SE1450385A1 - Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes - Google Patents
Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes Download PDFInfo
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- SE1450385A1 SE1450385A1 SE1450385A SE1450385A SE1450385A1 SE 1450385 A1 SE1450385 A1 SE 1450385A1 SE 1450385 A SE1450385 A SE 1450385A SE 1450385 A SE1450385 A SE 1450385A SE 1450385 A1 SE1450385 A1 SE 1450385A1
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- 230000008859 change Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012502 risk assessment Methods 0.000 title description 2
- 230000009471 action Effects 0.000 claims abstract description 27
- 238000004590 computer program Methods 0.000 claims abstract description 12
- 235000014653 Carica parviflora Nutrition 0.000 claims description 71
- 241000243321 Cnidaria Species 0.000 claims description 56
- 241000242757 Anthozoa Species 0.000 claims description 15
- 101001063878 Homo sapiens Leukemia-associated protein 1 Proteins 0.000 claims description 12
- 102100030893 Leukemia-associated protein 1 Human genes 0.000 claims description 12
- OEBRKCOSUFCWJD-UHFFFAOYSA-N dichlorvos Chemical compound COP(=O)(OC)OC=C(Cl)Cl OEBRKCOSUFCWJD-UHFFFAOYSA-N 0.000 claims 1
- 238000012545 processing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 239000010426 asphalt Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
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- 230000000007 visual effect Effects 0.000 description 2
- 238000013316 zoning Methods 0.000 description 2
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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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
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- 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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Abstract
Föreliggande uppfinning hänför sig till ett förfarande för att riskbedöma (S1) körfältsbyte vid framförande av ett fordon på en vägbana med åtminstone två angränsande körfält, innefattande steget att: detektera (S2) förekomst av objekt i körfält angränsande till körfältet i vilket nämnda fordon framföres, innefattande stegen att: utifrån angivelser rörande sträckning hos ett bestämt körfält i vilket fordonet framföres bestämma sträckning hos åtminstone ett angränsande körfält baserat på fortlöpande fastställda referenspositioner hos fordonet relativt nämnda angränsande körfält för att fastställa en åtgärdszon löpande i nämnda angränsande körfält utmed nämnda fordon en bestämd sträcka, och att vid förekomst av objekt i nämnda åtgärdszon vidtaga (S3) åtgärd i anslutning till körfältsbyte.Föreliggande uppfinning hänför sig även till ett system för att riskbedöma körfältsbyte vid framförande av ett fordon på en vägbana med åtminstone två angränsande körfält, samt ett motorfordon innefattande ett sådant system. Föreliggande uppfinning hänför sig också till ett datorprogram och en datorprogramprodukt.(Fig. 6)The present invention relates to a method for risk assessing (S1) lane change when driving a vehicle on a roadway with at least two adjacent lanes, comprising the step of: detecting (S2) the presence of objects in lanes adjacent to the lane in which said vehicle is driven, comprising the steps of: determining, on the basis of indications concerning the distance of a particular lane in which the vehicle is driven, the distance of at least one adjacent lane based on continuously determined reference positions of the vehicle relative to said adjacent lane to determine an action zone running in said adjacent lane. The present invention also relates to a system for assessing the risk of changing lanes when driving a vehicle on a roadway with at least two adjacent lanes, and a motor vehicle comprising: they such a system. The present invention also relates to a computer program and a computer program product (Fig. 6).
Description
1 FORFARANDE OCH SYSTEM FOR ATT RISKBEDOMA KORFALTS BYTE VID FRAMFORANDE AV ETT LEDANDE FORDON PA EN VAGBANA MED ATMINSTONE TVA ANGRANSANDE KORFALT TEKNISKT OMRADE Uppfinningen hanfor sig till ett forfarande for att riskbedorna korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt enligt ingressen till patentkrav 1. Uppfinningen hanfor ocksa sig till ett system for att riskbedonna korfaltsbyte vid frannforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt. Uppfinningen hanfor sig dessutom till ett motorfordon. Uppfinningen hanfor sig dessutom till ett datorprogram och en datorprogramprodukt. 1 PROCEDURE AND SYSTEM FOR REPLACING RISK ASSESSMENT IN THE EVENT OF REPLACEMENT OF A LEADING VEHICLE ON A ROAD WITH ATMINSTONE TWO ADJACENT CORFALT TECHNICAL FIELD The invention relates to a procedure for reducing the risk of at least one vehicle. to the invention 1. The invention also relates to a system for risking coral change when driving a conductive vehicle on a lane with at least two adjacent corphts. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer program product.
BAKGRUND Vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt medic& korfaltsbyte en risk for det fall ett bakomvarande fordon narmare sig i den angransande filen till vilket byte skall ske. Ur trafiksakerhetssynpunkt finns darfor ett behov att riskbedorna korfaltsbyte vid forekomst av bakifran ett ledande fordonet sig narmande fordon. BACKGROUND When driving a vehicle on a lane with at least two adjacent corphal medic & corphalt replacement, there is a risk in the event that a vehicle behind approaches in the adjacent lane to which the change is to take place. From a traffic safety point of view, there is therefore a need for the risk factors to change corphalt in the event of a leading vehicle approaching from behind.
For detta andarnal anvands enligt en variant ett sa kallat blind-spot- varningssystenn. Ett sadant system varnar eller ingriper pa annat satt nar det egna fordonet är pa vag att styra ut i ett angransande korfalt dar ett objekt sasom ett annat fordon finns. Detta astadkommes normalt nnedelst en bakat utmed fordonet riktad radar som detekterar objekt/fordon i angransande korfalt, dar det antas att fordonet framfors huvudsakligen rakt tam utnned fardvagen. Antagandet att fordonet kommer att kora rakt fram kan leda till falska respektive uteblivna varningar. 2 Pa vagar med flera korfalt kan kurvaturen hos vagbanan medfora att ett sadant blind-spot-varningssystem ingriper i onodan vid framforande av fordon med slap sasom en lastbil med en dragbil och en trailer sasom illustreras i fig. 1. For this breath, a so-called blind-spot warning system is used according to a variant. Such a system warns or intervenes in another way when the own vehicle is about to steer out into an adjacent coral where an object such as another vehicle is located. This is normally accomplished by means of a radar directed along the vehicle which detects objects / vehicles in adjacent coral, where it is assumed that the vehicle is driven substantially straight out of the carriage. The assumption that the vehicle will chase straight ahead can lead to false or no warnings. On carriages with several corphals, the curvature of the carriageway can cause such a blind-spot warning system to intervene unnecessarily when driving vehicles with slack as a truck with a tractor and a trailer as illustrated in Fig. 1.
Ett varningssystem sasonn ett sa kallat blind-spot-varningssystem antar harvid att ett fordon detekterat i detektionsomradet och faststallt att befinna sig i en zon lOpande rakt bakat pa ett avstand motsvarande avstand Than fordonet /fordonets dragbil till angransande korfaltet utgor ett hot varvid yarning aktiveras vid ett kOrfaltsbyte da slapet/trailern, som befinner sig i fordonets eget korfalt, pga. kurvaturen hos vagbanan utgor ett hot varvid blind-spot-varningssystemet ingriper da fordonet avser utfora ett korfaltsbyte och ger foljaktligen en on6dig yarning. Fig. 1 illustrerar detta problem. A warning system such as a so-called blind-spot warning system assumes that a vehicle detected in the detection area and determined to be in a zone running straight back at a distance corresponding to a distance Than the vehicle / vehicle's tractor to the adjacent corphthal poses a threat whereby warning is activated a change of coral when the slap / trailer, which is in the vehicle's own coral, due to the curvature of the lane poses a threat whereby the blind-spot warning system intervenes as the vehicle intends to perform a coral change and consequently gives an unnecessary yarning. Fig. 1 illustrates this problem.
US2003025597 visar ett system for assistans vid kOrfaltsbyte dar linjemarkeringarnaspositionhoskorfaltmemoreras,varvid korfaltspositionshistorik bestams for att avgora fordons position. US2003025597 discloses a system for assisting with coral change where the position markings of the line markings are memorized, whereby the coral position history is determined to determine the position of the vehicle.
SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkomma ett forfarande och ett system for att riskbedoma korfaltsbyte vid framforande av ett fordon pa en 20 vagbana med atminstone tva angransande korfalt som minimerar risken for felaktig yarning da risk for korfaltsbyte ej foreligger. OBJECT OF THE INVENTION An object of the present invention is to provide a method and a system for risk assessing coral change when driving a vehicle on a carriageway with at least two adjacent corals which minimizes the risk of incorrect yarning as there is no risk of coral change.
SAMMANFATTNING AV UPPFINNINGEN Dessa och andra syften, vilka framgar av nedanstbende beskrivning, astadkommes medelst ett forfarande, ett system, ett motorfordon, ett datorprogram och en datorprogramprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av 3 bifogade sjalvstandiga patentkrav. Foredragna utfOringsformer av forfarandet och systemet ar definierade i bifogade osjalvstandiga patentkrav. SUMMARY OF THE INVENTION These and other objects, which will be apparent from the following description, are accomplished by a method, system, motor vehicle, computer program, and computer program product of the kind initially indicated and further having the features set forth in the characterizing portion of the appended independent patent. Preferred embodiments of the method and system are defined in the appended dependent claims.
Enligt uppfinningen uppnas syftena med ett forfarande for att riskbedoma korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt, innefattande steget att: detektera fOrekomst av objekt i korfalt angransande till korfaltet i vilket namnda fordon framfores, innefattande stegen att: utifran angivelser rOrande strackning hos ett bestamt korfalt i vilket fordonet framfores bestamma strackning hos atminstone ett angransande kOrfalt baserat pa fortlOpande faststallda referenspositioner hos fordonet relativt namnda angransande korfalt for att faststalla en atgardszon lopande i namnda angransande korfalt utmed namnda fordon en bestamd stracka, och att vid forekomst av objekt i namnda atgardszon vidtaga atgard i anslutning till korfaltsbyte. Genom att salunda faststalla relevanta atgardszoner minimeras risken f6r felaktig yarning da risk f6r korfaltsbyte ej foreligger. Harvid elimineras foljaktligen risken for felaktig yarning vid kurvkorning med ett fordon med slap sasom en lastbil med trailer genom att den salunda faststallda atgardszonen inte kommer att kanna av det egna slapet. According to the invention, the objects are achieved with a method for assessing the risk of coral change when driving a vehicle on a lane with at least two adjacent corphals, comprising the step of: detecting the presence of objects in corphal adjacent to the corphalt in which said vehicle is driven, comprising the steps of: Relating stretching of a particular corphalt in which the vehicle is driven Determining the stretching of at least one adjacent corphalt based on continuously established reference positions of the vehicle relative to said adjacent corphthal to determine an action zone running in said adjacent corphthal. objects in the said access zone take action in connection with coral exchange. By thus establishing relevant action zones, the risk of incorrect yarning is minimized as there is no risk of coral replacement. This consequently eliminates the risk of incorrect yarning when cornering with a slack vehicle such as a truck with a trailer, as the well-established action zone will not be able to inspect its own slack.
Enligt en utforingsform av forfarandet faststalls referenspositionerna fortlopande med forutbestamda intervall. Harigenom mojliggors effektivt och forutsagbart faststallande av atgardszon. According to one embodiment of the method, the reference positions are determined consecutively at predetermined intervals. This enables efficient and predictable determination of the action zone.
Enligt en utforingsform av f6rfarandet är intervallen strackintervall utmed fordonets fardvag. Harigenom mojliggors effektivt och forutsagbart faststallande av atgardszon oberoende av fordonets hastighet. According to one embodiment of the method, the intervals are stretch intervals along the vehicle's route. This enables efficient and predictable determination of the action zone regardless of the speed of the vehicle.
Enligt en utforingsform av forfarandet ar intervallen tidsintervall. Harigenom mojliggors effektivt och forutsagbart faststallande av atgardszon som ar enkelt att astadkomma. According to one embodiment of the method, the intervals are time intervals. This enables efficient and predictable determination of the action zone, which is easy to achieve.
Enligt en ufforingsfornn innefattar forfarandet steget att bestamma strackning hos namnda angransande korfalt baserat pa parametrar avseende fordonets 4 framfart, vilka parametrar inbegriper fordonets girvinkelhastighet och hastighet. Harigenom mojliggors ett effektivt satt aft noggrant och precist faststalla atgardszon dar kurvtagning hos fordonet och fOljaktligen angransande korfaltets utbredning och krokning effektivt aterskapas hos atgardszonen. According to one embodiment, the method comprises the step of determining the stretching of said adjacent coral based on parameters relating to the travel of the vehicle 4, which parameters include the vehicle's angular velocity and velocity. This enables an efficient way to accurately and precisely determine the action zone where cornering of the vehicle and consequently adjacent the spread and hooking of the asphalt is effectively recreated in the action zone.
Enligt en utforingsform av f6rfarandet inbegriper namnda bestamning av strackning hos namnda angransande kOrfalt faststallning av avstand relativt fordonet. Harigenom mojliggors ett effektivt satt aft bestamma bredd hos atgardszonen. According to one embodiment of the method, said determination of stretching of said adjacent corrugated involves determining the distance relative to the vehicle. This makes it possible to effectively determine the width of the access zone.
Enligt en utforingsform av forfarandet varvid strackan med vilken namnda atgardszon lOper i namnda angransande kOrfalt utmed namnda fordon satts till en stracka motsvarande fordonets langd eller nagot overstigande detta Harigenom sakerstalls att atgard sasom yarning vidtas vid ett salunda detekterat fordon som befinner sig i atgardszonen sa snarl fordonet detekteras. According to an embodiment of the method in which the distance with which said access zone runs in said adjacent corridor along said vehicle is set to a distance corresponding to the length of the vehicle or slightly exceeding this. There is no doubt that action is taken on a saloon detected vehicle in the vehicle. detected.
Utf6ringsformerna f6r systemet uppvisar motsvarande fordelar som motsvarande utfOringsformer fOr forfarandet namnda ovan. The embodiments of the system have the same advantages as the corresponding embodiments of the procedure mentioned above.
FIGURBESKRIVNING Foreliggande uppfinning kommer aft forstas battre med hanvisning till foljande detaljerade beskrivning last tillsamnnans med de bifogade ritningarna, dar lika hanvisningsbeteckningar hanfor sig till lika delar genonngaende i de manga vyerna, och i vilka: Fig. 1 schematiskt illustrerar framforande av ett ledande fordon pa en 25 vagbana med atnninstone tva angransande korfalt, dar ett bakifran fordonet sig narmande fordon detekteras enligt kand teknik; Fig. 2 schematiskt illustrerar ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 3 schematiskt illustrerar ett blockschema av ett system -kir att riskbedorna korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande kOrfaltenligt foreliggande uppfinning; Fig. 4 schematiskt illustrerar framforande av ett ledande fordon pa en vagbana med atminstone tva angransande korfalt, dar referenspositioner relativt till fordonet angransande korfalt faststallts; Fig. 5 schematiskt illustrerar frannforande av ett ledande fordon pa en 10 vagbana med atminstone tva angransande korfalt, dar ett bakifran fordonet sig narmande fordon detekteras enligt en utforingsform av fOreliggande uppfinning; Fig. 6 schematiskt illustrerar ett blockschenna av ett forfarande for att riskbedorna korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande kOrfaltenligt foreliggande uppfinning; och Fig. 7 schematiskt illustrerar en dator enligt en utforingsform av foreliggande uppfinning. DESCRIPTION OF THE DRAWINGS The present invention will be better understood by reference to the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals appear in equal parts throughout the many views, and in which: Fig. 1 schematically illustrates driving a conductive vehicle on a A carriageway with at least two adjacent corals, where a vehicle approaching from behind is detected according to prior art; Fig. 2 schematically illustrates a motor vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system in which the risk conditions change asphalt when driving a vehicle on a lane with at least two adjacent corals according to the present invention; Fig. 4 schematically illustrates the driving of a conductive vehicle on a lane with at least two adjacent corphal, where reference positions relative to the vehicle adjacent corphthal are determined; Fig. 5 schematically illustrates the driving of a conductive vehicle on a lane with at least two adjacent corphthal, where a vehicle approaching from behind is detected according to an embodiment of the present invention; Fig. 6 schematically illustrates a block diagram of a method for risking coral change when driving a vehicle on a lane with at least two adjacent corals according to the present invention; and Fig. 7 schematically illustrates a computer according to an embodiment of the present invention.
KAND TEKNIK Fig. 1 illustrerar schematiskt framfOrande av ett i pilens P1 riktning fardande fordon 1 med en dragbil 2 och en trailer 4 pa en vagbana R2 med tva angransande korfalt Li, L2 enligt kand teknik. BACKGROUND ART Fig. 1 schematically illustrates the driving of a vehicle 1 traveling in the direction of the arrow P1 with a tractor 2 and a trailer 4 on a carriageway R2 with two adjacent corphalt L1, L2 according to the prior art.
Ett radarorgan med en viss rackvidd är anordnat att astadkomma ett Than Niger sida hos fordonet och i dess fardriktning huvudsakligen rakt bakat riktat detektionsomrade Al. Ett sa kallat blind-spot-varningssystem antar harvid att ett fordon detekterat i detektionsomradet och faststallt att befinna 6 sig i en zon ZA1 lopande rakt bakat pa ett avstand motsvarande avstand Than fordonet 1 till angransande korfaltet L2 utg6r ett hot varvid yarning aktiveras vid ett kOrfaltsbyte. I detta fall medfOr kurvaturen has vagbanan att fordonets slap som befinner sig i fordonets eget korfalt L1 utg6r ett hot varvid blind- spot-varningssystemet ingriper da fordonet 1 avser utfOra ett kOrfaltsbyte och ger foljaktligen en on6dig yarning. A radar means with a certain rack width is arranged to provide a Than Niger side of the vehicle and in its direction of travel substantially straight backward directed detection area A1. A so-called blind-spot warning system then assumes that a vehicle detected in the detection area and determined to be in a zone ZA1 running straight back at a distance corresponding to a distance Than the vehicle 1 to the adjacent corphalt L2 poses a threat whereby the warning is activated at a coral change . In this case, the curvature has the lane that the vehicle's slack located in the vehicle's own coral L1 poses a threat, whereby the blind spot warning system intervenes as the vehicle 1 intends to make a coral change and consequently gives an unnecessary yarning.
BESKRIVNING AV UTFORINGSFORMER Hari hanfor sig ternnen "lank" till en konnmunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en icke-fysisk ledning, sasom en tradlOs anslutning, till exempel en radio- eller mikrovagslank. DESCRIPTION OF EMBODIMENTS Hereinafter referred to as the "link" to a communication line which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.
Hari hanfor sig ternnen "angransande korfalt" till angransande korfalt for fordon for fard i samma riktning, dvs. korfalt i form av angransande filer dar fordon fardas i samma riktning vanligt f6rekommande pa st6rre vagar sasom motorvagar, samt till angransande korfalt for fard i motsatt riktning, dvs angransande korfalt dar det i det angransande korfaltet kommer motande trafik och dar omk6rning kan ske. Hari hanfor sig tern "adjoining corphalt" to adjoining corphalt for vehicles traveling in the same direction, ie. corphal in the form of adjacent lanes where vehicles travel in the same direction commonly occurring on larger roads such as motorways, as well as to adjacent corphalt for traffic in the opposite direction, ie adjacent corphal where there is oncoming traffic and where detour can take place.
Hari hanfOr sig foljaktligen termen "vagbana med atminstone tva angransande korfalt" till vilken som heist lamplig vagbana med angransande korfalt enligt definitionen ovan. Termen "vagbana med atminstone tva angransande korfalt" kan foljaktligen inbegripa en st6rre vag sasom en motorvag med tva eller flera angransande kOrfalt i form av angransande filer for fard i samma riktning, vagbana med tva angransande korfalt for fard i motsatt riktning, dvs angransande kOrfalt dar det i det angransande korfaltet kommer motande trafik och dar omkorning kan ske. Accordingly, the term "lane with at least two adjacent corphthal" is used to refer to any lane lane with adjacent corphalt as defined above. The term "lane with at least two adjacent corals" may consequently include a larger lane such as a motorway with two or more adjacent lanes in the form of adjacent lanes for traffic in the same direction, lanes with two adjacent lanes for traffic in the opposite direction, ie lanes adjacent there will be oncoming traffic in the adjacent corphalt and where re-crossing can take place.
Fig. 2 illustrerar schematiskt ett motorfordon 1 enligt en utfOringsform av foreliggande uppfinning. Det exemplifierade fordonet 1 utgors av ett tungt 7 fordon i form av en lastbil med en dragbil 2 och en trailer 4. Fordonet kan alternativt vara en buss eller en personbil. Fordonet innefattar ett system I for att riskbedOma kOrfaltsbyte vid framfOrande av ett fordon pa en vagbana med atminstone tva angransande korfaltenligt foreliggande uppfinning. Fig. 2 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck with a tractor 2 and a trailer 4. The vehicle may alternatively be a bus or a passenger car. The vehicle comprises a system I for risk assessing the change of corrugation when driving a vehicle on a lane with at least two adjacent corphant according to the present invention.
Fig. 3 illustrerar schematiskt ett blockschema av ett system I for att riskbedOma korfaltsbyte vid framf6rande av ett fordon pa en vagbana med atminstone tva angransande kOrfalt enligt en utfOringsform av fOreliggande uppfinning. Fig. 3 schematically illustrates a block diagram of a system I for risk assessing coral change when driving a vehicle on a lane with at least two adjacent corals according to an embodiment of the present invention.
Systemet I innefattar en elektronisk styrenhet 100. System I comprises an electronic control unit 100.
Systemet I innefattar medel 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framfores. Medlet 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framfores kan inbegripa vilket som heist larnpligt sensororgan. System I comprises means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven. The means 110 for detecting the presence of objects in the corphthal adjacent to the corphthal in which a vehicle is driven may include any raised sensor means.
Medlet 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framfOres innefattar enligt en variant radarorgan. The means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven comprises according to a variant radar means.
Medlet 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framfores inbegriper enligt en variant kameraorgan. Medlet 110 for att detektera forekomst av objekt i korfalt angransande till kOrfaltet i vilket ett fordon framfOres inbegriper enligt en variant lidaroragn. The means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven includes, according to a variant, camera means. The means 110 for detecting the presence of objects in the corphthal adjacent to the corvette in which a vehicle is carried comprises according to a variant lidaroragn.
Medlet 110 for att detektera forekomst av objekt i korfalt angransande till kOrfaltet i vilket ett fordon framfOres inbegriper enligt en variant laserskannerorgan. The means 110 for detecting the presence of objects in the corphthal adjacent to the corvette in which a vehicle is driven comprises according to a variant laser scanner means.
Medlet 110 fOr att detektera fOrekomst av objekt i kOrfalt angransande till korfaltet i vilket ett fordon framf6res inbegriper sensororgan fOr detektering pa respektive sida om fordonet fOr underlattande av detektering av fOrekomst av bakifran fordonet sig narmande fordon i korfalt till hoger om fordonet och i korfalt till vanster om fordonet. Fordonet innefattar medlet 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framfores. 8 Systemet I innefattar medel 200a for att utifran angivelser rorande strackning hos ett bestamt korfalt i vilket fordonet framfores bestamma strackning hos atminstone ett angransande kOrfalt baserat pa fortlOpande faststallda referenspositioner hos fordonet relativt namnda angransande korfalt for att faststalla en atgardszon lOpande i namnda angransande kOrfalt utmed fordonet en bestamd stracka. The means 110 for detecting the presence of objects in the coral adjacent to the coral in which a vehicle is driven includes sensor means for detecting on either side of the vehicle for facilitating the detection of the occurrence of the rear vehicle approaching the vehicle in the coral to the right of the vehicle. about the vehicle. The vehicle includes the means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven. The system I comprises means 200a for determining, based on indications, the stretching of a particular corphalt in which the vehicle is driven, the stretching of at least one adjacent corphalt based on continuously determined reference positions of the vehicle relative to said adjacent corphalt to determine an adjacent zone. a definite stretch.
Systemet I innefattar fOljaktligen medel 200 fOr att faststalla en atgardszon lopande i namnda angransande korfalt utnned fordonet en bestamd stracka. Medlet 200 fOr att faststalla en atgardszon innefattar medlet 200a fOr att 10 bestamma strackning hos namnda angransande korfalt. Accordingly, system I comprises means 200 for determining an action zone running in said adjacent coral along the vehicle a certain distance. The means 200 for determining an action zone comprises the means 200a for determining the tension of said adjacent corphalt.
Medlet fOr att bestamma strackning 200a hos namnda angransande kOrfalt innefattar medel 210 16r att fortlopande faststalla referenspositioner hos fordonet relativt angransande kOrfalt till fordonets kOrfalt. The means for determining the tension 200a of said adjacent corrugation comprises means 210 16r for continuously determining reference positions of the vehicle relative to the adjacent corrugation of the vehicle.
Systemet I innefattar harvid medel 210 for att fortlopande faststalla referenspositioner hos fordonet relativt angransande korfalt till fordonets korfalt. System I hereby comprises means 210 for continuously determining reference positions of the vehicle relative adjacent corphalt to the vehicle corphalt.
Medlet 210 for att fortlOpande faststalla referenspositioner hos fordonet relativt angransande korfalt innefattar medel 212 for att fortlOpande faststalla referenspositionerna med fOrutbestamda intervall. The means 210 for continuously determining the reference positions of the vehicle relative to the adjacent corphalt includes means 212 for continuously determining the reference positions at predetermined intervals.
Enligt en utforingsform utgors de forutbestamda intervallen av strackintervall. According to one embodiment, the predetermined intervals consist of stretch intervals.
Medlet 210 for att fortlOpande faststalla referenspositioner hos fordonet relativt angransande korfalt innefattar enligt denna ufforingsform foljaktligen medel 212a fOr att fortlOpande faststalla referenspositionerna med forutbestamda strackintervall. Strackintervallen utg6rs enligt en variant av fOrutbestamda avstand/strackor som fordonet fardats, dar respektive avstand/stracka är detsamma/densamnna. Medlet 210 fOr att faststalla referensposition är harvid anordnat att fortlopande faststalla referensposition efter varje sadant avstand/sadan stracka. 9 Enligt en utfOringsform utgors de forutbestamda intervallen av tidsintervall. Medlet 210 f6r att fortlopande faststalla referenspositioner hos fordonet relativt angransande korfalt innefattar enligt denna utfOringsform fOljaktligen medel 212b f6r att fortlopande faststalla referenspositionerna med fOrutbestamda tidsintervall. Tidsintervallen utgOrs av fOrutbestamda tidsintervall som fordonet fardats, dar respektive tidsintrevall är detsamma. Medlet 210 for att faststalla referensposition är harvid anordnat att fortlopande faststalla referensposition efter varje sadant tidsintervall. Accordingly, in this embodiment, the means 210 for continuously determining the reference positions of the vehicle relatively adjacent corphalt comprises means 212a for continuously determining the reference positions at predetermined stretch intervals. The distance intervals are calculated according to a variant of predetermined distances / distances that the vehicle has traveled, where the respective distance / distance is the same / the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such distance / such a distance. 9 According to one embodiment, the predetermined intervals are time intervals. The means 210 for continuously determining reference positions of the vehicle relative to adjacent corphalt according to this embodiment consequently comprises means 212b for continuously determining the reference positions at predetermined time intervals. The time intervals consist of predetermined time intervals that the vehicle has traveled, where the respective time intervals are the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such time interval.
Medlet 210 fOr att fortlOpande faststalla referenspositioner hos fordonet relativt angransande korfalt innefattar medel 214 for att faststalla parameterar avseende fordonets framfart. Parametrar avseende fordonets frannfart inbegriper fordonets girvinkelhastighet och hastighet. The means 210 for continuously determining reference positions of the vehicle relative to the adjacent corphalt comprises means 214 for determining parameters concerning the progress of the vehicle. Parameters of the vehicle's departure include the vehicle's angular velocity and speed.
Medlet 210 fOr att bestamma strackning hos namnda angransande kOrfalt innefattar foljaktligen medel 214 f6r att faststalla parameterar avseende fordonets framfart, vilka parametrar inbegriper fordonets girvinkelhastighet och hastighet. Accordingly, the means 210 for determining the tension of said adjacent corrugate comprises means 214 for determining parameters relating to the progress of the vehicle, which parameters include the yaw velocity and speed of the vehicle.
Systemet I innefattar fOljaktligen medel 200a for att bestamma strackning hos namnda angransande korfalt baserat pa parametrar avseende fordonets framfart, vilka parametrar inbegriper fordonets girvinkelhastighet och hastighet. Accordingly, the system I comprises means 200a for determining the tension of said adjacent corphthal based on parameters relating to the travel of the vehicle, which parameters include the yaw angular velocity and speed of the vehicle.
Girvinkelhastighet anvands harvid som underlag for att faststalla huruvida och i vilken utstrackning korfaltet i vilket fordonet framfors svanger, varvid antagande gors att angransande korfalt har nnotsvarande krokning. Gear angle velocity is used here as a basis for determining whether and to what extent the corphalt in which the vehicle is driven is pregnant, assuming that adjacent corphalt has a corresponding hook.
Medlet 214 f6r att faststalla parameterar avseende fordonets frannfart innefattar medel 214a for att faststalla fordonets girvinkelhastighet. Medlet 214a f6r att faststalla girvinkelhastighet inbegriper atminstone ett gyro. The means 214 for determining parameters relating to the departure of the vehicle comprises means 214a for determining the yaw velocity of the vehicle. The means 214a for determining the yaw angular velocity includes at least one gyro.
Medlet 214 fOr att faststalla parameterar avseende fordonets frannfart innefattar medel 214b for att faststalla fordonets hastighet. Medlet 214b for att faststalla fordonets hastighet innefattar ett hastighetsmatarorgan hos fordonet. The means 214 for determining parameters relating to the departure of the vehicle comprises means 214b for determining the speed of the vehicle. The means 214b for determining the speed of the vehicle comprises a speed feeding means of the vehicle.
Medlet 210 f6r att fortlopande faststalla referenspositioner hos fordonet relativt angransande korfalt innefattar enligt en variant navigationsmedel 214c inbegripande positionsdata fOr fordonets aktuella position, samt kartdata innefattande information om kurvatur hos aktuell fardvag. Medlet 214 fOr att faststalla parameterar avseende fordonets framfart innefattar namnda navigationsmedel 214c. The means 210 for continuously determining reference positions of the vehicle relatively adjacent corphalt comprises according to a variant navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current carriageway. The means 214 for determining parameters regarding the progress of the vehicle comprises said navigation means 214c.
Navigationsmedlet 214c kan anvandas som komplement till medlet 214a for att faststalla girvinkelhastighet for redundans. Faststallning av girvinkelhastighet fOr faststallning huruvida kOrfaltet svanger kan paverkas av krangningar hos fordonet, dar informationen fran navigationsmedlet 214c rOrande kurvatur hos korfaltet kan utnyttjas for att undvika felaktiga bed6mningar pa grund av dylika krangningar. Navigationsmedlet 214c kan aven anvandas istallet for medlet 214a for att faststalla girvinkelhastighet. The navigation means 214c can be used as a complement to the means 214a to determine the gear angular velocity for redundancy. Determination of the angular velocity speed for determining whether the corrugation curve can be affected by tilts of the vehicle, where the information from the navigating means 214c concerning the curvature of the corrugation can be used to avoid incorrect assessments due to such tilts. The navigation means 214c may also be used instead of the means 214a to determine the angular velocity.
Medlet 210a for att bestamnna strackning hos namnda angransande korfalt innefattar fOljaktligen enligt en variant navigationsmedel 214c inbegripande positionsdata for fordonets aktuella position, samt kartdata innefattande information om kurvatur hos aktuell fardvag. Accordingly, according to a variant, the means 210a for determining the tension of said adjacent corphalt comprises, among a variant, navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current carriageway.
Systemet I innefattar medel 214a for att faststalla fordonets girvinkelhastighet. System I includes means 214a for determining the yaw velocity of the vehicle.
Systemet I innefattar medel 214b for att faststalla fordonets hastighet. Systemet I innefattar namnda navigationsmedel 214c. System I includes means 214b for determining the speed of the vehicle. System I includes said navigation means 214c.
Medlet 210 for att fortlopande faststalla referenspositioner hos fordonet relativt angransande korfalt inbegriper medel 216 for faststallning av avstand relativt fordonet. 11 Medlet 216 for faststallning av avstand relativt fordonet inbegriper medel 216a f6r att faststalla linjemarkeringar hos angransande kOrfalt. Medlet 216a fOr att faststalla linjemarkeringar hos angransande kOrfalt inbegriper sensororgan sasom kameraorgan. Medlet 216 f6r faststallning av avstand relativt fordonet inbegriper enligt en variant sensororgan. Namnda sensororgan inbegriper enligt en variant kameraorgan. The means 210 for continuously determining reference positions of the vehicle relatively adjacent corphalt includes means 216 for determining the distance relative to the vehicle. The means 216 for determining distance relative to the vehicle includes means 216a for determining line markings of adjacent corals. The means 216a for determining line markings of adjacent corrugations includes sensor means such as camera means. The means 216 for determining distance relative to the vehicle includes, according to a variant, sensor means. Said sensor means according to a variant include camera means.
Medlet 216 fOr faststallning av avstand relativt fordonet inbegriper enligt en variant medel 216b for att faststalla virtuella linjemarkeringar hos angransande kOrfalt. Means 216 for determining distance relative to the vehicle, according to a variant, include means 216b for determining virtual line markings of adjacent corals.
Medlet 216b f6r att faststalla virtuella linjemarkeringar hos angransande kOrfalt inbegriper medel fOr att faststalla kOrfaltsbredd hos kOrfalt i vilket ledande fordon fardas och/eller angransande korfalt. The means 216b for determining virtual line markings of the adjacent corphlet includes means for determining the width of the corrugation of the corrugation in which conductive vehicles travel and / or adjacent corphalt.
Medlet for att faststalla korfaltsbredd innefattar enligt en variant navigationsmedel inbegripande kartdata med information om korfaltsbredd hos aktuell fardvag, typ av fardvag, samt information om aktuell position hos fordonet. Navigationsmedlet kan utgoras av navigationsmedlet 214c. According to a variant, the means for determining the width of the coral includes navigation means including map data with information about the width of the coral of the current carriageway, type of carriageway, and information about the current position of the vehicle. The means of navigation may be the means of navigation 214c.
Medlet for att faststalla kOrfaltsbredd innefattar enligt en variant sensororgan for att faststalla korfaltsbredd hos korfaltet i vilket fordonet fardas, dar enligt en variant kOrfaltsbredden hos det angransande kOrfaltet antas vara densamma som korfaltet i vilket fordonet fardas. Medlet for att faststalla kOrfaltsbredd innefattar enligt en variant pa fOrhand lagrad information rorande korfaltsbredd, vilken information kan vara lagrad i den elektroniska styrenheten 100. The means for determining the width of the corrugation comprises according to a variant sensor means for determining the width of the corrugation of the corphalt in which the vehicle is traveling, where according to a variant the width of the corrugation of the adjacent corrugation is assumed to be the same as the corphalt in which the vehicle travels. The means for determining coral width includes, according to a variant, pre-stored information concerning coral width, which information may be stored in the electronic control unit 100.
Systemet I innefattar medel 100, 120 for att vid forekomst av objekt i namnda atgardszon vidtaga atgard i anslutning till kOrfaltsbyte. System I comprises means 100, 120 for taking action in connection with the occurrence of objects in said access zone in connection with lane change.
Systemet I innefattar medel 120 for att vidtaga atgard vid faststalld forekomst av ett bakifran fordonet sig narmande fordon i namnda atgardszon. 12 Medlet 120 fOr att vidtaga atgard innefattar enligt en utforingsform medel 122 for att varna for korfaltsbyte vid sadan faststalld forekomst. Medlet 122 f6r att varna fOr kOrfaltsbyte kan utgOras av vilket som heist lampligt varningsmedel sasom visuellt varningsmedel, audiellt varningsmedel och/eller taktilt varningsmedel. Det visuella varningsmedlet inbegriper enligt en variant en displayenhet och/eller en blinkande enhet eller motsvarande. Det audiella varningsmedlet inbegriper yarning i form av rostmeddelande och/eller yarning i form av ljudalarm. Det taktila varningsmedlet inbegriper paverkan av fordonsratt i form av vibration/rorelse och/eller paverkan av fordonsstol i form av vibration och/eller paverkan av pedal sasom gaspedal eller bromspedal. System I comprises means 120 for taking action in the event of a determined occurrence of a vehicle approaching from behind in the said action zone. The means 120 for taking action comprises, according to one embodiment, means 122 for warning of the change of coral at such an occurrence. The means 122 for warning of corrosion change can consist of any suitable warning means such as visual warning means, audible warning means and / or tactile warning means. According to a variant, the visual warning means comprises a display unit and / or a flashing unit or the like. The audible warning means includes yarning in the form of a rust message and / or yarning in the form of an audible alarm. The tactile warning means includes the influence of the steering wheel in the form of vibration / movement and / or the influence of the vehicle seat in the form of vibration and / or the influence of the pedal such as the accelerator pedal or brake pedal.
Medlet 120 for att vidtaga atgard innefattar enligt en utforingsform medel 124 for att forhindra fordonet att byta korfalt eller forsvara for fordonet att byta korfalt vid sadan faststalld forekomst. Medlet 124 for att forhindra/forsvara korfaltsbyte inbegriper paverkan av fordonets styrformaga sasom rattutslag i riktning mot det angransande korfaltet i vilket risk foreligger. Medlet 120 for att vidtaga atgard innefattar enligt en variant den elektroniska styrenheten 100. The means 120 for taking action comprises, according to one embodiment, means 124 for preventing the vehicle from changing corphally or defending for the vehicle to change corphally in such a determined occurrence. The means 124 for preventing / defending the change of corphalt include the influence of the vehicle's steering gear as a steering wheel deflection in the direction of the adjacent corphalt in which there is a risk. The means 120 for taking action comprises, according to a variant, the electronic control unit 100.
Den elektroniska styrenheten 100 är signalansluten till medlet 110 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket ett fordon framf6res via en lank 11. Den elektroniska styrenheten 100 är via lanken 11 anordnad att mottaga en signal fran medlet 110 representerande fordonsdata for forekonnst av bakifran fordonet sig narnnande fordon. The electronic control unit 100 is signal connected to the means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is conveyed via a line 11. The electronic control unit 100 is arranged via the line 11 to receive a signal from the means 110 representing vehicle data for occurrence. from behind the vehicle itself narnnande vehicle.
Den elektroniska styrenheten 100 är signalansluten till medlet 200 for att faststalla en atgardszon lopande i angransande korfalt bakat utmed fordonet en bestarnd stracka via en lank 20. Den elektroniska styrenheten 100 är via lanken 20 anordnad att mottaga en signal fran nnedlet 200 representerande atgardszonsdata for faststalld atgardszon lopande i angransande korfalt bakat utmed fordonet. 13 Den elektroniska styrenheten 100 är signalansluten till medlet 200a for att bestamma strackning hos namnda angransande korfalt via en lank 20a. Den elektroniska styrenheten 100 är via lanken 20a anordnad att mottaga en signal fran medlet 200a representerande strackningsdata for strackning hos angransande kOrfalt fOr faststallande av atgardszon bakat fran fordonet. The electronic control unit 100 is signal connected to the means 200 for determining an access zone running in adjacent coral backed along the vehicle a fixed distance via a line 20. The electronic control unit 100 is arranged via the line 20 to receive a signal from the means 200 representing access zone data for the determined access zone running in adjacent coral baked along the vehicle. The electronic control unit 100 is signal connected to the means 200a to determine the stretching of said adjacent corphalt via a link 20a. The electronic control unit 100 is arranged via the line 20a to receive a signal from the means 200a representing the stretching data for the stretching of the adjacent corrugation for determining the access zone baked from the vehicle.
Den elektroniska styrenheten 100 är signalansluten till medlet 210 f6r att fortlOpande faststalla referenspositioner hos fordonet relativt angransande korfalt till fordonets korfalt via en lank 21. Den elektroniska styrenheten 100 är via lanken 21 anordnad att mottaga en signal Than medlet 2 representerande referenspositionsdata for referenspositioner for faststallande av strackning has angransande korfalt for faststallande av atgardszon bakat fran fordonet. The electronic control unit 100 is signal connected to the means 210 for continuously determining reference positions of the vehicle relative to the coral of the vehicle via a line 21. The electronic control unit 100 is arranged via the line 21 to receive a signal representing the reference position data for the reference positions stretching has adjacent coral for determining the access zone behind the vehicle.
Den elektroniska styrenheten 100 är signalansluten till medlet 212 medel fOr att fortlopande faststalla referenspositionerna med forutbestamda intervall via en lank 22. Den elektroniska styrenheten 100 är via lanken 22 anordnad att mottaga en signal Than medlet 212 representerande referenspositionsdata att fortlopande faststalla referenspositionerna med forutbestamda intervall, dar intervallet kan vara strackintervall faststallda medelst medlet 212a eller tidsintervall faststallda medelst medlet 212b. Harvid mottages referenspositionsdata f6r strackintervall eller tidsintervall via lanken 22. Enligt en icke visad variant skulle den elektroniska styrenheten 100 kunna mottaga referenspositionsdata f6r strackintervall fran medlet 212a via en lank och referenspositionsdata for tidsintervall Than medlet 212b via en annan lank. The electronic control unit 100 is signal connected to the means 212 means for continuously determining the reference positions at predetermined intervals via a line 22. The electronic control unit 100 is arranged via the line 22 to receive a signal representing the position 21 data representing the reference positions with the means 212. the interval may be stretch intervals determined by means 212a or time intervals determined by means 212b. In this case, reference position data for stretch intervals or time intervals is received via the link 22. According to an alternative not shown, the electronic control unit 100 could receive reference position data for stretch intervals from the means 212a via a link and reference position data for time intervals via the means 212b via another link.
Den elektroniska styrenheten 100 är signalansluten till medlet 214a f6r att faststalla fordonets girvinkelhastighet via en lank 24a. Den elektroniska styrenheten 100 är via lanken 24a anordnad att mottaga en signal fran medlet 214a representerande girvinkelhastighetsdata for faststallande av eventuell krokning hos korfaltet i vilket fordonet fardas. 14 Den elektroniska styrenheten 100 är signalansluten till medlet 214b for att faststalla fordonets hastighet via en lank 24b. Den elektroniska styrenheten 100 är via lanken 24b anordnad att mottaga en signal Than medlet 214b representerande hastighetsdata f6r fordonet hastighet. The electronic control unit 100 is signal connected to the means 214a for determining the yaw velocity of the vehicle via a link 24a. The electronic control unit 100 is arranged via the line 24a to receive a signal from the means 214a representing the yaw angle velocity data for determining any hook of the corphalt in which the vehicle is traveling. The electronic control unit 100 is signal connected to the means 214b for determining the speed of the vehicle via a link 24b. The electronic control unit 100 is arranged via the line 24b to receive a signal Than means 214b representing speed data for the vehicle speed.
Den elektroniska styrenheten 100 är signalansluten till navigationsmedlet 214c via en lank 24c. Den elektroniska styrenheten 100 är via lanken 24c anordnad att mottaga en signal -Iran navigationsmedlet 214c representerande kartdata f6r utbredning hos korfaltet i vilket fordonet fardas inbegripande eventuell krOkning hos kOrfaltet. The electronic control unit 100 is signal connected to the navigation means 214c via a link 24c. The electronic control unit 100 is arranged via the line 24c to receive a signal -Iran the navigation means 214c representing map data for propagation of the chimney in which the vehicle travels, including any curvature of the chimney.
Den elektroniska styrenheten 100 är signalansluten till medlet 216a for att faststalla linjemarkeringar hos angransande kOrfalt via en lank 26a. Den elektroniska styrenheten 100 är via lanken 26a anordnad att mottaga en signal Iran medlet 216a representerande avstandsdata fOr avstand till linjemarkeringar hos angransande korfalt. The electronic control unit 100 is signal connected to the means 216a for determining line markings of adjacent corals via a line 26a. The electronic control unit 100 is arranged via the line 26a to receive a signal from the means 216a representing distance data for distance to line markings of adjacent corphalt.
Den elektroniska styrenheten 100 är signalansluten till medlet 216b fOr att faststalla virtuella linjemarkeringar hos angransande korfalt via en lank 26b. Den elektroniska styrenheten 100 är via Ian ken 26b anordnad att mottaga en signal Than medlet 216b representerande avstandsdata fOr avstand till virtuella linjemarkeringar hos angransande korfalt. The electronic controller 100 is signal connected to the means 216b for determining virtual line markings of adjacent corphalt via a link 26b. The electronic control unit 100 is arranged via the line 26b to receive a signal Than means 216b representing distance data for distance to virtual line markings of adjacent corphalt.
Den elektroniska styrenheten 100 är signalansluten till medlet 120 f6r att vidtaga atgard vid faststalld fOrekomst av ett bakifran fordonet sig narmande fordon i namnda atgardszon via en lank 12. Den elektroniska styrenheten 100 är via lanken 12 anordnad att sanda en signal till medlet 120 representerande atgardsdata inbegripande varningsdata fOr yarning av korfaltsbyte fOr fordonet och/eller hinderdata for att forhindra/forsvara korfaltsbyte hos fordonet. The electronic control unit 100 is signal connected to the means 120 for taking action in the event of a determined occurrence of a vehicle approaching from behind in said access zone via a line 12. The electronic control unit 100 is arranged via the line 12 to send a signal to the means 120 representing access data including warning data for the occurrence of coral change for the vehicle and / or obstacle data for preventing / defending the change of coral in the vehicle.
Den elektroniska styrenheten 100 är anordnad att behandla namnda referenspositionsdata,girvinkelhastighetsdata,hastighetsdata, forekommande fall kartdata, avstandsdata for linjemarkeringar/virtuella linjemarkeringar for faststallande av atgardszonsdata for atgardszon lopande i angransande korfalt bakat Than fordonet, samt att jamfora atgardszonsdata med namnda fordonsdata for forekomst av bakifran fordonet sig narnnande fordon for att faststalla huruvida det bakifran fordonet sig narmande fordonet fOrefinns i namnda atgardszon. Om det bakifran fordonet sig narnnande fordonet forefinns i namnda atgardszon är den elektroniska styrenheten anordnad att sanda atgardsdata inbegripande varningsdata for yarning av korfaltsbyte for fordonet och/eller hinderdata for att forhindra/forsvara korfaltsbyte hos fordonet till medlet 120. The electronic control unit 100 is arranged to process said reference position data, yaw angle velocity data, velocity data, if any, map data, distance markings for line markings / virtual line markings for determining the zoning zone data for the zoning zone running in adjacent chancel behind the vehicle vehicle and the vehicle data. the vehicle approaching vehicle to determine whether the vehicle approaching from behind is present in said access zone. If the vehicle approaching from behind the vehicle is present in the said access zone, the electronic control unit is arranged to send access data including warning data for the occurrence of coral change for the vehicle and / or obstacle data for preventing / defending coral change of the vehicle to the means 120.
Referenspositionerna faststalls medelst medlet 210 for att for att fortlopande bestamma referenspositioner. Medlet 210 for att for att fortlopande bestamma referenspositioner faststalls enligt en utforingsform medelst foljande ekvationer: D(t) = D(t1) — cos (ts*uo)*ts*v(1) D(t) = Dy(t-t) — sin (ts*uo)*ts*v(2) x-led avser positiva varden framat i det ledande fordonets riktning, y-led avser positiva varden till Niger i det ledande fordonets riktning I ekvationerna (1) och (2) ovan utg6r: D avstand [m] till linjemarkering fran en referenspunkt hos det ledande fordonet 1, dar en sadan referenspunkt hos det ledande fordonet exempelvis kan utgoras av mittpunkt pa bakaxeln, mittpunkt pa framaxeln, mittpunkt pa fordonets front eller motsvarande, v det ledande fordonets hastighet [m/s], w det ledande fordonets girvinkelhastighet (rad/s), och t sampletid fOr uppdatering av referenspositioner. The reference positions are determined by means 210 to determine reference positions continuously. The means 210 for continuously determining reference positions is determined according to an embodiment by means of the following equations: D (t) = D (t1) - cos (ts * uo) * ts * v (1) D (t) = Dy (tt) - sin (ts * uo) * ts * v (2) x-point refers to the positive value forward in the direction of the leading vehicle, y-point refers to the positive value to Niger in the direction of the leading vehicle In equations (1) and (2) above, : D distance [m] to line marking from a reference point of the leading vehicle 1, where such a reference point of the leading vehicle can be, for example, the center point of the rear axle, center point of the front axle, center point of the vehicle front or equivalent, at the speed of the leading vehicle [ m / s], w the leading angular velocity of the leading vehicle (rad / s), and t sampling time for updating reference positions.
Vid fortlopande faststallande av referenspositionerna med forutbestamda 25 strackintervall skapas en ny referensposition regelbundet efter en forutbestamd stracka. 16 Vid fortlopande faststallande av referenspositionerna med forutbestamda tidsintervall skapas en ny referensposition regelbundet efter en forutbestamd tid. Upon continuous determination of the reference positions at predetermined stretch intervals, a new reference position is created regularly after a predetermined stretch. 16 When continuously determining the reference positions at predetermined time intervals, a new reference position is created regularly after a predetermined time.
Fig. 4 illustrerar schematiskt framforande av ett ledande fordon 1 med en dragbil 2 och en trailer 4 pa en vagbana R1 med tva angransande korfalt L1, L2, dar referenspositioner relativt till fordonet angransande korfalt faststallts. Harvid är fOrekomst av objekt i kOrfalt angransande till kOrfaltet i vilket ett fordon 1 framfores avsedd att detekteras enligt en utf6ringsform av fOreliggande uppfinning. Fig. 4 schematically illustrates the driving of a conductive vehicle 1 with a tractor 2 and a trailer 4 on a lane R1 with two adjacent corals L1, L2, where reference positions relative to the vehicle adjacent corals are determined. In this case, the presence of objects in the corrugation is adjacent to the corrugation in which a vehicle 1 is driven is intended to be detected according to an embodiment of the present invention.
Fig. 4 illustrerar harvid en uppsattning referenspositioner DLA1, DLB1; DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 bestamda medelst ekvationema (1) och (2) ovan. Referenspositioner DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 enligt fig. 4 har faststallts medelst ett system I enligt fOreliggande uppfinning. Fig. 4 illustrates a set of reference positions DLA1, DLB1; DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 determined by equations (1) and (2) above. Reference positions DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 according to Fig. 4 have been determined by means of a system I according to the present invention.
Harvid framtages ett lampligt antal N referenspositioner DLA1, DLB1; DLA2, DLB2; DLA3, DLB3, DLA4, DLB4 i form av referenspunkter DLA1, DLB1; DLA2, DLB2; DLB3; DLA4, DLB4. Avstand till linjemarkeringar M1, M2 faststalls har for linjemarkeringen M1 omedelbart till hOger om fordonet 1 samt nasta linjemarkering M2 till Niger, dvs. linjemarkeringarna M1, M2 definierande angransande korfalt L2 till korfaltet L1 i vilket fordonet 1 fardas. Detta sker fortlopande varvid de aldsta referenspositionerna skrivs over nar det 6nskade antalet N referenspositioner faststallts. Referenspositionerna DLA1, DLA2, DLA3, DLB4 representerar fortlopande faststallda aystand till linjemarkeringar M1 omedelbart till Niger om fordonet 1 och referenspositionerna DLB1 DLB2, DLB3, DLB4 linjemarkeringarna M2 till Niger om linjennarkeringarna M1. Harvid fastsalls medelst referenspositionerna DLA1, DLB1, DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 fortlOpande en atgardszon sasonn franngar av fig. 5. A suitable number of N reference positions DLA1, DLB1 is produced; DLA2, DLB2; DLA3, DLB3, DLA4, DLB4 in the form of reference points DLA1, DLB1; DLA2, DLB2; DLB3; DLA4, DLB4. Distance to line markings M1, M2 is fixed for the line marking M1 immediately to the right of the vehicle 1 and the next line marking M2 to Niger, ie. the line markings M1, M2 defining adjacent corphalt L2 to the corphalt L1 in which the vehicle 1 travels. This takes place continuously, with the oldest reference positions being overwritten when the desired number of N reference positions has been determined. The reference positions DLA1, DLA2, DLA3, DLB4 represent continuously established distances to line markings M1 immediately to Niger about the vehicle 1 and the reference positions DLB1 DLB2, DLB3, DLB4 the line markings M2 to Niger about the line markings M1. In this case, the reference positions DLA1, DLB1, DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 are determined by means of the reference zone as follows from Fig. 5.
Fig. 5 illustrerar schematiskt framforande av ett i pilens P1 riktning fardande fordon 1 med en dragbil 2 och en trailer 4 / ett slap 4 pa en vagbana R2 med 17 tva angransande korfalt L1, L2 enligt foreliggande uppfinning. Vagbanan R2 och scenariot motsvarar det illustrerat i fig. 1. Fig. 5 schematically illustrates the driving of a vehicle 1 traveling in the direction of the arrow P1 with a tractor 2 and a trailer 4 / a slap 4 on a carriageway R2 with 17 adjacent coral L1, L2 according to the present invention. The roadway R2 and the scenario correspond to that illustrated in Fig. 1.
Har faststalls en atgardszon Z2 baserat pa fortlopande faststallda referenspositioner i enlighet med foreliggande uppfinning. Medelst systemet I enligt foreliggande uppfinning faststalls slapet/trailern 4 hos fordonet 1 inte befinna sig i den faststallda atgardszonen Z2 varvid ingen atgard vid kOrfaltsbyte vidtages, till skillnad fran kand teknik enligt fig. 1 dar onOdig yarning sker vid korfaltsbyte. Has established an action zone Z2 based on consecutive established reference positions in accordance with the present invention. By means of the system I according to the present invention, the trailer / trailer 4 of the vehicle 1 is determined not to be in the determined access zone Z2, whereby no action is taken during the change of corrugation, unlike the prior art according to Fig. 1, where unobstructed change takes place during the change of coral.
Fig. 6 visar schematiskt ett blockschema av ett forfarande for att riskbedOma 10 korfaltsbyte vid framf6rande av ett fordon pa en vagbana med atminstone tva angransande kOrfalt enligt en utfOringsform av fOreliggande uppfinning. Fig. 6 schematically shows a block diagram of a method for risk-assessing the change of corrugation when driving a vehicle on a lane with at least two adjacent corphals according to an embodiment of the present invention.
Enligt en utforingsform innefattar forfarandet for att riskbedoma korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt ett f6rsta steg S1. I detta steg detekteras forekonnst av objekt i kOrfalt angransande till kOrfaltet i vilket namnda fordon framfOres. According to one embodiment, the method for assessing the risk of coral change when driving a vehicle on a lane with at least two adjacent corphts comprises a first step S1. In this step, the occurrence of objects is detected in a corridor adjacent to the corridor in which the said vehicle is driven.
Enligt en utforingsform innefattar for att riskbedoma korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt ett andra steg S2. I detta steg bestams utifran angivelser r6rande strackning hos ett bestamt kOrfalt i vilket fordonet framfOres strackning hos atminstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos fordonet relativt namnda angransande korfalt fOr att faststalla en atgardszon lopande i namnda angransande korfalt utmed namnda fordon en bestarind strackafordonetfordonet. According to one embodiment, in order to assess the risk of coral change when driving a vehicle on a lane with at least two adjacent corphalt, a second step S2 comprises. In this step, indications concerning the stretching of a particular corrugation in which the vehicle is carried out are stretched at at least one adjacent corphthal based on continuously established reference positions of the vehicle relative to said adjacent corphthal to determine an action zone running within the said vehicle.
Enligt en utforingsform innefattar f6rfarandet f6r att riskbed6ma korfaltsbyte 25 vid framfOrande av ett fordon pa en vagbana med atminstone tva angransande korfalt ett tredje steg S3. I detta steg vidtages vid f6rekomst av objekt i namnda atgardszon atgard i anslutning till korfaltsbytefordonet. 18 Med hanvisning till fig. 7, visas ett diagram av ett utforande av en anordning 500. Styrenheten 100 som beskrivs med hanvisning till fig. 3 kan i ett utfOrande innefatta anordningen 500. Anordningen 500 innefattar ett ickeflyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. According to one embodiment, the method for risk assessing coral change 25 when driving a vehicle on a lane with at least two adjacent corals comprises a third step S3. In this step, in the presence of objects in the said access zone, action is taken in connection with the corphalt replacement vehicle. Referring to Fig. 7, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 3 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550.
Det icke-flyktiga minnet 520 har en fOrsta minnesdel 530 van i ett datorprogram, sa som ett operativsystem, är lagrat for att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, I/O-organ, en ND-omvandlare, en tids- och datum inmatnings- och overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 har ocksa en andra minnesdel 540. The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
Det tillhandahalles ett datorprogram P som innefattar rutiner f6r att f6r att riskbedorna korfaltsbyte vid framforande av ett fordon pa en vagbana med atminstone tva angransande korfalt. Programmet P innefattar rutiner f6r att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket namnda fordon framforesfordonet. Programmet P innefattar rutiner f6r att utifran angivelser rorande strackning hos ett bestamt korfalt i vilket fordonet frannfores bestannnna strackning hos atnninstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos fordonet relativt namnda angransande korfalt for att faststalla en atgardszon lopande i namnda angransande korfalt utmed namnda fordon en bestamd stracka. Programmet P innefattar rutiner for att vid fOrekomst av objekt i namnda atgardszon vidtaga atgard i anslutning till korfaltsbytefordonet. Programmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. A computer program P is provided which includes routines for changing the risk of coral asphalt when driving a vehicle on a lane with at least two adjacent corphals. The program P includes routines for detecting the presence of objects in the corphthal adjacent to the corphalt in which said vehicle is driven by the vehicle. The program P comprises routines for, based on indications concerning the stretching of a particular corphthal in which the vehicle is carried, the permanent stretching of at least one adjacent corphthal based on continuously determined reference positions of the vehicle relative to said adjoining corphthal to determine a driving zone with a driving zone. determined stretch. The program P includes routines for taking action in connection with objects in the said access zone in connection with the corphalt replacement vehicle. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.
Nar det är beskrivet att databehandlingsenheten 510 utfor en viss funktion ska det forstas att databehandlingsenheten 510 utf6r en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. 19 Databehandlingsanordningen 510 kan kommunicera med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 är anordnat att kommunicera med databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan Lex. lankarna forbundna med styrenheterna 200; 300 anslutas. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550. The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. The read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, Lex. the links connected to the control units 200; 300 connected.
Nar data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är databehandlingsenheten 510 iordningstalld att utfora exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att detektera forekomst av objekt i korfalt angransande till korfaltet i vilket namnda fordon framfores. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 f6r att utifran angivelser rorande strackning hos ett bestamt korfalt i vilket fordonet framfores bestamma strackning hos atminstone ett angransande korfalt baserat pa fortlopande faststallda referenspositioner hos fordonet relativt narnnda angransande korfalt for att faststalla en atgardszon lopande i namnda angransande korfalt utmed namnda fordon en bestamd stracka. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att vid f6rekomst av objekt i namnda atgardszon vidtaga atgard i anslutning till korfaltsbyte. When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals on the data port 599 can be used by the device 500 to detect the presence of objects in the corphthal adjacent to the corphalt in which said vehicle is driven. The received signals on the data port 599 may be used by the device 500 to determine, based on indications of elongation of a particular corphalt in which the vehicle is driven, the elongation of at least one adjacent corphalt based on consecutive fixed reference positions of the vehicle relative to the adjacent adjacent coral. said adjacent coral along said vehicle a specified distance. The received signals on the data port 599 can be used by the device 500 to take action in connection with the change of corals in the presence of objects in said access zone.
Delar av metoderna beskrivna hari kan utforas av anordningen 500 med hjalp av databehandlingsenheten 510 som kOr programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 kir programmet, exekveras hari beskrivna f6rfaranden. Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 which runs the program stored in the memory 560 or read / write memory 550. When the device 500 runs the program, the methods described herein are executed.
Beskrivningen ovan av de f6redragna utforingsformerna av foreliggande uppfinning har tillhandahallits i illustrerande och beskrivande syfte. Den ar inte avsedd att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga fOr fackmannen. UtfOringsformerna har valts och beskrivits fOr att bast forklara principerna av uppfinningen och dess praktiska tillampningar, och darmed mOjliggOra kir en fackman att fOrsta uppfinningen for olika utforingsformer och med de olika modifieringarna som är lampliga kir det avsedda bruket. 21 The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical applications, and thus enable a person skilled in the art to make the first invention for different embodiments and with the various modifications which are appropriate to the intended use. 21
Claims (17)
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450385A SE540270C2 (en) | 2014-04-01 | 2014-04-01 | Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes |
| KR1020167029241A KR101997817B1 (en) | 2014-04-01 | 2015-03-23 | Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes. |
| EP15774225.5A EP3127105A4 (en) | 2014-04-01 | 2015-03-23 | Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes. |
| BR112016021671-7A BR112016021671B1 (en) | 2014-04-01 | 2015-03-23 | METHOD AND SYSTEM FOR ASSESSING THE RISK OF TRAFFIC LANE CHANGE WHEN DRIVING A VEHICLE ON A ROAD AND MOTOR VEHICLE COMPRISING SUCH SYSTEM |
| PCT/SE2015/050342 WO2015152792A1 (en) | 2014-04-01 | 2015-03-23 | Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450385A SE540270C2 (en) | 2014-04-01 | 2014-04-01 | Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes |
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| Publication Number | Publication Date |
|---|---|
| SE1450385A1 true SE1450385A1 (en) | 2015-10-02 |
| SE540270C2 SE540270C2 (en) | 2018-05-22 |
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| SE1450385A SE540270C2 (en) | 2014-04-01 | 2014-04-01 | Procedure and system for risk assessment of lane change when driving a conductive vehicle on a roadway with at least two adjacent lanes |
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| KR (1) | KR101997817B1 (en) |
| BR (1) | BR112016021671B1 (en) |
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| WO2016052507A1 (en) * | 2014-09-30 | 2016-04-07 | エイディシーテクノロジー株式会社 | Automatic-driving control device |
| DE102017203129A1 (en) * | 2017-02-27 | 2018-08-30 | Robert Bosch Gmbh | Method for monitoring an environment of a vehicle |
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| DE19921449C1 (en) * | 1999-05-08 | 2001-01-25 | Daimler Chrysler Ag | Guide assistance when changing the lane of a motor vehicle |
| ES2158827B1 (en) * | 2000-02-18 | 2002-03-16 | Fico Mirrors Sa | DEVICE FOR DETECTION OF PRESENCE OF OBJECTS. |
| JP4108706B2 (en) * | 2005-10-31 | 2008-06-25 | 三菱電機株式会社 | Lane departure prevention device |
| JP4950494B2 (en) * | 2006-01-17 | 2012-06-13 | アルパイン株式会社 | Traveling lane estimation apparatus and traveling lane estimation method |
| US7388475B2 (en) * | 2006-01-19 | 2008-06-17 | Gm Global Technology Operations, Inc. | Lane departure warning and avoidance system with warning modification criteria |
| JP4229189B2 (en) * | 2007-01-26 | 2009-02-25 | 株式会社デンソー | Preceding vehicle selection device, inter-vehicle control device, inter-vehicle alarm device, and recording medium |
| ES2344880B1 (en) * | 2008-12-18 | 2011-06-28 | Cion De Galicia Fundacion Para La Promocion De Innovacion, Investigacion Y Desarrollo Tecnolog. En La Ind. De Automo | SYSTEM AND METHOD OF ASSISTANCE TO CHANGE OF LANE WITH ADAPTIVE EVALUATION AREA. |
| JP5407952B2 (en) * | 2009-06-18 | 2014-02-05 | 日産自動車株式会社 | Vehicle driving support device and vehicle driving support method |
| WO2012147187A1 (en) * | 2011-04-27 | 2012-11-01 | トヨタ自動車株式会社 | Periphery vehicle detection device |
| EP2741270B1 (en) * | 2011-08-02 | 2020-11-25 | Nissan Motor Co., Ltd. | Driving assistance apparatus and driving assistance method |
| SE536537C2 (en) * | 2012-06-11 | 2014-02-11 | Early warning |
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| KR20160134829A (en) | 2016-11-23 |
| SE540270C2 (en) | 2018-05-22 |
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| BR112016021671B1 (en) | 2022-12-06 |
| EP3127105A4 (en) | 2017-11-22 |
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| WO2015152792A1 (en) | 2015-10-08 |
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