WO2011042002A1 - Method for the transverse guidance of a motor vehicle - Google Patents
Method for the transverse guidance of a motor vehicle Download PDFInfo
- Publication number
- WO2011042002A1 WO2011042002A1 PCT/DE2010/001125 DE2010001125W WO2011042002A1 WO 2011042002 A1 WO2011042002 A1 WO 2011042002A1 DE 2010001125 W DE2010001125 W DE 2010001125W WO 2011042002 A1 WO2011042002 A1 WO 2011042002A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- lane
- value
- ysoii
- flasher
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012508 change request Methods 0.000 claims abstract description 14
- 238000013459 approach Methods 0.000 claims abstract description 3
- 230000007613 environmental effect Effects 0.000 claims abstract 2
- 238000001514 detection method Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
Definitions
- the invention relates to a method for the transverse guidance of a motor vehicle according to the preamble of patent claim 1 and to a driver assistance system of a motor vehicle for carrying out the method according to the preamble of patent claim 11.
- Lane keeping systems of vehicles warn or assist the driver when there is a risk of the vehicle leaving the lane. So there are systems (Lane Departure Warning), which only warn the driver when the system detects a tendency to leave the lane.
- the warning can be acoustic, visual or haptic.
- Further developed systems (lane keeping support) generate a correction yawing moment if a tendency to leave the lane is detected by sensors, thereby preventing an agreement of the vehicle, for example, from the road.
- the correction yaw moment can be generated, for example, by means of a superposition steering system or via a wheel-specific braking process. Such a correction yaw moment can also be generated via a wheel or axle-specific drive torque setting.
- Lane keeping systems can be implemented as part of a general driver assistance system, which also includes a cruise control system ACC (Adaptive Cruise Control), as well as being designed as a subsystem of a system for autonomous vehicle guidance.
- ACC Adaptive Cruise Control
- the systems mentioned work on the basis of
- Environment sensors such as camera systems that provide data from the environment, for example, data of a lane detection or an object (for example, a preceding or following vehicle).
- the driver should be relieved and at the same time increased road safety, so as to reduce the risk of accidents.
- Condition for this is that the
- CONFIRMATION COPY Drivers are not patronized by such systems and are also easy to use. In particular, the operation must be unambiguous or the control strategy of such systems for the driver comprehensible and therefore understandable.
- a transverse guidance system for a motor vehicle in which by means of a sensor device, the actual position of the vehicle relative to the limits of the traveled lane is detected. Furthermore, a lateral deviation of the setpoint value from the lane center of the lane is manually entered by means of a predefinition device for the desired value of the transverse position.
- the setpoint value for the transverse position of the vehicle does not have to correspond to the lane center of the roadway, but can deviate within certain limits to both sides of the lane center, whereby this deviation can be set manually by the driver according to his wishes or the traffic situation. This is contrary to the desire of many drivers, for example, when driving in a column on highways to move laterally offset to stop by the vehicle ahead.
- the object of the invention is therefore to provide a method for the transverse guidance of a vehicle of the aforementioned type, in which the traffic safety in the case of an intended lane change is improved, but avoids the disadvantages of the prior art. It is another object of the invention to provide a driver assistance system of a vehicle for carrying out the method according to the invention.
- the first object is achieved by a method having the features of patent claim 1.
- the set desired value is changed such that the associated transverse position of this setpoint shifts in the direction of the requested lane change.
- the inventive automatic adjustment of the shift of the track deposit offers the possibility of the size of the displacement of current traffic conditions. to make dependent. Due to the better overview of the driver, in particular by the adapted to the traffic situation shift the track deposit, the changing of the lane, especially at high relative speeds, eg. On highways significantly safer. Even in the case of autonomous vehicle guidance, when the driver does not undertake a driving task, the on-board sensor system can better detect those vehicles which are approaching the vehicle from the rear or the front or ahead of the vehicle and the additional information thus obtained Use adaptation of the driving strategy.
- the surroundings sensor device is designed as a lane detection sensor system for detecting lane detection data, the setpoint value being changed as a function of the lane width and / or the course of the lane.
- This will be the size adapted to the shift to changing lanes, for example.
- Environment sensor device is designed as obj ekterkennungssensorik for detecting object and / or object position data, wherein the desired value is changed in dependence on a leading and / or following vehicle.
- the shift of the transverse position of the vehicle can be adapted not only to the course of the lanes, but also to the transverse position, so the transverse position of the surrounding vehicles, so that a better view for the driver and for onboard sensors both forward and backward is possible.
- a further improvement of the method according to the invention results from the fact that, based on electronic map data and position data of a GPS system, the total number of available lanes and the actual position of the vehicle is determined and the setpoint is changed in dependence thereon. Preferably, the setpoint is thereby changed, taking into account corridors for rescue and / or emergency vehicles, in particular if such rescue vehicles are detected.
- the shift is set in the direction that the prescribed corridor for a detected one of Rear approaching emergency vehicle remains free.
- the method according to the invention can be developed so that on the basis of a car-to-car communication (C2X communication) mission and / or rescue vehicles are detected.
- C2X communication car-to-car communication
- a lane change request is detected by an operation of a direction indicator, in particular a flasher of the vehicle. Furthermore, it is also possible for such a lane change request by a detection and evaluation of the
- the transverse guidance of the vehicle is also performed by an autonomous system for vehicle guidance.
- Such a driver assistance system of a vehicle comprises the following components:
- a sensor system in particular a camera system, which comprises components for the detection, tracking and classification of a plurality of marked and unmarked lane delimitations and / or components for object detection and its classification, as environment sensor device,
- a flasher detector and / or a steering angle detector wherein the flasher detector generates a status signal which is supplied to the control unit as a function of the operating state of a flasher of the vehicle, and / or the steering angle detector generates a steering angle indicative status signal which is fed to the control unit, - A superposition steering and / or a braking system with wheel-individual braking torque setting, the control unit depending on the data of the environment sensor device and the state signal of the flasher detector determines a deviation of the target value for the transverse position of the vehicle and in dependence of the deviation of the actual value of the transverse position of the vehicle from the target value generates a control signal for the superposition steering and / or the brake system.
- the control unit depending on the data of the environment sensor device and the state signal of the flasher detector determines a deviation of the target value for the transverse position of the vehicle and in dependence of the deviation of the actual value of the transverse position of the vehicle from the target value generates a control signal for the superposition steering and
- FIG. 1 is a schematic representation of a driving situation on a two-lane road to explain the method according to the invention
- Fig. 2 is a schematic representation of a further driving situation on a three-lane road to explain the method according to the invention.
- Fig. 3 is a schematic block diagram of an assistance system of a vehicle for carrying out the method according to the invention.
- the method according to the invention for transverse guidance will be explained with reference to driving situations of a vehicle according to FIGS. 1 and 2, the vehicle being equipped with an assistance system according to FIG. 3 for longitudinal and transverse guidance.
- This assistance system comprises lane tracking and object detection and operates by means of a camera 10.
- the image data of the surroundings of the vehicle 1 according to FIG. 1 are transmitted by the camera 10 to a control unit 20, this control unit 20 components for detection , Tracking and classification of several marked and unmarked lane delimitations as well as components for object detection and object tracking.
- the assistance system according to FIG. 3 comprises a flasher detector 31 which monitors the operating state of a flasher 30 and a steering angle detector 40.
- the vehicle 1 travels in the direction of the arrow F on the right-hand traffic lane 2 of a two-lane highway, a preceding vehicle 5 driving in front of the vehicle 1 and a following vehicle 6 following the vehicle 1.
- the assistance system is in a mode of lane tracking and a follow-up control, in which the vehicle is controlled both transversely and longitudinally.
- the assistance system sets a target value Y so i of a size which corresponds to the transverse position of the vehicle 1 in its lane 2 and compares this target value Y so ii with an actual value Yi St , that is the transverse position, detected from the image data of the camera 10 corresponds to the vehicle 1 corresponding size. If the actual value Yi st differs by a predetermined value from the desired value Y so ii, a control of the vehicle 1 by means of an actuator to this actual value Yi st - As actuator, a steering divider 51 a superposition steering 50 and / or brake cylinder 61 of
- Brake system 60 of the vehicle can be used, as shown in Figure 3. With the steering divider 51 or by individual brakes by means of the brake cylinder 61 of the brake system 61, a correction yaw moment is generated.
- the setpoint may be, for example, the lane center of the lane 2.
- the driver of the vehicle 1 of FIG. 1 wishes to overtake the vehicle 5 traveling in front of him, he first sets the flasher 30 to the left to indicate the intended lane change. This is performed by the assistance system according to FIG. 3 as a lane change request by evaluation of the flashing signal.
- encoder detector 31 detected.
- a steering angle detector 40 can also be used in such a way that when a specific steering angle is detected, a lane change request is assumed. It is advantageous to use both the flasher detector 31 and the steering angle detector 40 for the safe detection of a lane change request by the driver.
- the setpoint value Y is thus displaced by a predetermined value ⁇ in the direction of the requested lane change, as in the direction of the left lane 3, so that now a new setpoint value with Y is set so ii + ⁇ results, as shown in Figure 1.
- the driver can now move out of his lane 2 in the direction of the lane 3 and watch the traffic, for example, if a vehicle comes to meet, or if he is on a highway, a follower vehicle ensues.
- the assistance system now adjusts to the new setpoint Y so ii + ⁇ . If a lane change without danger is possible, the driver performs this, otherwise he steers the vehicle 1 back into the lane 2, which is detected by the assistance system via the flasher detector 31 and / or the steering angle detector 41, so that in succession the setpoint is reset to a setpoint corresponding to the lane-tracking mode.
- the vehicle 1 is also equipped with a longitudinal control or follow-up control with object tracking, the
- FIG. 2 A further driving situation is shown in FIG. 2, in which a vehicle 1, likewise equipped with an assistance system according to FIG. 3, moves on a middle lane 2 of a three-lane roadway of a motorway in the direction of the arrow F.
- a follower vehicle 6 In front of the vehicle 1 drives a vehicle in front 5, a follower vehicle 6 is located on a right lane 4 of the highway. The vehicle 1 has overtaken the following vehicle 6 on the left lane 4, with the preceding vehicle 5 traveling faster than the vehicle 1.
- the controller 20 of the assistance system of Figure 3 due to corresponding signals of the flasher detector 31 and / or the steering angle detector 40, is moved by the control unit 20 of the aktu- rush target value Y so ii n the direction of the right-hand lane 4 by a value ⁇ , so that a new setpoint Y is set so n-AY, which now represents the basis for the transverse control. If the vehicle 1 additionally has a follow-up control, the value ⁇ of the shift is also determined as a function of the preceding vehicle 5. Of the
- the situation may also arise, according to which the vehicle 1 according to FIG. 2 approaches a jam end, which is symbolized, for example, by the vehicle 5.
- the assistance system of Figure 3 is also equipped with a GPS system with electronic card and / or access to a C2X network has, is the information about the total track number and the information on which lane the vehicle is currently located before. If an approaching emergency vehicle is detected by the camera or via the C2X communication, the displacement of the setpoint value Y is thus the transverse position of the
- Vehicle 1 is set so that the prescribed corridor for the rescue vehicle remains free, d. H. the new setpoint is, as far as the traffic situation allows, as far as possible in the direction of the right lane 4 shifted. In addition, the driver can be visually and / or acoustically informed about this situation.
- the displacement of the target value Y as described above by a value ii ⁇ can also be executed with a vehicle 1 to advertising, which is equipped with a system for autonomous vehicle guidance. Instead of a lane change request by the driver, a lane change request is generated by this autonomous system. In such a case, the vehicle also shears in the direction of the requested lane in order to better enable the camera system to check the traffic situation and, based on this additional information, to decide whether a lane change is possible.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112010001961T DE112010001961A5 (en) | 2009-10-08 | 2010-09-24 | Method for the transverse guidance of a motor vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009048789A DE102009048789A1 (en) | 2009-10-08 | 2009-10-08 | Method for the transverse guidance of a motor vehicle |
DE102009048789.1 | 2009-10-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011042002A1 true WO2011042002A1 (en) | 2011-04-14 |
Family
ID=43608799
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2010/001125 WO2011042002A1 (en) | 2009-10-08 | 2010-09-24 | Method for the transverse guidance of a motor vehicle |
Country Status (2)
Country | Link |
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DE (2) | DE102009048789A1 (en) |
WO (1) | WO2011042002A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103496366A (en) * | 2013-09-09 | 2014-01-08 | 北京航空航天大学 | Active-lane-changing collision-avoidance control method and device based on vehicle-vehicle coordination |
CN105644564A (en) * | 2016-03-09 | 2016-06-08 | 江苏大学 | Method for judging safety of lateral initiative collision avoidance of automobile |
CN104960524B (en) * | 2015-07-16 | 2017-06-06 | 北京航空航天大学 | Many cars collaboration lane change control system and its method based on truck traffic |
DE102022104696A1 (en) | 2022-02-28 | 2023-08-31 | Zf Cv Systems Global Gmbh | Method for controlling a vehicle in a traffic jam situation, as well as control device and vehicle |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011016770B4 (en) * | 2011-04-12 | 2021-02-04 | Daimler Ag | Method for assisting a driver of a vehicle when changing lanes and device for carrying out the method |
DE102012200950B3 (en) * | 2012-01-24 | 2013-05-16 | Robert Bosch Gmbh | Method and device for detecting a special situation in traffic |
DE102014200700A1 (en) * | 2014-01-16 | 2015-07-30 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for detecting an emergency lane situation |
DE102014207666A1 (en) * | 2014-04-23 | 2015-10-29 | Bayerische Motoren Werke Aktiengesellschaft | Autonomous driving in a dangerous situation |
EP3150465B1 (en) * | 2015-10-01 | 2018-12-12 | Volvo Car Corporation | Method and system for indicating a potential lane shift of a vehicle |
DE102015224106A1 (en) * | 2015-12-02 | 2017-06-08 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system for a motor vehicle for the at least partially automatic formation of a rescue lane |
DE102016216134A1 (en) | 2016-08-29 | 2018-03-01 | Bayerische Motoren Werke Aktiengesellschaft | Shifting the lateral position of an automated lateral guide to inform the driver of a required lane change |
DE102019209302A1 (en) * | 2019-06-26 | 2020-12-31 | Continental Automotive Gmbh | Method and system for determining driving instructions for a vehicle |
CN114379552B (en) * | 2021-11-11 | 2024-03-26 | 重庆大学 | Self-adaptive lane keeping control system and method based on high-precision map and vehicle-mounted sensor |
DE102022207003A1 (en) | 2022-07-08 | 2024-01-11 | Volkswagen Aktiengesellschaft | Method for operating a vehicle |
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DE4313568C1 (en) * | 1993-04-26 | 1994-06-16 | Daimler Benz Ag | Guiding motor vehicle driver when changing traffic lanes - using radar devices to detect velocity and spacing of vehicles in next lane and indicate when lane changing is possible |
EP0806336A2 (en) * | 1996-05-09 | 1997-11-12 | Honda Giken Kogyo Kabushiki Kaisha | Steering assist system in a vehicle |
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DE10210548A1 (en) | 2002-03-09 | 2003-09-18 | Bosch Gmbh Robert | Transverse guidance system for a motor vehicle |
EP1867542A1 (en) * | 2006-06-13 | 2007-12-19 | Robert Bosch Gmbh | Lane keeping assistant with lane change function |
DE102007027495A1 (en) * | 2007-06-14 | 2008-12-18 | Daimler Ag | Motor vehicle's e.g. lorry, driver assisting method, involves varying lateral distance limits for lateral distance to detected objects by driver independent of distance limits for lateral distance to left and right traffic lane boundaries |
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DE4332836C1 (en) * | 1993-09-27 | 1994-09-15 | Daimler Benz Ag | Device for steering a vehicle with controlled tracking |
DE19632929C1 (en) * | 1996-08-16 | 1997-11-27 | Daimler Benz Ag | Automatic motor vehicle transverse guidance device |
DE102005024382A1 (en) * | 2005-05-27 | 2006-12-07 | Robert Bosch Gmbh | Lane departure warning for motor vehicles |
DE102007046688A1 (en) * | 2007-09-28 | 2009-04-16 | Audi Ag | Method for operating at least one related to a lateral guidance of a motor vehicle driver assistance system and associated motor vehicle |
DE102008011228A1 (en) * | 2008-02-26 | 2009-08-27 | Robert Bosch Gmbh | Method for assisting a user of a vehicle, control device for a driver assistance system of a vehicle and vehicle having such a control device |
-
2009
- 2009-10-08 DE DE102009048789A patent/DE102009048789A1/en not_active Withdrawn
-
2010
- 2010-09-24 WO PCT/DE2010/001125 patent/WO2011042002A1/en active Application Filing
- 2010-09-24 DE DE112010001961T patent/DE112010001961A5/en active Pending
Patent Citations (6)
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DE4313568C1 (en) * | 1993-04-26 | 1994-06-16 | Daimler Benz Ag | Guiding motor vehicle driver when changing traffic lanes - using radar devices to detect velocity and spacing of vehicles in next lane and indicate when lane changing is possible |
US5765116A (en) * | 1993-08-28 | 1998-06-09 | Lucas Industries Public Limited Company | Driver assistance system for a vehicle |
EP0806336A2 (en) * | 1996-05-09 | 1997-11-12 | Honda Giken Kogyo Kabushiki Kaisha | Steering assist system in a vehicle |
DE10210548A1 (en) | 2002-03-09 | 2003-09-18 | Bosch Gmbh Robert | Transverse guidance system for a motor vehicle |
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DE102007027495A1 (en) * | 2007-06-14 | 2008-12-18 | Daimler Ag | Motor vehicle's e.g. lorry, driver assisting method, involves varying lateral distance limits for lateral distance to detected objects by driver independent of distance limits for lateral distance to left and right traffic lane boundaries |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103496366A (en) * | 2013-09-09 | 2014-01-08 | 北京航空航天大学 | Active-lane-changing collision-avoidance control method and device based on vehicle-vehicle coordination |
CN103496366B (en) * | 2013-09-09 | 2016-02-24 | 北京航空航天大学 | A kind of initiative lane change collision avoidance control method based on collaborative truck and device |
CN104960524B (en) * | 2015-07-16 | 2017-06-06 | 北京航空航天大学 | Many cars collaboration lane change control system and its method based on truck traffic |
CN105644564A (en) * | 2016-03-09 | 2016-06-08 | 江苏大学 | Method for judging safety of lateral initiative collision avoidance of automobile |
DE102022104696A1 (en) | 2022-02-28 | 2023-08-31 | Zf Cv Systems Global Gmbh | Method for controlling a vehicle in a traffic jam situation, as well as control device and vehicle |
Also Published As
Publication number | Publication date |
---|---|
DE102009048789A1 (en) | 2011-04-14 |
DE112010001961A5 (en) | 2012-08-16 |
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