WO2016119985A1 - Procédé pour faire fonctionner un dispositif de régulation longitudinale d'un véhicule automobile à conduite automatisée - Google Patents

Procédé pour faire fonctionner un dispositif de régulation longitudinale d'un véhicule automobile à conduite automatisée Download PDF

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Publication number
WO2016119985A1
WO2016119985A1 PCT/EP2015/081274 EP2015081274W WO2016119985A1 WO 2016119985 A1 WO2016119985 A1 WO 2016119985A1 EP 2015081274 W EP2015081274 W EP 2015081274W WO 2016119985 A1 WO2016119985 A1 WO 2016119985A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
control device
longitudinal control
situation
lane
Prior art date
Application number
PCT/EP2015/081274
Other languages
German (de)
English (en)
Inventor
Nils Hagenlocher
Alexander Haeussler
Andreas Offenhaeuser
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 WO2016119985A1 publication Critical patent/WO2016119985A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to accident or emergency, e.g. deceleration, tilt of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • 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
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Definitions

  • the invention relates to a method for operating a longitudinal control device of an automatically driven motor vehicle.
  • the invention further relates to a longitudinal control device for an automated mobile vehicle.
  • An object of the invention is to provide an improved longitudinal control device for an automated motor vehicle.
  • the object is achieved according to a first aspect with a method for operating a longitudinal control device of an automatically driven motor vehicle, comprising the steps:
  • Detecting a situation of the motor vehicle wherein in the event that it is detected that the motor vehicle leaves a lane and is in an area not provided as a regular lane, a signal is delivered to other road users.
  • the object is achieved with a longitudinal control device for an automated mobile vehicle, wherein by means of
  • Longitudinal control device an environment of the motor vehicle is detected, wherein by means of the longitudinal control device when detecting a leaving a lane and a stay in a non-regular lane area provided a warning function can be issued.
  • An advantageous development of the method provides that the situation of the motor vehicle is detected by exceeding a lane boundary line. In this way, it is supported that the regular roadway area is left by means of existing sensors of the motor vehicle.
  • a further advantageous development of the method provides that the situation of the motor vehicle is detected by means of a camera system. In this way, it is advantageously supported that the leaving of a regular roadway section provided for the motor vehicle can be sensed by means of a simple camera system.
  • a further advantageous development of the method provides that the motor vehicle is guided transversely to the roadway after the detected situation. This supports that the motor vehicle is as far as possible to the right in an area in which it does not interfere with the subsequent traffic is performed.
  • a further advantageous development of the method provides that the engine torque of the motor vehicle is automatically reduced after leaving the road. As a result, the fastest possible stop of the motor vehicle is supported, for example by means of an electronically controlled brake.
  • a further advantageous development of the method provides that at least one of the following actions of the motor vehicle is initiated by the longitudinal control device: flashing, dispensing of visual and / or audible warning signals, automatic transmission of an emergency call, automatic activation of a handbrake of the motor vehicle, connection to a central Setup via internet.
  • flashing dispensing of visual and / or audible warning signals
  • automatic transmission of an emergency call automatic activation of a handbrake of the motor vehicle
  • connection to a central Setup via internet This supports a large number of possible functionalities by means of which it is possible to respond efficiently to a possible emergency situation of the driver of the motor vehicle.
  • a further advantageous embodiment of the method provides that the method is deactivated with at least one of the following actions: switching off the hazard warning lights, setting the turn signal in the direction of the road, pressing the accelerator pedal. In this way it is supported that the system can be terminated in various ways defined and the vehicle can resume its normal operation on the road.
  • a traffic flow is advantageously affected as little as possible
  • Fig. 1 is a schematic block diagram of an embodiment of the longitudinal control device according to the invention.
  • Fig. 2 is a schematic flow diagram of an embodiment of the method according to the invention.
  • a warning system is proposed in a motor vehicle, which emits a warning signal to the rest of the traffic in the event of using a standstill.
  • FIG. 1 shows a basic block diagram of an embodiment of a longitudinal control device 400 provided therefor of an automatically driven motor vehicle.
  • the longitudinal control device 400 is initially provided by means of a detection device 100 data of an environment of the motor vehicle.
  • the detection device 100 may comprise a camera 10 of the motor vehicle, by means of which e.g. a recognition and evaluation of lane boundary lines is feasible.
  • the detection device 100 may further comprise a connection device 20 to a cloud, a radar sensor 30, an ultrasonic sensor 40 and map data 50 (eg local data or data from the cloud).
  • map data 50 eg local data or data from the cloud.
  • the position detection of the motor vehicle can also be carried out by means of a differential GPS system (not shown), which with the map data 50 can detect a very precise position of the motor vehicle on the road. Additional map data or live information from other sources can also be used here, as there are also streaks that may only be used temporarily and that can only be detected by means of up-to-date map data.
  • the aforementioned detection direction 100 it is provided to detect whether the motor vehicle is on the regular lane or on an area not intended for regular driving of the motor vehicle, for example a hard shoulder, an emergency stop, a green belt next to the lane, etc.
  • Data of the detection direction 100 are subsequently supplied to a situation recognition device 200, which performs a situation recognition of the motor vehicle.
  • the situation recognition device 200 it is analyzed that the motor vehicle leaves the normal carriageway and moves e.g. approaches to the hard shoulder, or along there or stops there.
  • an emergency functionality is now activated by means of an assistant device 300.
  • an eCall menu English, emergency call
  • a central facility eg an emergency call center
  • a blinking device 320 eg a hazard warning system
  • a connection device 330 is activated, via which a connection of the motor vehicle to the Internet is carried out and data are transmitted to an operation center.
  • a steering intervention by means of a steering device 340 eg electric power steering EPS, engl, electrical power steering
  • the motor vehicle is defined in a safe position on the hard shoulder with sufficient distance to a guardrail is performed.
  • the motor vehicle is braked by means of a braking device 350, as a result of which the motor vehicle, defined on the hard shoulder, comes to a standstill comes.
  • a braking device 350 for this purpose it can also be provided that the engine torque is automatically reduced.
  • the warning of the traffic can be done by means of Car2E or E2Car, whereby the subsequent traffic is informed about the current situation of the motor vehicle on the hard shoulder, for example by means of suitable technical means (eg display panels, radio, radio, etc.).
  • the longitudinal control device 400 can also be used in tunnels, it being possible in this case for a warning functionality to be implemented via a tunnel radio or a display system of the tunnel.
  • the longitudinal control device 400 is technically preferably implemented as a software in one or more electronic control units (not shown) of the motor vehicle. In this way, a variety of functions can be distributed in a desired manner to individual control units, thereby providing redundancies. Furthermore, it is supported that an adaptability and an update of the longitudinal control device 400 are possible in a simple manner.
  • Possible termination criteria for a defined termination of a functionality of the assistance device 300 may be, for example, a manual deactivation of the hazard warning lights, a setting of the turn signal in the direction of the traffic lane or an actuation of an accelerator pedal.
  • FIG. 2 shows a basic flow chart of an embodiment of the method according to the invention for operating a longitudinal control device of an automatically movable motor vehicle.
  • a situation of the motor vehicle is detected.
  • a step 510 if it is detected that the motor vehicle is leaving a lane and is in an area not provided as a regular lane, a signal is emitted to other road users.
  • the present invention proposes a method for operating a longitudinal control device and a longitudinal control device of an automatically driven motor vehicle, by means of which it is supported that a subsequent traffic informs of an irregular situation of the driver (eg health problems) or of the motor vehicle (eg technical defect) is, whereby appropriate auxiliary functions for the driver of the affected motor vehicle are provided.

Landscapes

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

Abstract

L'invention concerne un procédé pour faire fonctionner un dispositif de régulation longitudinale (400) d'un véhicule automobile à conduite automatisée, comprenant l'étape suivante : - détection d'une situation du véhicule automobile. Dans le cas d'une détection d'une sortie d'une voie de circulation par le véhicule automobile et d'un arrêt de celui-ci dans une zone qui n'est pas conçue comme une voie de circulation normale, un signal est délivré à l'attention des autres acteurs du trafic.
PCT/EP2015/081274 2015-01-26 2015-12-28 Procédé pour faire fonctionner un dispositif de régulation longitudinale d'un véhicule automobile à conduite automatisée WO2016119985A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015201266.2A DE102015201266A1 (de) 2015-01-26 2015-01-26 Verfahren zum Betreiben einer Längsregelungsvorrichtung eines automatisiert fahrbaren Kraftfahrzeugs
DE102015201266.2 2015-01-26

Publications (1)

Publication Number Publication Date
WO2016119985A1 true WO2016119985A1 (fr) 2016-08-04

Family

ID=55066622

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/081274 WO2016119985A1 (fr) 2015-01-26 2015-12-28 Procédé pour faire fonctionner un dispositif de régulation longitudinale d'un véhicule automobile à conduite automatisée

Country Status (2)

Country Link
DE (1) DE102015201266A1 (fr)
WO (1) WO2016119985A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018201067A1 (de) * 2018-01-24 2019-07-25 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
DE102022133415A1 (de) 2022-12-15 2024-06-20 Valeo Schalter Und Sensoren Gmbh Verfahren zum Informieren über ein freigegebenes und/oder verbotenes Befahren eines Seitenstreifens für ein Kraftfahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009016936A1 (de) * 2009-04-08 2009-11-19 Daimler Ag Fahrassistenzsystem zum Unterstützen eines Fahrers bei Ermüdung
DE102011109618A1 (de) * 2011-08-05 2013-02-07 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeuges
DE102011086241A1 (de) * 2011-11-14 2013-05-16 Robert Bosch Gmbh Verfahren zum sicheren Abstellen eines Fahrzeuges
EP2860078A1 (fr) * 2013-10-02 2015-04-15 Audi Ag Procédé d'opération d'un système de sécurité d'un véhicule automobile

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009016936A1 (de) * 2009-04-08 2009-11-19 Daimler Ag Fahrassistenzsystem zum Unterstützen eines Fahrers bei Ermüdung
DE102011109618A1 (de) * 2011-08-05 2013-02-07 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeuges
DE102011086241A1 (de) * 2011-11-14 2013-05-16 Robert Bosch Gmbh Verfahren zum sicheren Abstellen eines Fahrzeuges
EP2860078A1 (fr) * 2013-10-02 2015-04-15 Audi Ag Procédé d'opération d'un système de sécurité d'un véhicule automobile

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