WO2015174943A1 - Système pour garder et suivre sa voie de circulation - Google Patents

Système pour garder et suivre sa voie de circulation Download PDF

Info

Publication number
WO2015174943A1
WO2015174943A1 PCT/TR2015/000155 TR2015000155W WO2015174943A1 WO 2015174943 A1 WO2015174943 A1 WO 2015174943A1 TR 2015000155 W TR2015000155 W TR 2015000155W WO 2015174943 A1 WO2015174943 A1 WO 2015174943A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane
intervention
unit
danger
Prior art date
Application number
PCT/TR2015/000155
Other languages
English (en)
Inventor
Emir KUTLUAY
Original Assignee
Kutluay Emir
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 Kutluay Emir filed Critical Kutluay Emir
Publication of WO2015174943A1 publication Critical patent/WO2015174943A1/fr

Links

Classifications

    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • 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
    • 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
    • B60W30/10—Path 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
    • 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
    • B60W50/08—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
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • 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
    • B60W2050/143—Alarm 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
    • B60W2554/00—Input parameters relating to objects

Definitions

  • the present invention relates to a system for keeping and tracking lane which makes a vehicle having ESC system to brake such that it will be directed into the lane upon detecting that it approaches the lane line and which is mounted to the vehicle afterwards.
  • lane tracking assistants are used in order that vehicles can track the lane.
  • One of the methods used in the said lane tracking assistants is to determine the lane lines and the lane, the second one is to determine the location and the need of the vehicle within the lane and another one is to intervene the vehicle dynamics by means of steering or braking.
  • the first method used in the state of the art is related to image processing. Whereas the second method is related to vehicle dynamics.
  • aim of intervention is to get the vehicle into the lane again.
  • only the steering angle in the wheels and the braking traction force in the wheels are used as input to the system.
  • the steering angle generated in the wheels independently of the driver, depending on or independently of the steering wheel enables the vehicle to turn towards the center of the lane.
  • an electric motor mounted to the steering or the steering column or the gears is used.
  • the steering wheel can turn or cannot turn based on the mounting type or the gears structure in between.
  • the moment required for turning the vehicle towards the center of the lane is generated by braking of the rear, the front or both of the wheels facing the center of the lane. This braking transaction is 2
  • driver support sensor systems attachable to vehicles afterwards are used. These systems are usually mounted to windscreen of a vehicle in some way and sense various factors by watching the way where the vehicle goes through one or more cameras. Various factors sensed during travel are the ones such as lanes, road signs, distance to the front vehicle, relative velocity, surrounding pedestrians. The system warns the driver in a vocal and/or visual and/or tactile way depending on the condition of the factors sensed. The said systems do not perform interventions to affect the vehicle dynamics due to the fact that they are attached to the vehicle afterwards and do not comprise any drive member.
  • FIG. 1 there is a vehicle schema which is equipped with a lane detection and warning system and an ESC system (A) being used today.
  • the box indicated as environment represents the objects around the vehicle.
  • lanes in the road can be added to the environment.
  • the lane detection sensor (B) detects the lanes by monitoring the environment. In the event that any danger is detected the driver is warned.
  • the information of steering angle received by the steering angle sensor (E) from the steering is transferred to the CAN system (G).
  • the CAN system (G) transfers the steering angle information received and the data received from the other vehicle sensors (H) located on the vehicle, to the ESC system (A).
  • the ESC system (A) directs the vehicle through brakes by processing the data received. 3
  • the objective of the present invention is to realize a system for keeping and tracking lane which enables ESC system to detect that the vehicle is under a situation comprising danger such as skidding, sliding by changing the signal of the steering wheel angle proceeding the ESC system in the case of detecting that the vehicle approaches the lane by means of using a sensor system tracking the lane lines in vehicles with ESC system; gets the vehicle into the lane by enabling that the ESC system provided in the vehicle is activated; and gives the ability of keeping lane automatically to the vehicle by being mounted to it afterwards.
  • Figure 1 is a schematic view of a system for keeping and tracking lane used in the state of the art.
  • Figure 2 is a schematic view of the inventive system for keeping and tracking lane.
  • ESC system (A) Electronic, hydraulic and mechatronic control systems which can change vehicle dynamics by intervening the brake or motor control system of the vehicle independently of the driver will be understood when ESC system (A) (electronic stability control) is stated in the description.
  • the ESC system (A) consists of software having electronic control unit (ECU), hydraulic control unit and electronic control unit.
  • the inventive system for tracking lane (1) which is used in vehicles having ESC system and mounted to the vehicle afterwards essentially comprises:
  • At least one sensor unit (2) which calculates the lanes on the road and also the position of the vehicle within these lanes;
  • At least one decision unit (3) which evaluates the possibility of the vehicle going off the lane in the light of the information received from the sensor unit (2) and decides whether there is danger or not;
  • At least one danger detection unit (4) which decides in which way the intervention should be realized when there is danger
  • At least one intervention unit (5) which enables the ESC system (A) to detect that the vehicle is out of control and ensures that the ESC system (A) gets the vehicle into the lane again by changing the signal of the steering angle proceeding the ESC system (A) depending on the data received from the detection unit (4).
  • the decision unit (3) uses the information received from the ESC system (A) and/or also the information received from the other sensors (H) located on the vehicle except the information received from the sensor unit (2).
  • the information received from the other sensors (H) located on the vehicle are gathered on the CAN system (G).
  • the detection unit (4) also decides the intensity of intervention together with the way of intervention using these information.
  • the decision unit (3) warns the driver when danger is detected. 5
  • the danger detection unit (4) calculates in which way the intervention should be depending on the information received from the sensor unit (2).
  • the danger detection unit (4) decides that the intervention should be to the left when information such as "0" is received from the sensor unit (2), it should be to the right when there is a value different than zero or vice versa.
  • the danger detection unit (4) states the amount of intervention in the form of "x radiant per second yaw angle rate" or "x Nm yaw torque" such that a way will be for values higher than zero and another way for values less than zero.
  • the danger detection unit (4) can be in any form indicating way and/or magnitude of intervention.
  • the intervention unit (5) enables the ESC system (A) to detect that the vehicle is out of control by changing the signal of the steering angle proceeding the ESC system (A) of the vehicle in accordance with a data such as signal received from the detection unit (4).
  • the intervention unit (5) ensures that the ESC system (A) intervenes the vehicle dynamics so that it gets the vehicle into the lane again.
  • the steering angle value passes through the intervention unit (5) and reaches the ESC system (A) over the CAN system (G) of the vehicle.
  • the steering angle sensor values reaches the intervention unit (5) instead of the CAN system (G).
  • the steering angle sensor (E) measures the steering angle and sends it to the ESC system (A) over the CAN system (G).
  • the ESC system (A) also decides whether the vehicle is under control or not using this angle.
  • the intervention unit (5) ensures that the signal of the steering angle 6
  • the ESC system (A) reaches the CAN system (G) by changing it according to the way and magnitude of intervention received from the detection unit (4).
  • the ESC system (A) intervenes the vehicle.
  • the ESC system (A) decides on that the vehicle skids when the vehicle turns more in comparison to the angle and intervenes such that the vehicle's turning amount will be reduced.
  • the ESC system (A) intervenes the vehicle such that the vehicle's turning amount will be increased when the vehicle turns less in comparison to the angle. Because the ESC system (A) performs its calculations over the steering angle, vehicle dynamics can be intervened.
  • the intervention unit (5) changes the steering angle signal to the left when it is decided that there is danger and the way of intervention is to the left.
  • the ESC system (A) evaluates this case such that the vehicle wants to turn left but it cannot and ensures that the vehicle goes to the left and thus gets into the lane by braking the left rear wheel of the vehicle.
  • the ESC system (A) determines that the vehicle wants to turn left but it cannot turn on the grounds that the yaw angle does not change.
  • the ESC system (A) intervention to the vehicle varies by the manufacturer and the version of the ESC system.
  • the intervention unit (5) changes the steering angle signal to the right (or left) when it is decided that there is danger and the way of intervention is to the right (or left).
  • the ESC system (A) evaluates this case such that the vehicle wants to turn right (or left) but it cannot and ensures that the vehicle goes to the right (or left) and thus gets into the lane by braking the right (or left) rear wheel of the vehicle.
  • the ESC system (A) determines that the vehicle wants to turn right (or left) but it cannot turn on the grounds that the yaw angle does not change.
  • the ESC system (A) intervention to the vehicle varies by the manufacturer and the version of the ESC system.
  • the intervention unit (5) uses the yaw angle required and/or the yaw torque variables required except the left right turn signals in the event that there is danger. In a preferred embodiment of the invention. 7
  • the intervention unit (5) can send data to the CAN system (G) and also withdraw information such as information of yaw, etc. from the CAN system (G).
  • the steering angle signal is cut before it reaches the CAN system (G) and transmitted to the CAN system (G) upon being changed where necessary by the intervention unit (5).
  • the inventive system for tracking lane (1) gives the ability of keeping lane automatically to the vehicles with ESC system (A) by being mounted to them afterwards.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

La présente invention concerne un système permettant de garder et de suivre sa voie de circulation (1), qui amène un véhicule possédant un système ESC à freiner de telle sorte qu'il soit dirigé dans la voie de circulation lors de la détection qu'il s'approche de la ligne de voie de circulation. Le système selon l'invention pour garder et suivre sa voie de circulation (1) qui est utilisé dans des véhicules possédant un système ESC (A) et monté sur le véhicule par la suite comprend : au moins une unité de détection (2) qui calcule les voies de circulation sur la route et également la position du véhicule à l'intérieur de ces voies de circulation; au moins une unité de décision (3) qui évalue la possibilité que le véhicule sorte de la voie de circulation à la lumière des informations reçues en provenance de l'unité de capteur (2) et décide s'il existe un danger ou non; au moins une unité de détection de danger (4) qui décide de quelle manière l'intervention doit être réalisée lorsqu'il y a danger; au moins une unité d'intervention (5) qui permet que le système ESC (A) détecte que le véhicule est hors de contrôle et garantit que le système ESC (A) ramène le véhicule dans la voie de circulation par le changement du signal de l'angle de braquage provenant du système ESC (A) en fonction des données reçues en provenance de l'unité de détection (4).
PCT/TR2015/000155 2014-05-12 2015-04-16 Système pour garder et suivre sa voie de circulation WO2015174943A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2014/5317 2014-05-12
TR201405317 2014-05-12

Publications (1)

Publication Number Publication Date
WO2015174943A1 true WO2015174943A1 (fr) 2015-11-19

Family

ID=53189150

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2015/000155 WO2015174943A1 (fr) 2014-05-12 2015-04-16 Système pour garder et suivre sa voie de circulation

Country Status (1)

Country Link
WO (1) WO2015174943A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108778881A (zh) * 2016-03-15 2018-11-09 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序
CN111791892A (zh) * 2020-06-29 2020-10-20 广州小鹏车联网科技有限公司 智能车辆控制方法、装置、车辆以及存储介质

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US78902A (en) 1868-06-16 Richard b
US6493619B2 (en) 2000-09-05 2002-12-10 Nissan Motor Co., Ltd. Lane keeping assistance system and method for automotive vehicle
US7216023B2 (en) 2004-07-20 2007-05-08 Aisin Seiki Kabushiki Kaisha Lane keeping assist device for vehicle
KR100851120B1 (ko) * 2006-12-13 2008-08-08 현대자동차주식회사 이에스피 통합형 차선 유지 지원장치 및 그 제어 방법
US7711464B2 (en) 2004-06-10 2010-05-04 Gm Global Technology Operations, Inc. Steering system with lane keeping integration
US7765066B2 (en) 2002-04-23 2010-07-27 Robert Bosch Gmbh Method and device for lane keeping support in motor vehicles
US20100256869A1 (en) * 2007-06-28 2010-10-07 Thomas Lich Method for automatically correcting a state variable of a vehicle
US20110015850A1 (en) 2008-03-04 2011-01-20 Nissan Motor Co., Ltd. Lane keeping assist device and lane keeping assist method
US20110118936A1 (en) 2009-11-17 2011-05-19 Mando Corporation Lane-keeping control method and system
US20110231062A1 (en) 2010-03-17 2011-09-22 Mando Corporation Method and system for lane-keeping control
DE102010015538A1 (de) * 2010-04-20 2011-10-20 Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) Verfahren, Vorrichtung und Computerprogrammprodukt zur Erhöhung der Betriebssicherheit eines Fahrzeugs
US8095266B2 (en) 2007-12-12 2012-01-10 Hyundai Motor Company Lane keeping assist system
DE102010060300A1 (de) * 2010-11-02 2012-05-03 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Detektieren einer Gefahrensituation und Reaktion zur Beseitigung dieser Gefahrensituation
US20130231830A1 (en) 2010-11-19 2013-09-05 Magna Electronics, Inc. Lane keeping system and lane centering system

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US78902A (en) 1868-06-16 Richard b
US6493619B2 (en) 2000-09-05 2002-12-10 Nissan Motor Co., Ltd. Lane keeping assistance system and method for automotive vehicle
US7765066B2 (en) 2002-04-23 2010-07-27 Robert Bosch Gmbh Method and device for lane keeping support in motor vehicles
US7711464B2 (en) 2004-06-10 2010-05-04 Gm Global Technology Operations, Inc. Steering system with lane keeping integration
US7216023B2 (en) 2004-07-20 2007-05-08 Aisin Seiki Kabushiki Kaisha Lane keeping assist device for vehicle
KR100851120B1 (ko) * 2006-12-13 2008-08-08 현대자동차주식회사 이에스피 통합형 차선 유지 지원장치 및 그 제어 방법
US20100256869A1 (en) * 2007-06-28 2010-10-07 Thomas Lich Method for automatically correcting a state variable of a vehicle
US8095266B2 (en) 2007-12-12 2012-01-10 Hyundai Motor Company Lane keeping assist system
US20110015850A1 (en) 2008-03-04 2011-01-20 Nissan Motor Co., Ltd. Lane keeping assist device and lane keeping assist method
US20110118936A1 (en) 2009-11-17 2011-05-19 Mando Corporation Lane-keeping control method and system
US20110231062A1 (en) 2010-03-17 2011-09-22 Mando Corporation Method and system for lane-keeping control
DE102010015538A1 (de) * 2010-04-20 2011-10-20 Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) Verfahren, Vorrichtung und Computerprogrammprodukt zur Erhöhung der Betriebssicherheit eines Fahrzeugs
DE102010060300A1 (de) * 2010-11-02 2012-05-03 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Detektieren einer Gefahrensituation und Reaktion zur Beseitigung dieser Gefahrensituation
US20130231830A1 (en) 2010-11-19 2013-09-05 Magna Electronics, Inc. Lane keeping system and lane centering system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108778881A (zh) * 2016-03-15 2018-11-09 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序
CN111791892A (zh) * 2020-06-29 2020-10-20 广州小鹏车联网科技有限公司 智能车辆控制方法、装置、车辆以及存储介质
CN111791892B (zh) * 2020-06-29 2022-03-11 广州小鹏自动驾驶科技有限公司 智能车辆控制方法、装置、车辆以及存储介质

Similar Documents

Publication Publication Date Title
US12115978B2 (en) Vehicular control system for emergency handling
KR101309508B1 (ko) 차량의 차선 변경 보조 시스템 및 그 방법
EP3334639B1 (fr) Indication de rayon de remorque
US9873376B2 (en) Driving assist controller for vehicle
US20120203435A1 (en) Brake assist system
US20160304122A1 (en) Automated hitching assist system
US20070179697A1 (en) Lane departure warning system and method
CN106043297A (zh) 在反向操作期间基于前轮跑偏的避撞
EP3883840B1 (fr) Procédé et appareil d'assistance à la direction
US20110001617A1 (en) Method for warning the driver of a motor vehicle of increased risk of an accident
KR102287574B1 (ko) 차량 작동 방법 및 장치
JP6948790B2 (ja) ドライバを支援するための方法および装置
JP6842551B2 (ja) 制動制御装置
US8880294B2 (en) Proactive electronic stability control system
WO2015174943A1 (fr) Système pour garder et suivre sa voie de circulation
KR20170070382A (ko) 2차 사고 방지를 위한 긴급제동 장치 및 방법
CN110461142A (zh) 包括设置有防撞击系统的牵引车和挂车机具的农业系统
EP3246210B1 (fr) Système et procédé d'activation de feux d'avertissement d'un véhicule
KR20160038415A (ko) 적외선 감지센서를 이용한 4wd 차량의 제어 시스템 및 이를 이용한 제어 방법
WO2020230768A1 (fr) Véhicule à inclinaison équipé d'un dispositif de commande ayant au moins une fonction parmi fcw, eba et aeb
KR20120026712A (ko) 차선유지 제어방법
KR20160125666A (ko) 후륜 조향장치의 제어 장치 및 후륜 조향장치의 제어방법
KR101429436B1 (ko) 차선 유치 보조 장치를 이용한 사이드 미러 동작 제어 시스템 및 방법
EP2558337B1 (fr) Procédé et système pour le contrôle de la direction de mouvement d'un véhicule à moteur
SE1050980A1 (sv) Säkerhetssystem för ett fordon och metod för ett säkerhetssystem

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15723335

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15723335

Country of ref document: EP

Kind code of ref document: A1