JP2010502515A - 自動車の走行方向を検出するための方法 - Google Patents
自動車の走行方向を検出するための方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- 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
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
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- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/024—Collision mitigation systems
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- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/08—Driving in reverse
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- 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
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- B60W2520/06—Direction of travel
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- 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
- B60W40/04—Traffic conditions
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
a)車両方向の車両の前の対象物を検出するステップと、
b)相互の相対位置に基づき車両と対象物が接触する可能性を算出するステップと、
c)対象物が接触する可能性に関する算出結果に基づき運転者によらない制動及び/又は操舵行程を作動するステップとを含む方法に関する。
保護システムの誤った作動を回避するために、本発明に従って、別のステップ、すなわち、
e)予防的に作用する保護システム114又はこの予防的に作用する保護システム114と結合された安全装置116を有する車両の走行方向を算出するステップ、及び後退走行が検出されたときに、運転者によらない制動及び/又は操舵行程を阻止又は中断するステップが提供される。
Description
b)相互の相対位置に基づき車両と対象物が接触する可能性(moeglichen Kontakts)を算出するステップ、
c)対象物と接触する可能性に関する算出結果に基づき、運転者によらない制動行程又は操舵行程を準備または作動するステップ。
1.縦方向加速度信号に基づく後退走行の検出
予防的に作用する保護システム114は、実施例に従って、後退走行を検出するための縦加速度センサ120の縦方向加速度信号を使用する。縦方向加速度センサ120は、エアバッグシステムに、全輪駆動車用に電子ブレーキシステムに、そして自動車の別の電子安全システム又は運転者支援システムに使用される。測定された縦方向加速度信号αsensorには符号が付けられ、静的及び動的な部分を有する。
2.周辺センサに基づく後退走行の検出
周辺センサは、アダプティブテンポマートのような運転者支援システムに、そして事故を低減するか又は回避する予防的に作用する保護システム114に使用される。周辺センサは、画像又は反射に基づき、自己車両100と共に道路交通で移動しかつ静止する周辺対象物112、121、124、その位置及び相対速度vrelを検出する。この場合、112は、前進走行123の際に自己車両100と共に同一の方向に移動する車両を示しており、一方、車両121は、自己車両100の後退走行の際に同一の方向122に移動する。例えば124のような「静止対象物」は、道路に対し相対的に移動しないような対象物である。
・最後の車両停止状態の後に周辺対象物124が「静止/遠ざかっている」として分類された期間が、規定の期間を越えている、及び
・最後の車両停止状態の後に周辺対象物124が「静止/接近している」として分類された期間が、規定の期間を下回っている。
Claims (3)
- 予防的に作用する保護システム(114)を有する車両の走行方向を検出するための方法であって、
a)車両方向の車両の前の周辺対象物(112、121、124)を検出するステップと、
b)相互の相対位置及び速度に基づき車両(100)と周辺対象物が接触する可能性を算出するステップと、
c)周辺対象物と接触する可能性に関する算出結果に基づき、運転者によらない制動行程及び/又は操舵行程を作動するステップを有する方法において、
別のステップ、すなわち、
e)予防的に作用する保護システム(114)、又は予防的に作用する保護システムと結合された内部又は外部の安全装置(116)を有する、車両の走行方向を算出するステップと、後退走行が検出されたときに、運転者によらない制動行程及び/又は操舵行程を阻止又は中断するステップ、
を特徴とする方法。 - 後退走行検出が、縦方向加速度センサ(120)及び/又は周辺センサ(111)の信号に基づき検出されることを特徴とする、請求項1に記載の方法。
- 複数の安全装置と少なくとも1つの周辺センサとを含む予防的に作用する保護システムを有する自動車において、車両(100)の走行方向検出部に、予防的に作用する保護システム(114)が設けられ、保護システム(114)が少なくとも1つの後退走行検出装置、好ましくは後退走行を算出するための加速度センサ(120)及び/又は周辺センサ(111)を備えることを特徴とする自動車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006043511 | 2006-09-12 | ||
PCT/EP2007/059561 WO2008031837A1 (de) | 2006-09-12 | 2007-09-12 | Verfahren zum erkennen einer fahrtrichtung in einem kraftfahrzeug |
DE102007043419A DE102007043419A1 (de) | 2006-09-12 | 2007-09-12 | Verfahren zum Erkennen einer Fahrtrichtung in einem Kraftfahrzeug |
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JP2010502515A true JP2010502515A (ja) | 2010-01-28 |
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JP2009527812A Pending JP2010502515A (ja) | 2006-09-12 | 2007-09-12 | 自動車の走行方向を検出するための方法 |
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Country | Link |
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US (1) | US8095277B2 (ja) |
EP (1) | EP2066544B1 (ja) |
JP (1) | JP2010502515A (ja) |
DE (1) | DE102007043419A1 (ja) |
WO (1) | WO2008031837A1 (ja) |
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JP2017530893A (ja) * | 2014-07-28 | 2017-10-19 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | 車両のブレーキ・アシスタントによる制動プロセスを実施するための方法 |
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DE102010028384A1 (de) | 2009-05-07 | 2010-11-11 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Regelung bzw. Steuerung der Fahrstabilität eines Fahrzeugs |
US9280711B2 (en) | 2010-09-21 | 2016-03-08 | Mobileye Vision Technologies Ltd. | Barrier and guardrail detection using a single camera |
US9959595B2 (en) | 2010-09-21 | 2018-05-01 | Mobileye Vision Technologies Ltd. | Dense structure from motion |
DE102012203187A1 (de) | 2011-03-01 | 2012-09-06 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Prädiktion und Adaption von Bewegungstrajektorien von Kraftfahrzeugen |
WO2012117057A1 (de) | 2011-03-01 | 2012-09-07 | Continental Teves Ag & Co. Ohg | Sicherheitsvorrichtung für ein kraftfahrzeug und verfahren zum betrieb eines kraftfahrzeugs |
US9174641B2 (en) | 2011-03-09 | 2015-11-03 | Continental Teves Ag & Co. Ohg | Safety device for a motor vehicle and method for operating a motor vehicle |
DE102011077486B3 (de) * | 2011-06-14 | 2012-10-18 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Auslösung eines Insassenschutzmittels, Auslösesystem und Fahrzeug |
FI2723615T3 (fi) * | 2011-06-24 | 2023-06-08 | Surveillance Guard Co Ltd | Onnettomuuden estojärjestelmä ja onnettomuuden estojärjestelmän sisältävä ajoneuvo |
DE102011120778B4 (de) | 2011-12-09 | 2018-05-09 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Schutz eines Fahrers eines Kraftfahrzeugs, sowie ein Kraftfahrzeug mit einer solchen Vorrichtung |
JP5915769B2 (ja) * | 2012-11-27 | 2016-05-11 | 日産自動車株式会社 | 車両用加速抑制装置及び車両用加速抑制方法 |
DE112013006126A5 (de) | 2012-12-20 | 2015-09-10 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum automatisierten Bremsen und Lenken eines Fahrzeugs |
DE102013009339A1 (de) * | 2013-06-04 | 2014-12-04 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Notfallassistenz |
US10773642B2 (en) | 2013-11-06 | 2020-09-15 | Frazier Cunningham, III | Vehicle driver nudge system |
JP2015114834A (ja) * | 2013-12-11 | 2015-06-22 | 株式会社デンソー | 車両制御装置 |
KR101597771B1 (ko) | 2014-12-09 | 2016-02-25 | 주식회사 만도 | 조향 토크 보정 장치 및 방법 |
US11358605B2 (en) * | 2018-09-10 | 2022-06-14 | Here Global B.V. | Method and apparatus for generating a passenger-based driving profile |
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2007
- 2007-09-12 DE DE102007043419A patent/DE102007043419A1/de not_active Withdrawn
- 2007-09-12 US US12/440,929 patent/US8095277B2/en active Active
- 2007-09-12 JP JP2009527812A patent/JP2010502515A/ja active Pending
- 2007-09-12 WO PCT/EP2007/059561 patent/WO2008031837A1/de active Application Filing
- 2007-09-12 EP EP07803425.3A patent/EP2066544B1/de active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2017530893A (ja) * | 2014-07-28 | 2017-10-19 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | 車両のブレーキ・アシスタントによる制動プロセスを実施するための方法 |
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US8095277B2 (en) | 2012-01-10 |
US20090234543A1 (en) | 2009-09-17 |
DE102007043419A1 (de) | 2008-03-27 |
EP2066544A1 (de) | 2009-06-10 |
WO2008031837A1 (de) | 2008-03-20 |
EP2066544B1 (de) | 2013-05-01 |
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