo Car Corporation Véhicule, système de véhicule et procédé pour augmenter la sécurité et/ou le confort pendant un entraînement autonome
CN104925053A (zh) * 2014-03-18 2015-09-23 沃尔沃汽车公司 增加自主驾驶安全和/或舒适性的车辆、车辆系统和方法
WO2017186560A1 (fr) 2016-04-26 2017-11-02 Unilever N.V. Produit alimentaire composite salé comprenant des morceaux de gelée
CN108447289A (zh) * 2017-02-16 2018-08-24 丰田自动车株式会社 车辆通信系统及车辆控制装置
CN109377755A (zh) * 2018-10-31 2019-02-22 惠州市德赛西威汽车电子股份有限公司 一种车道通行效率优化分组装置及方法
US11813978B2 (en) 2013-11-06 2023-11-14 Frazier Cunningham, III Parking signaling system

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DE102012214206B4 (de) 2012-08-09 2022-12-22 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Krümmungserkennung eines Fahrspurverlaufs während einer vollautomatischen Fahrzeugführung
DE102013225759A1 (de) 2012-12-17 2014-06-18 Conti Temic Microelectronic Gmbh Verfahren für ein Fahrerassistenzsystem zur Spurhaltung
DE102014205127A1 (de) * 2013-04-17 2014-10-23 Ford Global Technologies, Llc Steuerung der Fahrdynamik eines Fahrzeugs mit Spurrillenausgleich
DE102013013568A1 (de) 2013-08-14 2015-02-19 GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) Spurhalteassistenzsystem und Verfahren zum Spurhalten eines Kraftfahrzeugs
EP2922033B1 (fr) 2014-03-18 2018-11-21 Volvo Car Corporation Système et procédé de diagnostic de capteur de véhicule et véhicule comportant un tel système
DE102014008353B4 (de) * 2014-06-04 2016-09-15 Audi Ag Verfahren zum Betrieb eines Fahrerassistenzsystems zur automatisierten Führung eines Kraftfahrzeugs sowie zugeordnetes Kraftfahrzeug
DE102015004469A1 (de) * 2015-04-04 2016-08-25 Audi Ag Verfahren zur Information eines Fahrers beim vollautomatischen Betrieb eines Kraftfahrzeugs
EP3109115B1 (fr) * 2015-06-23 2018-01-31 Volvo Car Corporation Agencement et procédé pour faciliter un transfert vers et depuis un système d'aide à la conduite autonome automatisé
JP6642334B2 (ja) 2016-08-25 2020-02-05 トヨタ自動車株式会社 車両制御装置
EP3381758B1 (fr) * 2017-03-30 2020-03-04 Alpine Electronics, Inc. Système d'information de conducteur et procédé pour un véhicule pouvant se déplacer dans un mode de conduite autonome
DE102017219127A1 (de) * 2017-10-25 2019-04-25 Volkswagen Aktiengesellschaft Verfahren zum frühzeitigen Hinweisen auf einen Betriebsbereich mit einem unzureichenden Verlässlichkeitsstatus eines Assistenzsystems eines Fortbewegungsmittels, System und Automobil
DE102019212489A1 (de) * 2019-08-21 2021-02-25 Robert Bosch Gmbh Verfügbarkeits-Optimierungssystem für ein autonom fahrfähiges Fahrzeug
DE102021203428B4 (de) * 2021-04-07 2023-05-04 Continental Autonomous Mobility Germany GmbH Vorrichtung und Verfahren zur Stabilitätsüberwachung eines Ego-Fahrzeugs
DE102021203424A1 (de) 2021-04-07 2022-10-13 Continental Autonomous Mobility Germany GmbH Vorrichtung und Verfahren zur Stabilitätsüberwachung bei einer automatisierten Führung eines Ego-Fahrzeugs

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EP2133253A1 (fr) * 2008-06-12 2009-12-16 Robert Bosch Gmbh Procédé et dispositif destinés à la commande d'un système d'assistance au conducteur

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CN103085816B (zh) * 2013-01-30 2015-10-28 同济大学 一种用于无人驾驶车辆的轨迹跟踪控制方法及控制装置
CN103085816A (zh) * 2013-01-30 2013-05-08 同济大学 一种用于无人驾驶车辆的轨迹跟踪控制方法及控制装置
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CN104925053A (zh) * 2014-03-18 2015-09-23 沃尔沃汽车公司 增加自主驾驶安全和/或舒适性的车辆、车辆系统和方法
CN104925064A (zh) * 2014-03-18 2015-09-23 沃尔沃汽车公司 增加自主驾驶安全和/或舒适性的车辆、车辆系统和方法
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US9469307B2 (en) 2014-03-18 2016-10-18 Volvo Car Corporation Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving
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EP2921363A1 (fr) * 2014-03-18 2015-09-23 Volvo Car Corporation Véhicule, système de véhicule et procédé pour augmenter la sécurité et/ou le confort pendant un entraînement autonome
WO2017186560A1 (fr) 2016-04-26 2017-11-02 Unilever N.V. Produit alimentaire composite salé comprenant des morceaux de gelée
CN108447289A (zh) * 2017-02-16 2018-08-24 丰田自动车株式会社 车辆通信系统及车辆控制装置
CN108447289B (zh) * 2017-02-16 2021-07-27 丰田自动车株式会社 车辆通信系统及车辆控制装置
CN109377755A (zh) * 2018-10-31 2019-02-22 惠州市德赛西威汽车电子股份有限公司 一种车道通行效率优化分组装置及方法

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