CN1967624A - Method and device for aiding driver before and/or in the process of passing a narrow road section - Google Patents
Method and device for aiding driver before and/or in the process of passing a narrow road section Download PDFInfo
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- CN1967624A CN1967624A CNA2006101429039A CN200610142903A CN1967624A CN 1967624 A CN1967624 A CN 1967624A CN A2006101429039 A CNA2006101429039 A CN A2006101429039A CN 200610142903 A CN200610142903 A CN 200610142903A CN 1967624 A CN1967624 A CN 1967624A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000008569 process Effects 0.000 title claims abstract description 28
- 238000012937 correction Methods 0.000 claims description 8
- 230000002787 reinforcement Effects 0.000 claims description 6
- 230000004913 activation Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 12
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000003467 diminishing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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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
- 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
-
- 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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- 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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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- 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)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to a method and device for aiding driver in the process of passing a narrow road section, especially used for automobiles. In the method, a passage traveling width between two boundaries in a narrow space is measured and some suspensory steps for supporting a driver during and/or before passing the narrow space are supplied to drivers. In such cases, said suspensory steps depend on a driver's ability or action.
Description
Technical field
The present invention is used for before by narrow road section and/or process is supported driver's method and apparatus from a kind of.
Background technology
Known many sensors that surrounding environment is reported to the police that are used for are installed in automobile.More known ultrasonic sensors are used for the spacing between docking process measured automobiles and barrier.Radar sensor or laser sensor are used for the following at a distance of spacing control, make car speed be matched with the speed in its front traveling automobile according to its measurement data.More known in addition camera systems, they survey and analyze the object of motor vehicle environment.These are used to monitor that the sensor of surrounding environment generally is used for the detecting obstacles thing and will be shown to the driver in the spacing between its automobile and the barrier or with respect to the speed of barrier.
Known by DE 102004015749 A1 in addition, by means of ambient sensors measure between each barrier pass through width and/or under barrier pass through height and by an analytic unit will measure pass through width and/or mensuration pass through highly compare with automobile width and/or automobile height, do not allow the situation of passing through possibility of automobile for the width of measuring that passes through that passes through height and/or measure, give the alarm on the barrier next door.Set in addition, in a display unit, will measure pass through width and/or mensuration pass through highly to be shown to the driver.Known in addition solution shows, when passing through, that is supports the driver in the mode of the vision and/or the sense of hearing by narrow road section the time.Set in one embodiment, by narrow road section the time, notify the driver or automatically carry out steering angle correction.By narrow road section the time, support the driver in such a way.
Summary of the invention
But the driver supports individuation ground to constitute and is matched with driver or its ability.Its advantage is the interference that prevents that the skilled driver from being intervened or indicating, and a unskilled driver still obtains a kind of effective support.
Particularly advantageously be, during by long narrow road section process, especially move with the narrow road section that changes in, when for example in express highway section, surmounting lorry, support the driver effectively according to its ability with have a lot of social connections (Spurbreite) of diminishing.Measure spacing in this case constantly and by the driver information of the individuation of its derivation and/or the automobile intervention of individuation.
Realize individuation a kind of in this wise in preferred embodiment, support in by the process of narrow road section that promptly driver's degree depends on driver's behavior under one or more analogues in the past.
By the following advantage that description or each appended technical scheme of each embodiment are provided other.
Description of drawings
Various embodiments of the present invention are shown in the drawings and describe in more detail in the following description.
Fig. 1 illustrate one be used for by before the narrow road section and/or process support driver's schematic representation of apparatus.
Fig. 2 illustrates the automobile that the comprises such device vertical view under a kind of traffic with narrow road section.
Fig. 3 and 4 illustrates the process flow diagram as computer program of the support that is used to realize driver's individuality.
Embodiment
Shown in Fig. 1 one be used for by before the narrow road section and/or process support driver's device 1, this device is packed in the automobile.Device 1 has a sensor unit 2, and this sensor unit has each sensor 3,4,5,6 that is provided with in the different position of automobile.Be provided with four sensors among the embodiment shown here.But sensor unit 2 also can comprise more or less sensor.Sensor 3,4,5,6 is connected with an analytic unit 7.Analytic unit 7 has a computing unit 8 and a storer 9.Computing unit 8 is used to analyze the measurement data of being passed on by sensor 3,4,5,6.In storer 9, deposited car data, particularly about the data of the overall width of automobile.In these data, considered to stretch out the part outside the automobile, for example outside rear-view mirror.One is used for the indication of vision output alarm or supports the display unit 11 of indication to be connected to analytic unit 7.In addition or selectively, one can be used for the indication of audible means output alarm or support the loudspeaker 12 of indication (for example voice output) to be connected to analytic unit 7.In addition or selectively, a motor-driven unit 13 can also be connected on the analytic unit 7, this motor-driven unit is used for the retroaction of sense of touch.Motor-driven unit 13 can preferably affact on the automobile steering wheel 14, thereby when analyzed unit 7, motor-driven unit 13 activated, the automobilist felt the vibration in bearing circle 14.Perhaps, as haptic response a power is applied on the bearing circle for the driver on a preferred orientations to bearing circle via motor, in order to carry out steering correction, he must be on this direction the steering dish so that pass through narrow road section safely.
In a kind of favourable form of implementation, by described device by before the narrow road section and/or during the process automatically the pro-active intervention automobile vertically and/or laterally control, for example be used to quicken and/or the engine that slows down and/or detent and/or the control intervention is used for the steering mechanism of automatic laterally steering on one's own initiative by control intervention on one's own initiative.
Implement in the form of implementation at first kind, sensor 3,4,5,6 constitutes ultrasonic sensor.Each ultrasonic sensor is measured the transit time of an acoustical signal, and ultrasonic sensor is launched this acoustical signal and reflected by a barrier.Also possible in addition, sensor 3,4,5,6 is constituted radar sensor or constitutes video sensor.Also might various sensors with different measuring techniques be set according to the installation site.Handle and compare with the car data that leaves in the storer 9 before by narrow road section and/or during the process continuously by computing unit 8 by the data that sensing 3,4,5,6 detects.
Before passing through narrow road section and/or by during the process, computing unit 8 is measured the width of narrow road section by sensor signal by corresponding routine analyzer.The width of mensuration and the automobile width of storage are compared and inform the driver, whether exist or exist and pass through possibility, if there is no or no longer there is this possibility, then sends corresponding output by display unit 11, loudspeaker 12 and/or motor-driven unit 13.In one embodiment, in addition or selectively, intervene vertical control of automobile in the mode of slowing down, and in one embodiment, under the situation of the barrier that moves, to the speed of barrier or down or in one embodiment even stop at it with automobile brake.
If computing unit 8 determines that the automobile width can pass through, then show a corresponding vision indication or send a corresponding affirmation sound via loudspeaker 12 at display unit 11.The driver can be driven towards the narrow road section that is positioned in face of it and/or now relievedly by this narrow road section.
During passing through the narrow road section process, computing unit 8 is measured to the spacing on each border of narrow road section constantly.If a spacing (left side or the right) is too small, realize corresponding output by display unit 11, loudspeaker 12 and/or motor-driven unit 13 equally.In one embodiment, in addition or selectively, intervene vertical control of automobile and/or make automobile turn back to a more suitably position, for example center position in the narrow road section by intervening steering mechanism in the mode of slowing down.Perhaps send indication so that carry out steering angle correction, make him can take the suitable measure that turns to, bump against with barrier so that during the process of passing through from the side, avoid to the driver.
About the information of driver and/or intervention drivers ' behavior or the driver's ability of being matched with as described below individually.
In a kind of preferred form of implementation, the width that passes through of practical measurement shows in display unit 11.In the present embodiment here, for the width 15 that passes through that shows disposes a corresponding symbol 16.In the present embodiment here, always show by width with numeral, that is one " 1.8m " pass through width.But also possible, need not numeral output and a colour coding only is set or a hachure shows, it is shown to one of driver in automobile dimension and the relative scale of passing through between the width.
To the driver its laterally and/or the support aspect the longitudinally guiding be applied on the bearing circle by the steering moment that points to proper orientation with according to embodiment, by arrow for example, fade in vision steering order by the desirable track form of narrow road section, realize by audible instructions (for example phonetic order or suitable sound).Indicate the support that can be implemented in the longitudinally guiding aspect by acceleration or braking, if the spacing to barrier promptly reduces in narrow road section, it is impossible that then constant continuing travelled.The latter determines according to traffic, sends a braking indication when for example making in the traffic in face of the automobile at the narrow road section that narrows down gradually, freely travelling and sending one during near the terminal of narrow road section and quicken indication.
Figure 2 illustrates the vertical view of one first automobile 50, travel on the road 55 of this first automobile in the zone 51 on a road surface that narrows down.One second automobile 52 that travelling in these automobile 50 back, it is equipped with ambient sensors system 53 and wants to surmount first automobile 50 that is in the zone, road surface 51 that narrows down.The left margin on road surface and automobile 50 have formed a narrow road section 56.The measured zone of ambient sensors system 53 detects at least two borders of narrow road section 56, that is shown in traffic under detect left hand edge and automobile 50.Be determined at the width that passes through of narrow road section 51 between first automobile 50 and the left margin by the analytic unit 7 in second automobile 52.Be shown to the driver according to this by width, he whether can sail narrow road section into or whether he should brake before narrow road section and wait for, and is a kind of by possibility (measure continuously and pass through width) up to producing.Show according at least a possibility in the above-mentioned possibility.Also implement the automatic deceleration of automobile in one embodiment.Even by during the process, that is also support the driver of automobile 52 during the process of passing through on the next door of automobile 50 as described above.
In a kind of special embodiment, support driver's result to mate before by narrow road section and/or during the process according to driver's behavior and/or ability.Solution in this similar situation is grasped and storage by the driver.This preferably carries out like this, promptly in identification during a narrow road section (by width less than a preestablished limit value, but by be possible), record driver's driving behavior.The frequent degree of steering correction is measured in the variation of for example writing down the steering angle of the distribution in time of a steering angle signal and the steering angle by the check value of overstepping the extreme limit and/or the value of overstepping the extreme limit.A kind of selection or to replenish be to measure the degree of deceleration of automobile, for example by accelerator pedal and/or brake pedal motion and/or velocity variations.If for example because frequent steering correction and/or because frequent unsafe driving behavior of velocity correction demonstration, the then measure that reinforcement is supported in a similar situation (narrow road section) of being passed through later on by the driver.For example the support in first step may mean, and in the nearest choice of agreeing or opposing to pass through, the narrow road section of broad only being provided for a unsafe driver is so that not engender tension or unnecessary burden.
This external by frequently send in the process instruction (in the short time interval) and/or simultaneously or in short-term adjoining land a plurality of different instructions are provided, for example apply a steering moment simultaneously and send an audible alarm.According to a kind of warning countermeasure of adaptation, even during by process, also can show spacing to a unsafe driver by means of hatched drawing by a signal lamp situation.Rapidly and continually yellow and red appears in this case, and green less on the contrary, show the adjustment needs continuously for thus the driver.This system can also bear part task (damping force reinforcement) or whole task (for example turning to) for the driver.This must coordinate between system and driver under individual cases.This external information can be from Fig. 2 automobile 52 communication is transferred on the automobile 50 to car via car, the driver of automobile 50 can be that unsafe driver the automobile 52 abdicates more place from his aspect where necessary thus.
Fig. 3 and 4 illustrates process flow diagram, and they describe the realization of aforesaid operations mode as computer program.
Describe among Fig. 3 and how to measure individual driving behavior.
When by passing through width and identify a narrow road section between two borders and/or barrier, begin described program module.This realizes by comparing with a preestablished limit value.When the narrow road section, that is when having surpassed a ultimate value, withdraw from this program module by width.This ultimate value also be scheduled to and be preferably greater than first ultimate value.In step 100, import a signal of representing steering angle then.In step 102, by this signal of official hour cycle analysis.This signal variation and preestablished limit value in time compared and measures the number that each time cycle surpasses for this reason.Whether check in inquiry step 104 after this surpasses number and has surpassed a ultimate value.If this is the case, then mean and in step 106, a sign is set according to a kind of unsafe drive manner.Otherwise keep not being provided with sign (step 108) or zero setting.For the zero setting (Zur ü cksetzen) that indicates, in one embodiment, in order to be provided with, must in step 104, preferably repeatedly discern continuously not-condition (or-condition).If still can not pass through narrow road section, then module reruns by step 100.
Except or replace above-mentioned analysis to a steering angle signal, can use other analysis, for example on the basis of the amplitude of signal and with ultimate value, compare.
Except or replace steering angle signal, in other embodiment, adopt other can infer a kind of signal of unsafe drive manner, for example a rate signal, an acceleration pedal position signal etc.Identify a kind of unsafe drive manner this moment when determining the frequent fluctuation of signal.
In the above-described embodiment, two kinds (sign=dangerous is set, sign=safety is not set) are only described.In other embodiment, more kinds of classifications are set, make and can measure some intermediatenesses, for example " somewhat dangerous ", " dangerous strongly " etc.
Fig. 4 illustrates a program module, by means of the measure of this program module coupling support.Also be when identifying a narrow road section, to activate this module and when having passed through narrow road section, withdraw from.
After module began, whether check was provided with sign in first step 200.If this is this situation, then in step 202, activate first routine package aspect the measure of supporting.If this is not this situation, then activate one second routine package (step 204).Support approach as the sense of touch support by applying a steering moment with send the audio alarm indication by for example two kinds of different drivers, first routine package shows the measure of the support of strengthening.(wait for example more loudly) or send continually the indication of reporting to the police perhaps, intentinonally more raspingly.Second routine package for example only sends other measure as an alarm sense of hearing or a vision or a sense of touch, sends such alarm in one embodiment less continually.
In another embodiment, under the situation of unsafe drive manner, intervene laterally and/or vertically controlling of automobile, under situation about analyzing to safe drive manner, only provide indication to the driver, abandon intervening automatically or limit its degree (for example maximum correction of steering angle).
Claims (10)
1. be used in the method for supporting the driver by the narrow road section process, especially for automobile, wherein be determined between two borders of a narrow road section (56) pass through width and during by the narrow road section process and/or before send the measure of supporting the driver, it is characterized in that drivers ' behavior or driver's ability is depended in described measure.
2. in accordance with the method for claim 1, it is characterized in that described measure is the alarm of the sense of hearing and/or the driving indication of vision and/or sense of touch and/or voice.
3. according to the described method of one of aforementioned claim, it is characterized in that,, wherein mate described measure according to the drivers ' behavior of storing by detecting in the narrow road section process and the storage drivers ' behavior.
4. according to the described method of one of aforementioned claim, it is characterized in that, when analyzing, strengthen the measure of described support to unsafe drivers ' behavior.
5. according to the described method of one of aforementioned claim, it is characterized in that, by measuring drivers ' behavior by the steering correction in the narrow road section process.
6. according to the described method of one of aforementioned claim, it is characterized in that, by measuring drivers ' behavior in variation by velocity variations in the narrow road section process or accelerator pedal position.
7. according to the described method of one of aforementioned claim, it is characterized in that the reinforcement of the measure of support is the reinforcement of information indication.
8. according to the described method of one of aforementioned claim, it is characterized in that the reinforcement of the measure of support is side by side or the indication of the different kinds of information of adjoining land output in short-term.
9. according to the described method of one of aforementioned claim, it is characterized in that the reinforcement of the measure of support is in the activation of the automatic intervention aspect the laterally and/or vertically control of automobile or is the expansion of the limit of such intervention.
10. be used at the device of supporting the driver by the narrow road section process, especially for automobile, comprise some sensor modules (2), they are determined at the width that passes through between two borders of a narrow road section (56), also comprise some output precisions (11,12,14), they during by the narrow road section process and/or before send the measure of supporting the driver; It is characterized in that output precision (11,12,14) constitutes like this, so that drivers ' behavior or driver's ability is depended in described measure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005052634.9 | 2005-11-04 | ||
| DE102005052634.9A DE102005052634B4 (en) | 2005-11-04 | 2005-11-04 | Method and device for driver support before and / or when driving through a bottleneck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1967624A true CN1967624A (en) | 2007-05-23 |
| CN1967624B CN1967624B (en) | 2010-09-29 |
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ID=37949815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101429039A Expired - Fee Related CN1967624B (en) | 2005-11-04 | 2006-11-01 | Method and device for aiding driver before and/or in the process of passing a narrow road section |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2007133873A (en) |
| CN (1) | CN1967624B (en) |
| DE (1) | DE102005052634B4 (en) |
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| CN102442312A (en) * | 2010-10-13 | 2012-05-09 | 曼卡车和巴士股份公司 | Method and device for evaluating the driving mode of a driver of vehicles, in particular commercial vehicles |
| CN103514756A (en) * | 2012-06-25 | 2014-01-15 | 宝马股份公司 | Narrow position auxiliary system in motor vehicle |
| CN103770730A (en) * | 2012-10-19 | 2014-05-07 | 现代自动车株式会社 | Method and system for recognizing space of shoulder of road |
| CN104276175A (en) * | 2013-07-09 | 2015-01-14 | 现代自动车株式会社 | Apparatus and method for controlling driving of vehicle |
| CN104276168A (en) * | 2013-07-05 | 2015-01-14 | 罗伯特·博世有限公司 | Method and device for assisting a driver of a vehicle in a bottleneck |
| CN104608634A (en) * | 2015-01-29 | 2015-05-13 | 柳州市二和汽车零部件有限公司 | Intelligent vehicle safety control system |
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| CN104648403A (en) * | 2013-11-22 | 2015-05-27 | 现代自动车株式会社 | Method, apparatus and system for detecting narrow road |
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- 2006-11-06 JP JP2006300715A patent/JP2007133873A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102005052634A1 (en) | 2007-05-10 |
| DE102005052634B4 (en) | 2021-02-18 |
| CN1967624B (en) | 2010-09-29 |
| JP2007133873A (en) | 2007-05-31 |
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