EP3749561A1 - System und verfahren zur erkennung eines kollisionsrisikos zwischen einem kraftfahrzeug und einem sekundären objekt, das sich in den an das fahrzeug angrenzenden fahrspuren beim fahrspurwechsel befindet - Google Patents

System und verfahren zur erkennung eines kollisionsrisikos zwischen einem kraftfahrzeug und einem sekundären objekt, das sich in den an das fahrzeug angrenzenden fahrspuren beim fahrspurwechsel befindet

Info

Publication number
EP3749561A1
EP3749561A1 EP18830236.8A EP18830236A EP3749561A1 EP 3749561 A1 EP3749561 A1 EP 3749561A1 EP 18830236 A EP18830236 A EP 18830236A EP 3749561 A1 EP3749561 A1 EP 3749561A1
Authority
EP
European Patent Office
Prior art keywords
detected
motor vehicle
radar
collision
ttc
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP18830236.8A
Other languages
English (en)
French (fr)
Inventor
Etienne MENANTEAU
Geoffrey BRUNO
Alain Haddad
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
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 Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of EP3749561A1 publication Critical patent/EP3749561A1/de
Withdrawn legal-status Critical Current

Links

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
    • B60W30/095—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/06—Road conditions
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B60R2021/01327—Angular velocity or angular acceleration
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/50—Barriers
    • 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
    • B60W2554/80—Spatial relation or speed relative 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18166—Overtaking, changing lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms

Definitions

  • the present invention relates to the field of driving aids to driving a vehicle and to a secondary object located on the traffic lanes adjacent to said vehicle when changing lanes. a motor vehicle, including obstacle avoidance systems.
  • the pre-collision time estimation module comprises a module for calculating an angle between the motor vehicle and the detected object, assuming that the trajectory of the object is parallel to the main track, a module projecting the relative velocities transmitted by the radar on the road axis to obtain a relative speed that follows the road in order to exploit these data whatever the speed of the road, and a module for calculating the time before collision for each object detected by the radar for each obj and detected according to the actual distance and the relative speed.
  • the most critical detected object is determined by filtering the detected objects whose flag is true, that is, the objects in the danger zone, and determining the most critical of them. depending on the distance to the vehicle and / or the time before collision.
  • FIG. 2 diagrammatically illustrates the danger zone determined by the collision risk detection system of FIG. 1;
  • the collision risk detection system 10 comprises a data recovery module 12 from detection means (not shown) provided on the motor vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP18830236.8A 2018-02-08 2018-12-18 System und verfahren zur erkennung eines kollisionsrisikos zwischen einem kraftfahrzeug und einem sekundären objekt, das sich in den an das fahrzeug angrenzenden fahrspuren beim fahrspurwechsel befindet Withdrawn EP3749561A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1851054A FR3077547A1 (fr) 2018-02-08 2018-02-08 Systeme et procede de detection d'un risque de collision entre un vehicule automobile et un objet secondaire situe sur les voies de circulation adjacentes audit vehicule lors d'un changement de voie
PCT/EP2018/085612 WO2019154549A1 (fr) 2018-02-08 2018-12-18 Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voie

Publications (1)

Publication Number Publication Date
EP3749561A1 true EP3749561A1 (de) 2020-12-16

Family

ID=61913414

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18830236.8A Withdrawn EP3749561A1 (de) 2018-02-08 2018-12-18 System und verfahren zur erkennung eines kollisionsrisikos zwischen einem kraftfahrzeug und einem sekundären objekt, das sich in den an das fahrzeug angrenzenden fahrspuren beim fahrspurwechsel befindet

Country Status (8)

Country Link
US (1) US11577721B2 (de)
EP (1) EP3749561A1 (de)
JP (1) JP7279053B2 (de)
KR (1) KR20200115640A (de)
CN (1) CN111712415A (de)
BR (1) BR112020013885A2 (de)
FR (1) FR3077547A1 (de)
WO (1) WO2019154549A1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210035523A (ko) * 2019-09-24 2021-04-01 현대자동차주식회사 차량 주행제어 방법 및 장치
CN113257036A (zh) * 2020-02-13 2021-08-13 宁波吉利汽车研究开发有限公司 一种车辆碰撞预警方法、装置、设备和存储介质
US11685378B2 (en) * 2020-10-08 2023-06-27 GM Global Technology Operations LLC Extrinsic characterization of detection capability to support automated lane change
KR102496518B1 (ko) 2021-01-26 2023-02-07 주식회사 에이치엘클레무브 차량 안전주행 제어장치 및 그 방법
FR3120039A1 (fr) 2021-02-19 2022-08-26 Renault S.A.S Procédé d’évitement d’obstacles
FR3120040B1 (fr) 2021-02-19 2023-02-24 Renault Sas Procédé d’activation d’un système d’évitement d’obstacle pour véhicule automobile
CN113096379A (zh) * 2021-03-03 2021-07-09 东南大学 基于交通冲突的驾驶风格识别方法

Family Cites Families (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5754099A (en) * 1994-03-25 1998-05-19 Nippondenso Co., Ltd. Obstacle warning system for a vehicle
DE4440706C2 (de) * 1994-11-15 2000-08-10 Volkswagen Ag Verfahren und Vorrichtung zur streckenneigungsabhängigen Steuerung des Schaltpunktes eines Automatikgetriebes
JP3245363B2 (ja) * 1996-08-29 2002-01-15 富士重工業株式会社 車両の衝突防止装置
JPH10283593A (ja) * 1997-04-04 1998-10-23 Fuji Heavy Ind Ltd 車両の衝突防止装置
US6026347A (en) * 1997-05-30 2000-02-15 Raytheon Company Obstacle avoidance processing method for vehicles using an automated highway system
DE19757063A1 (de) * 1997-12-20 1999-06-24 Bayerische Motoren Werke Ag Abstandsbezogenes Fahrgeschwindigkeitsregelsystem
JP3915746B2 (ja) 2003-07-01 2007-05-16 日産自動車株式会社 車両用外界認識装置
US7797107B2 (en) * 2003-09-16 2010-09-14 Zvi Shiller Method and system for providing warnings concerning an imminent vehicular collision
EP1858745B1 (de) * 2005-03-03 2013-05-08 Continental Teves AG & Co. oHG Verfahren und vorrichtung zum vermeiden einer kollision bei einem spurwechsel eines fahrzeugs
JP2007212368A (ja) * 2006-02-13 2007-08-23 Alpine Electronics Inc 車載用ナビゲーション装置及び車両案内方法
KR101103526B1 (ko) * 2006-09-07 2012-01-06 주식회사 만도 스테레오 카메라를 이용한 충돌회피 방법
JP4366419B2 (ja) 2007-09-27 2009-11-18 株式会社日立製作所 走行支援装置
EP2085279B1 (de) * 2008-01-29 2011-05-25 Ford Global Technologies, LLC System zur Vorhersage eines Kollisionskurses
JP2009265842A (ja) * 2008-04-23 2009-11-12 Toyota Motor Corp 車両用警告装置、警告方法
JP5233432B2 (ja) * 2008-06-16 2013-07-10 アイシン・エィ・ダブリュ株式会社 運転支援システム、運転支援方法及び運転支援プログラム
CN101750049B (zh) * 2008-12-05 2011-12-21 南京理工大学 基于道路和车辆自身信息的单目视觉车距测量方法
JP2011095989A (ja) * 2009-10-29 2011-05-12 Mitsubishi Electric Corp 車両用制御装置
JP5338654B2 (ja) * 2009-12-24 2013-11-13 株式会社デンソー 仮想白線設定方法、仮想白線設定装置及びそれを用いた針路変更支援装置
JP5690688B2 (ja) * 2011-09-15 2015-03-25 クラリオン株式会社 外界認識方法，装置，および車両システム
KR101328016B1 (ko) * 2011-12-30 2013-12-19 주식회사 퓨트로닉 레이저센서와 초음파센서를 기반으로 하는 차량용 충돌방지장치 및 방법
US9227604B2 (en) * 2012-02-14 2016-01-05 Nissan Motor Co., Ltd. Travel control device and travel control method
KR101333459B1 (ko) * 2012-02-21 2013-11-26 영남대학교 산학협력단 차선 인식 방법 및 장치
KR20140103473A (ko) * 2013-02-18 2014-08-27 주식회사 만도 차량 합류 지점에서의 안전 보조 장치 및 그의 제어 방법
US20150042799A1 (en) * 2013-08-07 2015-02-12 GM Global Technology Operations LLC Object highlighting and sensing in vehicle image display systems
JP5892129B2 (ja) 2013-08-29 2016-03-23 株式会社デンソー 道路形状認識方法、道路形状認識装置、プログラムおよび記録媒体
DE102013224303A1 (de) 2013-11-27 2015-05-28 Robert Bosch Gmbh Verfahren und Steuergerät zur situationsabhängigen Lenkhilfe bei einem Spurhalteassistenten für ein Fahrzeug
JP5906272B2 (ja) * 2014-03-28 2016-04-20 富士重工業株式会社 車両用ステレオ画像処理装置
JP2015227782A (ja) * 2014-05-30 2015-12-17 トヨタ自動車株式会社 レーダ装置
KR101610544B1 (ko) * 2014-11-21 2016-04-07 현대자동차주식회사 차량의 자율 주행 시스템 및 방법
CN105261224B (zh) * 2015-09-02 2017-09-12 奇瑞汽车股份有限公司 智能车辆控制方法和装置
KR102374735B1 (ko) * 2015-09-14 2022-03-15 주식회사 만도모빌리티솔루션즈 운전지원장치 및 운전지원방법
US10324463B1 (en) * 2016-01-22 2019-06-18 State Farm Mutual Automobile Insurance Company Autonomous vehicle operation adjustment based upon route
JP6330825B2 (ja) * 2016-01-26 2018-05-30 トヨタ自動車株式会社 車両用衝突回避支援システム
SE540720C2 (en) * 2016-03-14 2018-10-23 Scania Cv Ab Method and control unit for safe changing of driving lanes for a vehicle in a platoon
FR3049560B1 (fr) * 2016-04-01 2019-08-09 Valeo Schalter Und Sensoren Gmbh Procede et systeme d'assistance au changement de voie de roulage pour vehicule automobile
CA3029124A1 (en) * 2016-07-21 2018-01-25 Mobileye Vision Technologies Ltd. Crowdsourcing and distributing a sparse map, and lane measurements for autonomous vehicle navigation
KR102673055B1 (ko) * 2016-12-09 2024-06-10 현대자동차주식회사 차량 및 그 제어방법
CN107310475B (zh) * 2017-05-17 2019-10-08 广州小鹏汽车科技有限公司 一种智能汽车预警功能的显示方法及***
JP2019003234A (ja) * 2017-06-09 2019-01-10 トヨタ自動車株式会社 運転支援装置
US10239451B1 (en) * 2017-09-05 2019-03-26 GM Global Technology Operations LLC Systems and methods for providing relative lane assignment of objects at distances from the vehicle
US10692377B1 (en) * 2017-10-06 2020-06-23 Zoox, Inc. Enhanced travel modes for vehicles

Also Published As

Publication number Publication date
CN111712415A (zh) 2020-09-25
US20210053560A1 (en) 2021-02-25
JP7279053B2 (ja) 2023-05-22
FR3077547A1 (fr) 2019-08-09
KR20200115640A (ko) 2020-10-07
BR112020013885A2 (pt) 2020-12-01
WO2019154549A1 (fr) 2019-08-15
US11577721B2 (en) 2023-02-14
JP2021513159A (ja) 2021-05-20

Similar Documents

Publication Publication Date Title
WO2019154549A1 (fr) Système et procédé de détection d'un risque de collision entre un véhicule automobile et un objet secondaire situé sur les voies de circulation adjacentes audit véhicule lors d'un changement de voie
RU2597066C2 (ru) Способ и устройство для распознавания дорожных знаков
US20170057355A1 (en) Vehicle speed control system
US9090264B1 (en) Vision-based wet road surface detection
EP3948820B1 (de) Verfahren zur gewährleistung, dass ein fahrzeug eine ampel sicher passieren kann, und entsprechendes computerprogrammprodukt
FR2963601A1 (fr) Procede et dispositif pour determiner une vitesse de circulation adaptee d'un vehicule
CA3068022A1 (fr) Plateforme et procede de supervision d'une infrastructure pour vehicules de transport, vehicule, systeme de transport et programme d'ordinateur associes
FR3001686A1 (fr) Procede pour etablir un couloir de circulation d'un vehicule et systeme d'assistance de conduite
US20190257936A1 (en) Apparatus and method for determining a speed of a vehicle
EP3629310A1 (de) System zur automatischen erzeugung von warnungen, die für die benutzer einer strasse bestimmt sind
EP3701416B1 (de) Unterstützung des fahrens eines kraftfahrzeuges bei annäherung an eine bremsschwelle
WO2019162238A1 (fr) Dispositif et procédé d'aide à la conduite d'un véhicule automobile
TWI614162B (zh) 應用於混合動力車輛能量管理之行駛模式判斷裝置及方法
WO2018041978A1 (fr) Dispositif de détermination d'une limitation de vitesse, système embarqué comprenant un tel dispositif et procédé de détermination d'une limitation de vitesse.
FR3047217B1 (fr) Dispositif de determination de l'etat d'un feu de signalisation, systeme embatque comprenant un tel dispositif, vehicule comprenant un tel systeme et procede de determination associe
WO2021116345A1 (fr) Système et procédé de prédiction de la trajectoire d'un véhicule
FR3049541A1 (fr) Procede et module d’assistance au changement de voie de circulation
WO2020048659A1 (fr) Procédé de détection de faux positifs d'un dispositif de traitement d'image d'une caméra
FR3109360A1 (fr) Système et procédé de pilotage d’un système de contrôle latéral d’un véhicule automobile en fonction d’une modélisation d’un système de braquage des roues
EP1528409B1 (de) Verfahren und Vorrichtung für Geschwindigkeitsmessung eines Fahrzeugs, das sich auf einem bestimmten Kurvenverlauf befindet
KR102373334B1 (ko) 협조 적응형 순항 제어 시스템의 속도 제어 장치 및 방법
US20240123914A1 (en) Vehicle sensor lens hood
WO2023052692A1 (fr) Procédé et dispositif de détection d'insertion dans une voie de circulation d'un véhicule.
FR3107493A1 (fr) Dispositif d’aide à la conduite à une intersection
WO2024013437A1 (fr) Procédé et dispositif de gestion d'un arrêt d'un véhicule autonome circulant sur une voie de circulation.

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200623

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIN1 Information on inventor provided before grant (corrected)

Inventor name: BRUNO, GEOFFREY

Inventor name: HADDAD, ALAIN

Inventor name: MENANTEAU, ETIENNE

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: NISSAN MOTOR CO., LTD.

Owner name: RENAULT S.A.S

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: NISSAN MOTOR CO., LTD.

Owner name: RENAULT S.A.S

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20220912

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20230124