WO2017005255A1 - Dispositif et procédé d'aide à la conduite d'un véhicule automobile - Google Patents

Dispositif et procédé d'aide à la conduite d'un véhicule automobile Download PDF

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Publication number
WO2017005255A1
WO2017005255A1 PCT/DE2016/200257 DE2016200257W WO2017005255A1 WO 2017005255 A1 WO2017005255 A1 WO 2017005255A1 DE 2016200257 W DE2016200257 W DE 2016200257W WO 2017005255 A1 WO2017005255 A1 WO 2017005255A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
probability
driving
sensor
object recognition
Prior art date
Application number
PCT/DE2016/200257
Other languages
German (de)
English (en)
Inventor
Nicolaj Stache
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Priority to DE112016000273.4T priority Critical patent/DE112016000273A5/de
Publication of WO2017005255A1 publication Critical patent/WO2017005255A1/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
    • 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
    • B60W30/08—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
    • 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
    • B60W30/08—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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/18—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • the present invention relates to electronic
  • the present invention relates to a driver assistance apparatus and method for a motor vehicle.
  • Driver assistance systems can be subsystems for
  • a first aspect of the present invention relates to a driver assistance device for a motor vehicle, the device comprising: a sensor device which has at least one sensor which is designed to provide an obstacle within a detection range
  • Detect object recognition probability a computing device adapted to respond to a given or anticipated driving situation
  • Driver assistance for a motor vehicle allows adaptation of the driving parameters, i. a partial and customizable
  • Functional degradation of automated driving functions may be performed with the proviso of a given or anticipated driving situation with a predetermined driving situation
  • Sensor characteristic curves or sensor models are present, which describe the system "motor vehicle” and / or the interaction of the motor vehicle with the traffic and the environment.
  • the device can also use external data sources such as map data, backend data or data from car2car and / or car2X communication for this purpose.
  • the sensor device can be designed as an interface device which detects an obstacle with an object recognition probability based on the external data sources.
  • the road condition may be described as "wet” or “dry” or “iced.”
  • a simulation with input data can now determine whether there is a sufficient probability of the given or future driving situation without boundary areas, i. in the
  • This calculation can be carried out on a control unit in the vehicle or characteristic curves can be calculated according to this method and used in the control unit of the vehicle.
  • the present invention advantageously enables the design of a sensor setup in the form of the sensor device for automated driving.
  • the present invention advantageously allows the sensor system in the form of
  • Sensor device which has, for example, three sensors, detects an obstacle with a certain probability, so that a motor vehicle, for example, before the
  • Obstacle comes to a standstill in time or the obstacle can avoid to be calculated set paths of the motor vehicle.
  • the present invention advantageously allows to calculate, based on a linkage of the available sensors, whether in a certain constellation with predetermined further assumptions a certain probability for the
  • a combination of the available sensors can be a total or a product by the individual probabilities of individual sensors
  • Motor vehicle represent a response to a successful detection of the obstacle, such as the withdrawal of acceleration or setting a certain delay, for example, of -0.6 g.
  • the established driving strategy may include applying a predetermined deceleration gradient, for example, 0.4 g / s.
  • a predetermined deceleration gradient for example, 0.4 g / s.
  • Object recognition probability can be determined and calculated as a function of an object distance. In other words, one can for the
  • Sensor characteristic applied an object recognition probability of the sensor to be characterized over an object distance and thus represent its optimal detection range.
  • a method for driver assistance for a motor vehicle comprising the following method steps:
  • Motor vehicle is performed with the minimum probability value in a normal range. Determining a driving parameter for guiding the motor vehicle on the basis of the object recognition probability and on the basis of the minimum probability value. r
  • the sensor device has at least two sensors, which are designed, within at least partially overlapping detection areas, the obstacle with at least two
  • Capture object recognition probabilities In this case, the at least two object recognition probabilities can vary and have different dependencies with respect to the object distance.
  • the present invention provides that the
  • Computer device is adapted to the driving parameters based on a product of the at least two
  • the present invention provides that the
  • Computer device is designed to determine a probability of collision avoidance.
  • the present invention provides that the
  • Computer device is designed to reduce the probability of collision avoidance in at least two
  • Divide section probabilities which are each assigned to a coverage area. This advantageously makes it possible to integrate or differentiate sections of probabilities over a specific spatial or areal extent.
  • the present invention provides that the
  • Computer device is adapted to the at least two section probabilities by means of an integration over the respective coverage area or by means of a
  • the present invention provides that the
  • Computer device is adapted to the driving parameters based on a modeling of a distance traveled by the motor vehicle or based on a
  • the future traveled route of the motor vehicle may include a route which is traveled for example within the next 2 s, or 5 s, or 12 s, or 20 s from the motor vehicle.
  • the present invention provides that the device Furthermore, a control device which is designed to control a braking system of the motor vehicle based on the determined driving parameters.
  • the present invention provides that the
  • Control device is designed to control based on the determined driving parameters, the braking system of the motor vehicle with a predetermined delay and / or with a predetermined deceleration gradient.
  • the present invention provides that the
  • Computer device is designed to calculate the driving parameters based on a speed of the motor vehicle.
  • Implementations of the present invention also include not explicitly mentioned combinations of features of the invention described above or below with respect to the exemplary embodiments.
  • FIG. 1 shows a schematic illustration of a driver assistance device for a motor vehicle according to an embodiment of the present invention
  • Fig. 4 is a schematic representation of a kinematic
  • FIG. 1 shows a schematic representation of a device for driver assistance of motor vehicles according to a further embodiment of the present invention.
  • the device 1 comprises, for example, a sensor device 10 and a computer device 20.
  • the sensor device 10 has at least one sensor 10-1, 10-2, 10-n, which is designed to detect an obstacle H with an object recognition probability PHE1, PHE2, PHEn within a detection range El, E2, En.
  • the computer device 20 is designed for a given or expected driving situation
  • the computing device 20 is configured to calculate the probability of the collision avoidance based on a modeling of one of the motor vehicle 100
  • the computer device 20 is designed to be based on the object recognition probability and based on the
  • the computer device 20 can also be designed based on the object recognition probability and on the basis of
  • Driving condition parameters a probability for the To detect collision avoidance, if an obstacle H is detected within a driving range of the motor vehicle.
  • the sensor characteristic curves are divided into small distance sections in the form of the detection areas El, E2,... En, as shown in FIG. 4 below.
  • driving state parameters for example, a
  • Speed of the motor vehicle or a driving mode such as “sporty” or “comfortable” are used.
  • the sensor device 10 may, for example, as shown, three sensors 10-1, 10-2, 10-3 have.
  • a sensor 10-1, 10-2, 10-n for example, a camera or a LiDAR sensor can be used.
  • LiDAR short for English "Light detection and ranging”
  • LaDAR short for English Laser detection and ranging
  • Device for this external data sources such as map data, backend data or data from car2car and / or
  • the sensor device 10 can be designed as an interface device that detects an obstacle with an object recognition probability based on the external data sources.
  • an ultrasound sensor can be used in the near range, for example for a range of less than 20 m.
  • the probability for the occurrence of the combination also results from the product of the probabilities that a detection of the obstacle H in the respective section in the form of the detection area El, E2, En took place, with a high degree of statistical independence of the sensors
  • the beginning of the PAPSCHNITT would be the value of
  • the total probability sought is the sum of the
  • the assessment as to whether or not a crash would occur in the case of a specific PKOMBINATION is made by modeling the travel of the motor vehicle or of the motor vehicle path to the obstacle H.
  • the sensors 10-1, 10-2, 10-n detect the obstacle H in the distances or detection ranges El, E2, En predetermined by the combination.
  • the subsequent reaction is given by the driving strategy and is simulated by the method or device. Examples of g-values for such a simulation with the following sensor characteristics and an initial speed of 130 km / h of the motor vehicle are given below:
  • a sensor 10-1, 10-2, 10-n with compared to other long-range sensors may have a range of up to 150 m and be configured to detect a collision with a delay or
  • medium-range sensors can be a
  • Short-range sensors may, for example, have a range of up to 35 m and be designed to detect a collision with a delay or
  • This simulation can be performed for all n 3 combinations to calculate the sought likelihood.
  • the present invention advantageously makes it possible to avoid an accident with a certain probability from a request to the overall system and thereby to have specific sensor characteristics or driving state parameters
  • the present invention allows to consider the sensors of the sensor device taken together and also to model the driving strategy of the motor vehicle in order to
  • the present invention advantageously allows to simulate which parameters which influence on the
  • a collision probability may function as a function of the speed of the
  • a maximum possible braking performance in dry roads can be 1.0 g, in wet roads 0.6 g and in ice slippery only 0.3 g and these different braking performance can in the
  • the present invention may advantageously enable redundancy of the sensors 10-1, 10-2, 10-n
  • the device can also be used in control units of the
  • a camera sensor at night may have a different sensor characteristic than during the day.
  • the computer device 20 may be configured to determine the maximum possible driving speed for the current driving situation with which the crash avoidance rate of a specific limit value is just reached or the
  • Collision probability does not exceed a certain corresponding limit.
  • the limit value used for the collision probability can be ⁇ 0.001% or ⁇ 0.0001%.
  • the computer device 20 can be configured to allow optimum degradation of the function or the driving speed.
  • the computer device 20 may be designed so that the sensors are considered together and also the driving strategy is modeled with. In other words, influences are matched to one another by the computer device 20 and dependencies of
  • Driving state parameters on the collision probability are identified by the computer device 20. From a requirement on the overall system to avoid a crash at x%, specific sensor characteristics or a driving strategy can be derived.
  • the control device 30 may be configured to control a brake system 40 of the motor vehicle 100 based on the derived driving strategy based on the probability for the collision avoidance.
  • FIG. 2 shows a schematic representation of a method for driver assistance for a motor vehicle according to a further embodiment of the present invention.
  • the method comprises the following method steps: A detection of an obstacle H within a detection range El, E2, En with an object recognition probability PHE1, PHE2, PHEn by means of a sensor device 10 takes place as a first method step. A determination is made as a second step of the method S2 a probability for collision avoidance based on the object recognition probability and based on
  • Driving condition parameters by means of a computer device 20, if an obstacle H within a driving range of
  • FIG. 3 shows a schematic representation of a diagram with sensor characteristics of three different sensors.
  • a first sensor 10-1 is equipped with a short - in comparison to the other sensors - range of up to 100 m
  • a second sensor 10-2 has an average range of up to 125 m
  • a third sensor 10-3 has a detection range with a long range of up to 200 m.
  • the diagram shows on the x-axis the distance to an object X or to an obstacle H in meters.
  • the probability of object recognition in other words the object recognition probability is plotted between 0 and 1.
  • FIG. 4 shows a schematic representation of a
  • the distance covered, the speed of the motor vehicle and the acceleration of the motor vehicle are shown.
  • the x-axis of the diagram shown in FIG. 4 shows the time in seconds.
  • the first y-axis on the left side of the diagram shows the speed of the motor vehicle in km / h and the distance to the object in meters.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif (1) d'aide à la conduite d'un véhicule automobile, le dispositif comprenant : un dispositif de détection (10) qui présente au moins un capteur (10-1, 10-2,..., 10-n) qui est configuré pour détecter dans une zone de détection (E1, E2,..., En) un obstacle (H) avec une probabilité de reconnaissance d'objet (PHE1, PHE2,..., PHEn), et un dispositif de calcul (20) qui est configuré pour déterminer, pour une situation de conduite donnée ou attendue, une valeur minimale de probabilité pour laquelle le véhicule automobile est conduit dans une plage normale. Le dispositif de calcul (20) est par ailleurs configuré pour déterminer, au moyen de la probabilité de reconnaissance d'objet et de la valeur minimale de probabilité, un paramètre de conduite permettant de guider le véhicule automobile.
PCT/DE2016/200257 2015-07-08 2016-05-30 Dispositif et procédé d'aide à la conduite d'un véhicule automobile WO2017005255A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112016000273.4T DE112016000273A5 (de) 2015-07-08 2016-05-30 Vorrichtung und Verfahren zur Fahrerassistenz für ein Kraftfahrzeug

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212751.6A DE102015212751A1 (de) 2015-07-08 2015-07-08 Vorrichtung und Verfahren zur Fahrerassistenz für ein Kraftfahrzeug
DE102015212751.6 2015-07-08

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Publication Number Publication Date
WO2017005255A1 true WO2017005255A1 (fr) 2017-01-12

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EP3857327B1 (fr) * 2019-12-20 2023-04-05 Baidu.com Times Technology (Beijing) Co., Ltd. Mise en uvre d'une fonction de coût dynamique de véhicules autonomes
DE102021202265A1 (de) 2021-03-09 2022-09-15 Zf Friedrichshafen Ag Computerimplementiertes Verfahren und Computerprogramm zum Bestätigen einer sicheren Wahrnehmung eines Wahrnehmungsmoduls und Steuergerät für autonome Fahrfunktionen

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WO2008043852A1 (fr) * 2006-10-13 2008-04-17 Continental Teves Ag & Co. Ohg Système de détermination d'objets
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DE102009012226A1 (de) * 2009-03-07 2010-09-09 Daimler Ag Verfahren zur Vermeidung oder Folgenminderung einer Kollision eines Fahrzeugs mit einem Hindernis

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WO2008020076A1 (fr) * 2006-08-18 2008-02-21 Continental Teves Ag & Co. Ohg Commande de moyens de sécurité d'un véhicule automobile
WO2008043852A1 (fr) * 2006-10-13 2008-04-17 Continental Teves Ag & Co. Ohg Système de détermination d'objets
WO2013072049A1 (fr) * 2011-11-16 2013-05-23 Audi Ag Procédé d'exploitation d'un véhicule automobile
DE102013203216A1 (de) * 2013-02-27 2014-08-28 Robert Bosch Gmbh Verfahren zur Unterstützung des Fahrers eines Kraftfahrzeugs bei einem Kollisionsvermeidungsmanöver
EP2803546A1 (fr) * 2013-05-14 2014-11-19 Denso Corporation Appareil d'atténuation de collision

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