WO2014121973A1 - Method for preventing a motor vehicle from having a lateral collision - Google Patents

Method for preventing a motor vehicle from having a lateral collision Download PDF

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Publication number
WO2014121973A1
WO2014121973A1 PCT/EP2014/050371 EP2014050371W WO2014121973A1 WO 2014121973 A1 WO2014121973 A1 WO 2014121973A1 EP 2014050371 W EP2014050371 W EP 2014050371W WO 2014121973 A1 WO2014121973 A1 WO 2014121973A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
collision
trajectory
driver
risk
Prior art date
Application number
PCT/EP2014/050371
Other languages
German (de)
French (fr)
Inventor
Martin Kieren
Lutz Buerkle
Christian Braeuchle
Thomas Maurer
Thomas Haeussler
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 WO2014121973A1 publication Critical patent/WO2014121973A1/en

Links

Classifications

    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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

Definitions

  • This steering system with a driver-operable steering handle, e.g.
  • Vehicle wheels with an operable with the steering handle steering angle setpoint generator, with an operable with the steerable vehicle wheels Lenkwinkel- and with the steering actuator in response to a comparison of the setpoint and actual values of the steering angle actuated control and control arrangement is to be designed so that a
  • the steering system should be suitable for a steer-by-wire operation. This is accomplished by providing the steering system with collision avoidance means for detecting a collision steering angle permitting collision between the vehicle and an obstacle, the control arrangement impeding or preventing the setting of a desired steering angle coincident with one of the collision steering angles.
  • the invention relates to a method for preventing a side collision in a vehicle, in particular a motor vehicle, in which
  • the future movement trajectory of the object is estimated, it is determined on the basis of the movement trajectory whether there is a risk of collision between the vehicle and the object and in case of a danger of collision an evasion trajectory for the vehicle is determined.
  • An important application of the invention is in the field of multi-lane roads.
  • the invention makes it possible to be risky
  • An advantageous embodiment of the invention is characterized in that such a driver-independent engagement takes place in the steering and / or braking system of the vehicle that the vehicle follows the evasion trajectory.
  • An advantageous embodiment of the invention is characterized in that the driver is given an indication in which direction he must steer the vehicle in order to follow the evasion trajectory.
  • An advantageous embodiment of the invention is characterized in that the determination of whether an object is located laterally from the vehicle takes place by means of an environmental sensor system.
  • An advantageous embodiment of the invention is characterized in that it is additionally determined by means of an environment sensor, whether the evasion trajectory for the vehicle is safely implemented or leads to a different risk of collision of the vehicle and is performed independently of the driver only in the case of a safe feasibility.
  • the invention comprises a device comprising means suitable for
  • This device is, in particular, a control unit which is provided with the program code for carrying out the method according to the invention
  • the essence of the invention is the detection of a risk of collision by a side object and the subsequent activation of a
  • Avoidance assistance function Such situations typically occur on multi-lane roads, as illustrated in FIG Fig. 1 shows a three-lane road on which the vehicles 100 and 102 move from left to right.
  • the vehicle 100 performs a lane change from the right to the middle lane along the drawn trajectory 101. In this case, the driver overlooks the parallel or almost parallel to his vehicle on the middle lane driving vehicle 102. If the vehicle 102 performs no evasive movement, then there will be a side collision. However, if the vehicle 102 is equipped with means for detecting a lateral collision hazard, then the vehicle 102 can either automatically perform an evasive maneuver along the trajectory 103 or give the driver an indication of the need to perform such a maneuver.
  • the detection of a lateral risk of collision is carried out using environment sensors, such. Ultrasonic or radar sensors, and based thereon
  • the backup assistance can be initiated both autonomously and by the driver if a collision hazard is detected.
  • the evasion assistance takes place via steering interventions, for example by prescribing a steering angle or steering torque at the front or rear axle, and / or via directed braking interventions and / or via a driver information, e.g. in the instrument cluster.

Abstract

The invention relates to a method for preventing a motor vehicle from having a lateral collision in which a moving object located on the side of the vehicle is detected, the future trajectory of movement of the object is estimated, it is determined whether there is a risk of collision between the vehicle and the object and, if there is a risk of collision, a swerve trajectory for the vehicle is determined.

Description

Beschreibung Titel  Description title
Verfahren zur Verhinderung einer seitlichen Kollision bei einem Fahrzeug Stand der Technik Method for preventing lateral collision in a vehicle Prior art
Aus der DE 198 31 071 AI ist ein Lenksystem für Kraftfahrzeuge bekannt. From DE 198 31 071 AI a steering system for motor vehicles is known.
Dieses Lenksystem mit einer vom Fahrer betätigbaren Lenkhandhabe, z.B. This steering system with a driver-operable steering handle, e.g.
Lenkrad, mit einem Lenkstellantrieb zur Lenkverstellung lenkbarer Steering wheel, steerable with a steering actuator for steering adjustment
Fahrzeugräder, mit einem mit der Lenkhandhabe betätigbaren Lenkwinkel- Sollwertgeber, mit einem mit den lenkbaren Fahrzeugrädern betätigbaren Lenkwinkel- Istwertgeber und mit einer den Lenkstellantrieb in Abhängigkeit von einem Vergleich der Soll- und Istwerte des Lenkwinkels betätigenden Regel- und Steueranordnung soll dahingehend ausgestaltet werden, dass eine Vehicle wheels, with an operable with the steering handle steering angle setpoint generator, with an operable with the steerable vehicle wheels Lenkwinkel- and with the steering actuator in response to a comparison of the setpoint and actual values of the steering angle actuated control and control arrangement is to be designed so that a
Kollisionsgefahr zwischen einem mit dem Lenksystem ausgestatteten Fahrzeug und einem Hindernis reduziert wird, wobei das Lenksystem für einen Steer-by- wire-Betrieb geeignet sein soll. Dies wird dadurch erreicht, dass das Lenksystem mit Kollisionsverhinderungsmitteln ausgestattet ist, die eine Kollision zwischen dem Fahrzeug und einem Hindernis ermöglichende Kollisionslenkwinkel ermitteln, wobei die Regel- und Steueranordnung das Einstellen eines mit einem der Kollisionslenkwinkel übereinstimmenden Soll-Lenkwinkels erschwert oder verhindert. Collision risk between a vehicle equipped with the steering system and an obstacle is reduced, the steering system should be suitable for a steer-by-wire operation. This is accomplished by providing the steering system with collision avoidance means for detecting a collision steering angle permitting collision between the vehicle and an obstacle, the control arrangement impeding or preventing the setting of a desired steering angle coincident with one of the collision steering angles.
Offenbarung der Erfindung Disclosure of the invention
Die Erfindung betrifft ein Verfahren zur Verhinderung einer seitlichen Kollision bei einem Fahrzeug, insbesondere einem Kraftfahrzeug, bei dem The invention relates to a method for preventing a side collision in a vehicle, in particular a motor vehicle, in which
ein sich seitlich von dem Fahrzeug befindendes, sich bewegendes Objekt erfasst wird,  detecting a moving object laterally of the vehicle,
die künftige Bewegungstrajektorie des Objekts abgeschätzt wird, anhand der Bewegungstrajektorie ermittelt wird, ob eine Kollisionsgefahr zwischen dem Fahrzeug und dem Objekt besteht und im Falle einer Kollisionsgefahr eine Ausweichtrajektorie für das Fahrzeug ermittelt wird. the future movement trajectory of the object is estimated, it is determined on the basis of the movement trajectory whether there is a risk of collision between the vehicle and the object and in case of a danger of collision an evasion trajectory for the vehicle is determined.
Ein wichtiges Einsatzgebiet der Erfindung ist im Bereich der mehrspurigen Straßen. Durch die Erfindung wird es ermöglicht, auf einen riskanten  An important application of the invention is in the field of multi-lane roads. The invention makes it possible to be risky
Spurwechsel eines Fremdfahrzeugs zu reagieren und eine Seitenkollision zu vermeiden. Changing the lane of a foreign vehicle to react and to avoid a side collision.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ein derartiger fahrerunabhängiger Eingriff in das Lenk- und/oder Bremssystems des Fahrzeugs erfolgt, dass das Fahrzeug der Ausweichtrajektorie folgt. An advantageous embodiment of the invention is characterized in that such a driver-independent engagement takes place in the steering and / or braking system of the vehicle that the vehicle follows the evasion trajectory.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass dem Fahrer ein Hinweis gegeben wird, in welche Richtung er das Fahrzeug lenken muss, um der Ausweichtrajektorie zu folgen. An advantageous embodiment of the invention is characterized in that the driver is given an indication in which direction he must steer the vehicle in order to follow the evasion trajectory.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Ermittlung, ob sich seitlich vom Fahrzeug ein Objekt befindet, mittels einer Umfeldsensorik erfolgt. An advantageous embodiment of the invention is characterized in that the determination of whether an object is located laterally from the vehicle takes place by means of an environmental sensor system.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass mittels einer Umfeldsensorik zusätzlich ermittelt wird, ob die Ausweichtrajektorie für das Fahrzeug gefahrlos realisierbar ist oder zu einer anderen Kollisionsgefahr des Fahrzeugs führt und nur im Falle einer gefahrlosen Realisierbarkeit fahrerunabhängig durchgeführt wird. An advantageous embodiment of the invention is characterized in that it is additionally determined by means of an environment sensor, whether the evasion trajectory for the vehicle is safely implemented or leads to a different risk of collision of the vehicle and is performed independently of the driver only in the case of a safe feasibility.
Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die zur Furthermore, the invention comprises a device comprising means suitable for
Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Bei dieser Vorrichtung handelt es sich insbesondere um ein Steuergerät, welches mit dem Programmcode zur Durchführung der erfindungsgemäßen Verfahren Implementation of the inventive method are designed. This device is, in particular, a control unit which is provided with the program code for carrying out the method according to the invention
ausgestattet ist. Is provided.
Der Kern der Erfindung ist das Erkennen einer Kollisionsgefahr durch ein seitliches Objekt und die daraus folgende Aktivierung einer The essence of the invention is the detection of a risk of collision by a side object and the subsequent activation of a
Ausweichassistenzfunktion. Solche Situationen treten typischerweise auf mehrspurigen Straßen auf, wie es in Fig. 1 dargestellt ist Fig. 1 zeigt eine dreispurige Straße, auf welcher sich die Fahrzeuge 100 und 102 von links nach rechts bewegen. Das Fahrzeug 100 führt einen Fahrspurwechsel von der rechten auf die mittlere Fahrspur entlang der eingezeichneten Trajektorie 101 durch. Dabei übersieht der Fahrer das parallel oder nahezu parallel zu seinem Fahrzeug auf der mittleren Fahrspur fahrende Fahrzeug 102. Führt das Fahrzeug 102 keine Ausweichbewegung durch, dann wird es zu einer seitlichen Kollision kommen. Ist das Fahrzeug 102 jedoch mit Mitteln zur Erkennung einer seitlichen Kollisionsgefahr ausgestattet, dann kann das Fahrzeug 102 entweder selbsttätig ein Ausweichmanöver bzw. Kollisionsverhinderungsmanöver entlang der Trajektorie 103 durchführen oder aber dem Fahrer einen Hinweis auf die Notwendigkeit der Durchführung eines derartigen Fahrmanövers geben. Avoidance assistance function. Such situations typically occur on multi-lane roads, as illustrated in FIG Fig. 1 shows a three-lane road on which the vehicles 100 and 102 move from left to right. The vehicle 100 performs a lane change from the right to the middle lane along the drawn trajectory 101. In this case, the driver overlooks the parallel or almost parallel to his vehicle on the middle lane driving vehicle 102. If the vehicle 102 performs no evasive movement, then there will be a side collision. However, if the vehicle 102 is equipped with means for detecting a lateral collision hazard, then the vehicle 102 can either automatically perform an evasive maneuver along the trajectory 103 or give the driver an indication of the need to perform such a maneuver.
Das Erkennen einer seitlichen Kollisionsgefahr erfolgt dabei unter Nutzung von Umfeldsensorik, wie z.B. Ultraschall- oder Radarsensoren, und darauf basierterThe detection of a lateral risk of collision is carried out using environment sensors, such. Ultrasonic or radar sensors, and based thereon
Prädiktion der Hindernisbewegung. Gestützt werden können diese Daten durch weitere Informationen auf der Datenbasis einer Car-to-Car-Kommunikation oder von Kartenmaterial. Die Ausweichunterstützung kann bei erkannter Kollisionsgefahr sowohl autonom als auch durch den Fahrer initiiert werden. Die Ausweichunterstützung erfolgt dabei über Lenkungseingriffe, beispielsweise durch Vorgabe eines Lenkwinkels oder Lenkmoments an der Vorder- oder Hinterachse, und/oder über gerichtete Bremseingriffe und/oder über eine Fahrerinfomation z.B. im Kombiinstrument. Prediction of obstacle movement. These data can be supported by further information on the basis of car-to-car communication or map material. The backup assistance can be initiated both autonomously and by the driver if a collision hazard is detected. The evasion assistance takes place via steering interventions, for example by prescribing a steering angle or steering torque at the front or rear axle, and / or via directed braking interventions and / or via a driver information, e.g. in the instrument cluster.
Bei der Berechnung der Ausweichtrajektorie kann dabei mittels einer In the calculation of the avoidance trajectory can thereby by means of a
Umfeldsensorik ermittelt werden, ob diese Ausweichtrajektorie ohne die Gefahr einer Kollision mit einem dritten Fahrzeug realisiert werden kann. Der Ablauf einer Ausführungsform des erfindungsgemäßen Verfahrens ist in Fig.Environment sensors are determined whether this avoidance trajectory can be realized without the risk of collision with a third vehicle. The sequence of an embodiment of the method according to the invention is shown in FIG.
2 dargestellt. Nach dem Start des Verfahrens in Block 200 wird in Block 201 ein sich seitlich vom Fahrzeug bewegendes Objekt detektiert und in Block 202 wird dessen voraussichtliche künftige Trajektorie berechnet. In Block 203 wird ermittelt, ob eine Kollisionsgefahr zwischen dem Fahrzeug und dem Objekt aufgrund seiner ermittelten künftigen Trajektorie besteht. Ist dies nicht der Fall, dann wird zu Block 200 zurückgegangen. Ist dies jedoch der Fall, dann wird in Block 204 eine Ausweichtrajektorie für das Fahrzeug ermittelt. In Block 205 endet das Verfahren. 2 shown. After the start of the method in block 200, an object moving laterally from the vehicle is detected in block 201, and its prospective future trajectory is calculated in block 202. In block 203 it is determined whether there is a risk of collision between the vehicle and the object due to its determined future trajectory. This is not the case, then it returns to block 200. If this is the case, however, an evasion trajectory for the vehicle is determined in block 204. In block 205, the process ends.

Claims

Verfahren zur Verhinderung einer seitlichen Kollision bei einem Fahrzeug, bei dem Method for preventing a side collision in a vehicle, in which
ein sich seitlich von dem Fahrzeug befindendes, sich bewegendes Objekt erfasst wird (201),  detecting a moving object laterally of the vehicle (201),
die künftige Bewegungstrajektorie des Objekts abgeschätzt wird (202) , anhand der Bewegungstrajektorie ermittelt wird, ob eine Kollisionsgefahr zwischen dem Fahrzeug und dem Objekt besteht (203) und  the future movement trajectory of the object is estimated (202), based on the movement trajectory it is determined whether there is a risk of collision between the vehicle and the object (203) and
im Falle einer Kollisionsgefahr eine Ausweichtrajektorie für das Fahrzeug ermittelt wird (204).  in case of a danger of collision, an avoidance trajectory for the vehicle is determined (204).
Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass ein derartiger fahrerunabhängiger Eingriff in das Lenk- und/oder Bremssystems des Fahrzeugs erfolgt, dass das Fahrzeug der Ausweichtrajektorie folgt. A method according to claim 1, characterized in that such a driver-independent engagement takes place in the steering and / or braking system of the vehicle that the vehicle follows the evasion trajectory.
Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass dem Fahrer ein Hinweis gegeben wird, in welche Richtung er das Fahrzeug lenken muss, um der Ausweichtrajektorie zu folgen. A method according to claim 1, characterized in that the driver is given an indication in which direction he has to steer the vehicle in order to follow the evasion trajectory.
Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Ermittlung, ob sich seitlich vom Fahrzeug ein Objekt befindet, mittels einer Umfeldsensorik erfolgt. A method according to claim 1, characterized in that the determination of whether an object is located laterally from the vehicle, by means of an environmental sensor.
Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass mittels einer Umfeldsensorik zusätzlich ermittelt wird, ob die Ausweichtrajektorie gefahrlos realisierbar ist oder zu einer anderen Kollisionsgefahr des Fahrzeugs führt und nur im Falle einer gefahrlosen Realisierbarkeit fahrerunabhängig durchgeführt wird. A method according to claim 2, characterized in that by means of an environment sensor is additionally determined whether the avoidance trajectory is safely implemented or leads to a different risk of collision of the vehicle and is carried out independently of the driver only in the case of a safe feasibility.
Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemä Verfahren ausgestaltet sind. Device containing agents designed for carrying out the method according to the invention.
PCT/EP2014/050371 2013-02-06 2014-01-10 Method for preventing a motor vehicle from having a lateral collision WO2014121973A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013201891.6 2013-02-06
DE102013201891.6A DE102013201891A1 (en) 2013-02-06 2013-02-06 Method for preventing a lateral collision in a vehicle

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CN115593400A (en) * 2022-11-30 2023-01-13 禾多科技（北京）有限公司（Cn） Vehicle control method and device, storage medium and electronic device

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DE102016216513A1 (en) 2016-09-01 2018-03-01 Continental Teves Ag & Co. Ohg Driver assistance device and method for a vehicle to avoid a lateral collision
JP6763327B2 (en) * 2017-03-16 2020-09-30 トヨタ自動車株式会社 Collision avoidance device

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Publication number Priority date Publication date Assignee Title
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