JP2018521401A - 車両用の衝突までの時間の改善された計算 - Google Patents
車両用の衝突までの時間の改善された計算 Download PDFInfo
- Publication number
- JP2018521401A JP2018521401A JP2017563161A JP2017563161A JP2018521401A JP 2018521401 A JP2018521401 A JP 2018521401A JP 2017563161 A JP2017563161 A JP 2017563161A JP 2017563161 A JP2017563161 A JP 2017563161A JP 2018521401 A JP2018521401 A JP 2018521401A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle traveling
- deceleration
- traveling ahead
- vehicle
- duration
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 12
- 230000004044 response Effects 0.000 claims description 8
- 230000003111 delayed effect Effects 0.000 claims description 4
- 230000006399 behavior Effects 0.000 description 15
- 230000007704 transition Effects 0.000 description 14
- 230000007423 decrease Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
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
-
- 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
- B60W30/08—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
-
- 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
- B60W50/0097—Predicting future 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- 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
- B60W2554/801—Lateral 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
-
- 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
-
- 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
- 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
- G01S2013/9323—Alternative operation using light waves
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (10)
- 以下のステップ:
前方を走行中の車両までの車間を割り出すステップ;
前方を走行中の車両と自車両の相対速度を割り出すステップ;
前方を走行中の車両の制動を割り出すステップ;
を包含する自車両用に前方を走行中の車両との第一衝突時点を割り出すための方法であって
以下のステップ:
前方を走行中の車両の減速の継続時間を推定するステップ;
前方を走行中の車両との第一衝突時点を、相対速度、車間、減速、並びに、推定した該減速の継続時間から算出するステップ;
も包含することを特徴とする自車両用に前方を走行中の車両との第一衝突時点を割り出すための方法。 - 想定した減速の継続時間の経過中に、前方を走行中の車両に対する間隔、前方を走行中の車両と自車両間の相対速度、前方を走行中の車両の減速が、改めて割り出され;
前方を走行中の車両の減速の新たな継続時間が推定される;と共に、
相対速度、間隔、減速、並びに、該減速の新たな継続時間から、最新の前方を走行中の車両との衝突時点が、割り出される;
ことを特徴とする請求項1に記載の方法。 - 前方を走行中の車両の想定挙動に対して実現確率を推定し;
特に好ましくは、これに対して、
前方を走行中の車両と自車両との車間と相対速度から、付加的な衝突時点が割り出され;且つ、
該付加的な衝突時点と第一乃至最新の衝突時点から、前方を走行中の車両の想定挙動の確率を補正する補正値が算出される
ことを特徴とする先行請求項のうちいずれか一項に記載の方法。 - 推定される減速の継続時間が、前方を走行中の車両において推定される速度低下に依存している
ことを特徴とする先行請求項のうちいずれか一項に記載の方法。 - 想定される速度低下の度合いが、10m/s未満或いは3m/sよりも大きい
ことを特徴とする請求項4に記載の方法。 - 推定される減速の継続時間が、前方を走行中の車両の減速の度合い乃至車間に依存している
ことを特徴とする先行請求項のうちいずれか一項に記載の方法。 - 前方を走行中の車両の推定される減速の継続時間が、少なくとも1秒である
ことを特徴とする先行請求項のうちいずれか一項に記載の方法。 - 衝突時点、乃至、その補正値を、自車両の対応のために、特にドライバーへの警告メッセージに用いる
ことを特徴とする先行請求項のうちいずれか一項に記載の方法。 - 自車両の対応、特に、ドライバーへの警告メッセージの出力が、第一乃至最新の衝突時点に依存して或いは補正値分遅延される
ことを特徴とする請求項8に記載の方法。 - 以下:
前方を走行中の車両との車間乃至相対速度を捕捉するための、捕捉ユニット(51)、特に好ましくは、レーダー乃至カメラ手段;
前方を走行中の車両の減速を同定するための同定ユニット(53);並びに、
先行請求項のうちいずれか一項に記載の方法を実施するための計算ユニット(55)
を包含することを特徴とする装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015212250.6 | 2015-06-30 | ||
DE102015212250.6A DE102015212250A1 (de) | 2015-06-30 | 2015-06-30 | Verbesserte Berechnung der Zeit bis zur Kollision für ein Fahrzeug |
PCT/DE2016/200272 WO2017000942A1 (de) | 2015-06-30 | 2016-06-13 | Verbesserte berechnung der zeit bis zur kollision für ein fahrzeug |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018521401A true JP2018521401A (ja) | 2018-08-02 |
JP7148243B2 JP7148243B2 (ja) | 2022-10-05 |
Family
ID=56737851
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017563161A Active JP7148243B2 (ja) | 2015-06-30 | 2016-06-13 | 車両用の衝突までの時間の改善された計算 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10336324B2 (ja) |
EP (1) | EP3317693B1 (ja) |
JP (1) | JP7148243B2 (ja) |
CN (1) | CN108283019B (ja) |
DE (2) | DE102015212250A1 (ja) |
WO (1) | WO2017000942A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7409204B2 (ja) | 2020-04-02 | 2024-01-09 | マツダ株式会社 | 車両制御装置 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10745007B2 (en) * | 2018-06-08 | 2020-08-18 | Denso International America, Inc. | Collision avoidance systems and methods |
CN111114540B (zh) * | 2018-10-30 | 2021-06-18 | 长城汽车股份有限公司 | 车辆及其安全驾驶方法、装置 |
CN115151454A (zh) * | 2019-12-09 | 2022-10-04 | 移动眼视觉科技有限公司 | 用于选择性地使交通工具减速的***和方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003246225A (ja) * | 2001-12-21 | 2003-09-02 | Nissan Motor Co Ltd | 車両用運転操作補助装置 |
JP2013544203A (ja) * | 2010-11-12 | 2013-12-12 | ルーカス・オートモーティブ・ゲーエムベーハー | トラックまたは乗用車のクリティカルな運転状況を検知するための方法および衝突を回避するための方法 |
JP2015105881A (ja) * | 2013-11-29 | 2015-06-08 | トヨタ自動車株式会社 | 車両制御装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3143063B2 (ja) * | 1996-06-07 | 2001-03-07 | 株式会社日立製作所 | 移動体の走行制御装置 |
EP1349131B1 (en) * | 2000-11-24 | 2006-01-18 | Aisin Seiki Kabushiki Kaisha | Vehicle collision preventing apparatus |
US7343235B2 (en) * | 2002-12-26 | 2008-03-11 | Denco Corporation | Safety device for a vehicle |
DE10319700A1 (de) * | 2003-05-02 | 2004-11-18 | Ibeo Automobile Sensor Gmbh | Verfahren und Vorrichtung zur Ermittlung einer Wahrscheinlichkeit für eine Kollision eines Fahrzeugs mit einem Gegenstand |
JP4561092B2 (ja) | 2003-12-16 | 2010-10-13 | 日産自動車株式会社 | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
DE102005036049A1 (de) * | 2005-08-01 | 2007-02-08 | Robert Bosch Gmbh | Verfahren zur Erkennung eines Abbiegevorgangs und Fahrerassistenzsystem für Kraftfahrzeuge |
JP5066437B2 (ja) * | 2007-12-21 | 2012-11-07 | 富士重工業株式会社 | 車両の走行制御装置 |
US8527172B2 (en) | 2010-10-20 | 2013-09-03 | GM Global Technology Operations LLC | Vehicle collision avoidance and warning system |
DE102011014081A1 (de) * | 2011-03-16 | 2012-09-20 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Verfahren zum Erkennen eines Abbiegemanövers |
JP5427203B2 (ja) * | 2011-03-30 | 2014-02-26 | 富士重工業株式会社 | 車両用運転支援装置 |
CN103158620B (zh) * | 2013-03-25 | 2015-09-16 | 中国电子科技集团公司第三十八研究所 | 一种车辆行人检测跟踪预警*** |
DE102013212473A1 (de) * | 2013-06-27 | 2014-12-31 | Continental Teves Ag & Co. Ohg | Verfahren für die selbstständige Aktivierung eines Systems zur Unterstützung eines Fahrers eines Fahrzeugs bei einer drohenden Kollision |
WO2015075836A1 (ja) * | 2013-11-25 | 2015-05-28 | トヨタ自動車株式会社 | 衝突回避支援装置 |
CN104709280B (zh) * | 2013-12-13 | 2018-03-16 | 财团法人车辆研究测试中心 | 车辆防撞***及方法 |
JP2016124389A (ja) * | 2014-12-26 | 2016-07-11 | トヨタ自動車株式会社 | 車両制動制御装置 |
-
2015
- 2015-06-30 DE DE102015212250.6A patent/DE102015212250A1/de not_active Withdrawn
-
2016
- 2016-06-13 EP EP16753572.3A patent/EP3317693B1/de active Active
- 2016-06-13 WO PCT/DE2016/200272 patent/WO2017000942A1/de active Application Filing
- 2016-06-13 JP JP2017563161A patent/JP7148243B2/ja active Active
- 2016-06-13 CN CN201680037569.2A patent/CN108283019B/zh active Active
- 2016-06-13 US US15/738,764 patent/US10336324B2/en active Active
- 2016-06-13 DE DE112016001324.8T patent/DE112016001324A5/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003246225A (ja) * | 2001-12-21 | 2003-09-02 | Nissan Motor Co Ltd | 車両用運転操作補助装置 |
JP2013544203A (ja) * | 2010-11-12 | 2013-12-12 | ルーカス・オートモーティブ・ゲーエムベーハー | トラックまたは乗用車のクリティカルな運転状況を検知するための方法および衝突を回避するための方法 |
JP2015105881A (ja) * | 2013-11-29 | 2015-06-08 | トヨタ自動車株式会社 | 車両制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7409204B2 (ja) | 2020-04-02 | 2024-01-09 | マツダ株式会社 | 車両制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CN108283019A (zh) | 2018-07-13 |
US10336324B2 (en) | 2019-07-02 |
DE112016001324A5 (de) | 2017-12-21 |
EP3317693B1 (de) | 2021-08-11 |
DE102015212250A1 (de) | 2017-01-05 |
EP3317693A1 (de) | 2018-05-09 |
CN108283019B (zh) | 2022-01-21 |
JP7148243B2 (ja) | 2022-10-05 |
US20180178787A1 (en) | 2018-06-28 |
WO2017000942A1 (de) | 2017-01-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6211043B2 (ja) | 車両用衝突防止装置 | |
US10384658B2 (en) | Estimated time-to-collision (TTC) calculation apparatus and estimated TTC calculation method | |
EP2923911B1 (en) | A method and system for predicting movement behavior of a target traffic object | |
US10000208B2 (en) | Vehicle control apparatus | |
US9783195B2 (en) | Control apparatus for vehicle | |
US11427221B2 (en) | Method and control device for the autonomous emergency braking of an ego vehicle | |
EP2902291A1 (en) | Method for minimizing automatic braking intrusion based on collision confidence | |
US10625739B2 (en) | Vehicle control apparatus and vehicle control method | |
US20180201188A1 (en) | Driving assistance device | |
US20190031163A1 (en) | Driving assist device and driving assist method | |
JP2018521401A (ja) | 車両用の衝突までの時間の改善された計算 | |
JP6828602B2 (ja) | 物標検出装置 | |
JP2017114429A (ja) | 運転支援装置及び運転支援方法 | |
JP6347243B2 (ja) | 車両制御装置 | |
US9643576B2 (en) | Collision avoidance assist device and collision avoidance assist method | |
JP2011121491A (ja) | 運転支援装置 | |
JP4850963B1 (ja) | 車両の運転支援装置 | |
JP2016218507A (ja) | 警報制御装置 | |
JP5333604B2 (ja) | ブレーキ制御装置及びブレーキ制御方法 | |
US20190001938A1 (en) | Driving support control apparatus and driving support control method | |
CN116096615A (zh) | 用以及时触发自动紧急制动操作并控制车辆的纵向运动的方法和装置 | |
JP6291767B2 (ja) | 隊列車両判定装置 | |
JP7274991B2 (ja) | 先行車車線変更推定方法及び先行車追従制御方法、先行車車線変更推定装置 | |
JP2016181121A (ja) | 衝突回避制御システムと方法 | |
JP2020098498A (ja) | 車両制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190205 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200330 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200430 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20200703 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200716 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210106 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210329 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20210929 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220118 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20220118 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20220125 |
|
C21 | Notice of transfer of a case for reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C21 Effective date: 20220126 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20220311 |
|
C211 | Notice of termination of reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C211 Effective date: 20220316 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20220727 |
|
C23 | Notice of termination of proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C23 Effective date: 20220803 |
|
C03 | Trial/appeal decision taken |
Free format text: JAPANESE INTERMEDIATE CODE: C03 Effective date: 20220831 |
|
C30A | Notification sent |
Free format text: JAPANESE INTERMEDIATE CODE: C3012 Effective date: 20220831 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220922 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7148243 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |