WO2015071081A1 - Système d'assistance au conducteur pour véhicule automobile servant à détecter l'état d'une route en tenant de toutes les éventualités - Google Patents

Système d'assistance au conducteur pour véhicule automobile servant à détecter l'état d'une route en tenant de toutes les éventualités Download PDF

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Publication number
WO2015071081A1
WO2015071081A1 PCT/EP2014/073041 EP2014073041W WO2015071081A1 WO 2015071081 A1 WO2015071081 A1 WO 2015071081A1 EP 2014073041 W EP2014073041 W EP 2014073041W WO 2015071081 A1 WO2015071081 A1 WO 2015071081A1
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WO
WIPO (PCT)
Prior art keywords
assistance system
driver assistance
data
sensor
condition
Prior art date
Application number
PCT/EP2014/073041
Other languages
German (de)
English (en)
Inventor
Fred Watermann
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 WO2015071081A1 publication Critical patent/WO2015071081A1/fr

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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
    • 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
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2520/26—Wheel slip
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/10—Historical data
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a driver assistance system for a motor vehicle for the predictive detection of a road surface, comprising a camera, a computing unit and an output device.
  • the driving characteristics of a motor vehicle are not determined solely by the dreidimensionale nature of the road surface, but in addition, the driving characteristics are also influenced by road conditions such as smoothness, wet, dry or leafy cover. In particular, it is for a safe, tuned to the driving characteristics driving particularly advantageous when the driver of the motor vehicle is aware of this road conditions in good time.
  • the object of the invention is to provide a driver assistance system for a motor vehicle of the type mentioned above which anticipates the condition of the road surface, in particular the condition of the surface of a roadway and informs the driver of, in particular changing, the driving characteristics of the motor vehicle.
  • Roadway texture indicates. Also should be promoted by the driver assistance system safe driving and possibly improved driving characteristics of the motor vehicle are possible.
  • the invention provides for a driver assistance system for a motor vehicle for the predictive detection of a road surface comprising a camera, a computing unit and an output device in that the driver assistance system has a memory unit and a database stored in the memory unit that the computing unit for processing image data of Camera is formed, that the arithmetic unit for determining the road condition from the image data is formed taking into account data of the database, and that the output device is designed to output information about the determined road condition.
  • the camera records image data of the lane in front of the motor vehicle by means of optical detection and transmits these image data to the arithmetic unit.
  • the computing unit compares the image data obtained from the camera with data stored in the memory unit, in particular in advance, relating to known roadway textures.
  • the arithmetic unit sends a signal to the output device, which recognizes the driver by means of light or sound signals
  • the road surface indicates that it is able to adapt its mode of operation to the, in particular, changed road surface or the road surface.
  • driver assistance system in particular representative data, preferably brightness values and / or brightness distributions and / or gray values and / or gray value distributions and / or color values and / or color value distributions and / or texture data, of a multiplicity of roadway textures for example, smoothness, wetness, dryness or foliage, and that the arithmetic unit is configured to determine the actual road condition from the image data of the camera based on the stored data.
  • representative data preferably brightness values and / or brightness distributions and / or gray values and / or gray value distributions and / or color values and / or color value distributions and / or texture data
  • the arithmetic unit can thus determine the brightness distribution, gray values, gray value distribution, color values or color value distribution or else further texture data from the image data of the camera and compare or compare them with the data stored in the database. Since preferably corresponding data are stored by a multiplicity of roadway textures, it is possible for the arithmetic unit to work in a variety of driving situations to determine the actual road conditions or the surface condition of the road and to alert the driver in a forward-looking manner to this.
  • a further preferred embodiment of the driver assistance system provides that the driver assistance system comprises a sensor, in particular a temperature sensor and / or a brightness sensor and / or a UV sensor and / or a GPS receiver, and that the arithmetic unit is designed to process sensor data of the sensor is, wherein the arithmetic unit in the determination of the road condition, the sensor data taken into account.
  • a sensor in particular a temperature sensor and / or a brightness sensor and / or a UV sensor and / or a GPS receiver
  • the arithmetic unit is designed to process sensor data of the sensor is, wherein the arithmetic unit in the determination of the road condition, the sensor data taken into account.
  • the sensor data obtained from the sensor can be used in a particularly advantageous manner by the arithmetic unit to correct the image data obtained from the camera for changes in environmental factors.
  • the arithmetic unit determines the effects of a cloud cover, for example, on the determined brightness and / or color value distribution andorganizrkorrigieren or out of this. Consequently, it is possible to achieve a particularly exact determination of the actual road condition from the image data even if environmental factors change.
  • the sensor data are advantageously used to increase the accuracy of the determination or the determination of the road condition.
  • the arithmetic unit determines a high proportion of white from the image data of the camera, which coincides both with ice covering or wet coverage of the roadway, it can be decided by the arithmetic unit by taking into account the sensor data of the temperature sensor, especially if Temperatures below the zero point of the Celsius scale, an ice cover is present, or whether a wet road surface is to be determined.
  • the data from a GPS sensor can be used to decide if the motor vehicle is in a warmer or colder climatic zone.
  • the driver assistance system comprises a driving state sensor, in particular a speed sensor and / or an acceleration sensor and / or a wheel slip sensor and / or a steering angle sensor, and that the arithmetic unit is used for processing of driving state data of the driving state sensor is formed, wherein the computing unit takes into account in determining the road condition, the driving condition data and / or wherein the computing unit determines a driving condition of the motor vehicle.
  • driving state data of a wheel slip sensor can thus be taken into account by the arithmetic unit in such a way that, in particular in cases in which a forward-looking determination of the actual roadway condition has failed, a determination of the road condition becomes possible.
  • the computing unit determines a smooth road surface. If, for example, a distinction between a smooth background and a background with a higher coefficient of friction is not possible from the image data, it is possible to determine the actual road surface by evaluating the driving state data of the wheel slip sensor, in particular in conjunction with data from an accelerator pedal sensor or throttle valve sensor. If in this case described, for example, only a small degree of throttle valve opening is measured with a simultaneously high slip of the wheels of the motor vehicle, in particular of the drive wheels, then the computing unit determines a smooth road surface.
  • the driver assistance system has an interface that the arithmetic unit is designed to transmit control commands, in particular control commands for engine control and / or suspension adjustment, via the interface, the control commands preferably taking into account the determined Road condition and / or the sensor data and / or the driving condition data can be determined by the computing unit.
  • the arithmetic unit can thus determine an optimum engine control or chassis setting for the anticipated road condition. The determination of the engine control or the suspension setting can preferably take place via data stored in a database.
  • the arithmetic unit determines, for example, a smooth road surface or a smooth road surface and at the same time a driving state from the driving state data of the driving state sensors, which is not appropriate for the anticipated road condition, the arithmetic unit can act by direct intervention in the engine control or in the suspension setting, in addition to the optical or acoustic Warning to the driver to set a driving condition of the motor vehicle, which provides a higher level of safety for the vehicle and the driver in the determined road condition. provides. Also system settings of EPS or ABS systems can be adapted to the road conditions in a forward-looking manner.
  • the arithmetic unit has a learning function, wherein the arithmetic unit preferably learns unknown roadway textures and / or control commands on the basis of the data stored in the database and / or the sensor data and / or the driving state data.
  • the arithmetic unit and road conditions which are not stored in the database, can learn. If, for example, particular weather conditions make it impossible to identify or determine the actual roadway condition, the arithmetic unit can, as soon as it has determined the driving condition of the vehicle, preferably connect it to the data of the unknown roadway or the unknown roadway condition and, in particular, Comparison with known road conditions, which store properties of the unknown road surface and determine warnings and / or engine control or suspension settings interventions. Due to the large number of possible road conditions, weather and lighting conditions as well as different angles of the camera directive to the surface of the road surface, not every possible road condition can be stored in any combination with weather conditions. As a result, it is particularly advantageously possible for the driver assistance system or the arithmetic unit of the driver assistance system to recognize unknown road conditions and to deposit them with suitable warning instructions to the driver or with appropriate control commands for the engine management or for the suspension setting.
  • the camera is a stereo camera and / or a 3D camera, with the arithmetic unit preferably being designed for a three-dimensional reconstruction of the road condition and / or the vehicle environment, in particular software-controlled.
  • Such a trained driver assistance system for the predictive detection of a road surface allows greater safety and accuracy of the determination of the road condition.
  • the output device is a light and / or sound generator, in particular a monitor and / or a head-up display and / or a device for voice output.
  • HUD head-up display
  • a further preferred embodiment of the driver assistance system provides that the driver assistance system has a data receiving unit and / or a data transmitting unit, and that the data receiving unit and / or the data transmitting unit for receiving and / or sending data from and / or to another driver assistance system and / or a control center is formed.
  • Such a data exchange between a further driver assistance system and / or a control center advantageously also makes it possible to anticipate roadway textures which are not yet within the range of the camera of the driver assistance system. If, for example, a road condition which is negatively influencing the driving characteristics of the motor vehicle or a roadway condition has been determined by a preceding vehicle behind a sharp curve, this preceding vehicle can transmit the ascertained road condition together with a time stamp and position data to a control center and / or to all in the Surrounding vehicles that have a driver assistance system to send.
  • the driver can be made aware of the changing road surface before the driver assistance system can determine this background from the image data.
  • an individualization functionality is provided which adapts the warnings and / or the control commands for the engine control and / or the suspension setting to the driving style of a driver.
  • the driver assistance system detected many backward steering movements in the case of a driver and concluded that this is an inexperienced or insecure driver, For example, the driver assistance system can issue clearer warnings when displaying the anticipated road condition or intervene more strongly in the engine management or in the landing gear settings.
  • an embodiment of the driver assistance system with a child safety device or the like is also conceivable, which basically provides for increased control and advisory activity of the driver assistance system.
  • the problem underlying the invention is solved by a motor vehicle, the motor vehicle having a driver assistance system in one of the above-described embodiments.
  • Fig. 1 is a driver assistance system in a schematic representation.
  • the driver assistance system 100 shows a driver assistance system 100 with a camera 10, a computing unit 11 and an output device 12. Further, the driver assistance system 100 comprises a memory unit 13 and a database 14 stored in the memory unit.
  • the camera 10 detects Image data of the lane in front of the vehicle or the road condition and sends them via a data transmission means, for example via a first data line 15 or via a radio signal to the computing unit 1 first
  • the arithmetic unit 1 1 determines from the data of the camera 10 the brightness values and brightness distribution or the gray values and gray value distribution or the color values and color value distribution or other texture data.
  • the arithmetic unit 1 1 communicates with the memory unit 13 via a second data line 16.
  • the arithmetic unit 1 1 After determining the color and / or brightness distributions from the image data of the camera 10, the arithmetic unit 1 1 equals the determined values with value ranges or value distributions which are stored in the database 14 , from. If the measured values are in accordance with the stored value distributions or value ranges for a known road surface condition, then the calculation unit determines unit 1 1 for the captured image data of the camera 10, the corresponding actual road condition. Alternatively, it is also possible for the arithmetic unit 1 1 to calculate, with the aid of an image processing algorithm, one or more output variables which are indicative of a road surface condition.
  • the arithmetic unit 1 determines the computing unit 1 1 to the determined road condition and possibly to the current driving condition of the motor vehicle appropriate instructions or engine control commands or the commands to control the suspension settings.
  • the computing state determines the driving state 1 1 from data of a driving state sensor 17, which may be, for example, a wheel slip sensor or an acceleration sensor.
  • the arithmetic unit 1 1 sends the warnings or the control commands to the output device 12 and to a control device 20 of a motor controller via a third data line 18 and a fourth data line 19.
  • the output device 12 is preferably designed as a head-up display and hides the evidence of the determined road condition in the field of view of the driver in the windshield of the motor vehicle. Furthermore, the driver assistance system 100 is in communication with an external control center and / or further driver assistance systems via a receiving unit 21 and a data transmission unit 22.

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

Abstract

L'invention concerne un système d'assistance au conducteur (100), destiné à un véhicule automobile, qui détecte en tenant de toutes les éventualités l'état de la route, en particulier l'état de la surface d'une route, et qui indique au conducteur l'état de la route influant éventuellement sur les caractéristiques de conduite du véhicule automobile, notamment en les modifiant, qui favorise une conduite sûre et qui permet, le cas échéant, des caractéristiques de conduite améliorées du véhicule automobile. Selon l'invention, dans le cas d'un système d'assistance au conducteur (100), destiné à un véhicule automobile, qui comporte une caméra (10), une unité de calcul (11) et un dispositif de sortie (12) afin de détecter l'état d'une route en tenant compte de toutes les éventualités, le système d'assistance au conducteur comporte une unité de mémoire (13) et une base de données (14) mémorisée dans l'unité de mémoire (13), l'unité de calcul (11) est conçue pour traiter des données d'image de la caméra (10) et pour déterminer l'état de la route à partir des données d'image en tenant compte des données de la base de données (14), et le dispositif de sortie (12) est conçu pour délivrer des informations sur l'état de la route détecté.
PCT/EP2014/073041 2013-11-12 2014-10-28 Système d'assistance au conducteur pour véhicule automobile servant à détecter l'état d'une route en tenant de toutes les éventualités WO2015071081A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013223014.1 2013-11-12
DE201310223014 DE102013223014A1 (de) 2013-11-12 2013-11-12 Fahrerassistenzsystem für ein Kraftfahrzeug zur vorausschauenden Erfassung einer Fahrbahnbeschaffenheit

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Publication Number Publication Date
WO2015071081A1 true WO2015071081A1 (fr) 2015-05-21

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WO2019027946A1 (fr) * 2017-07-31 2019-02-07 Blackberry Limited Procédé et système de surveillance et d'analyse par capteurs
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DE102019114904A1 (de) * 2019-06-04 2020-12-10 Valeo Schalter Und Sensoren Gmbh Vorausschauende Erkennung einer Fahrbahnbeschaffenheit mittels eines Laserscanners und einer Kameraeinheit

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US10235817B2 (en) * 2015-09-01 2019-03-19 Ford Global Technologies, Llc Motion compensation for on-board vehicle sensors
US9972206B2 (en) * 2015-12-03 2018-05-15 GM Global Technology Operations LLC Wet road surface condition detection
CN108016422B (zh) * 2016-10-28 2020-09-04 长城汽车股份有限公司 车辆扭矩的控制方法、系统及车辆
DE102017122432A1 (de) 2017-09-27 2019-03-28 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen einer Fahrbahnbeschaffenheit einer Fahrbahn für ein Kraftfahrzeug, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018114956A1 (de) * 2018-06-21 2019-12-24 Connaught Electronics Ltd. Verfahren zum Bestimmen eines aktuellen Nässezustands einer Fahrbahn mittels einesNässezustandsmodells, elektronische Recheneinrichtung sowie Fahrerassistenzsystem
DE102020201354A1 (de) 2020-02-05 2021-08-05 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Berechnung eines Nässeparameters, Recheneinheit und Computerprogramm

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