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公开(公告)号：EP2129567B1
公开(公告)日：2010-12-08
申请号：EP08712633.0
申请日：2008-02-22
IPC分类号： B60W30/08 , B62D15/02 , G06Q10/00 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/02
CPC分类号： G06Q10/06 , B60W10/18 , B60W10/20 , B60W2520/105 , B60W2520/125 , B62D15/0265 , G06Q10/04 , G06Q10/08
摘要： A vehicle (2) comprises sensor units (10) for collecting sensor data, and a processing unit (11) for processing the sensor data. A method of providing driving assistance information comprises the steps of : determining the cost (c) of pairs (30, 31, 32) of acceleration values on the basis of the sensor data, each pair of acceleration values representing a longitudinal (a Ion) and a lateral (a lat) acceleration of the vehicle, - selecting a pair (32) of least cost acceleration values, and - providing driving assistance information including the pair of least cost acceleration values. The processing unit (10) may be arranged for providing visible, audible and/or hap tic driving assistance information to the driver of the vehicle, and/or for providing steering assistance.
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公开(公告)号：EP2129567A1
公开(公告)日：2009-12-09
申请号：EP08712633.0
申请日：2008-02-22
IPC分类号： B60W30/08 , B62D15/02 , G06Q10/00 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/20 , B60W30/02
CPC分类号： G06Q10/06 , B60W10/18 , B60W10/20 , B60W2520/105 , B60W2520/125 , B62D15/0265 , G06Q10/04 , G06Q10/08
摘要： A vehicle (2) comprises sensor units (10) for collecting sensor data, and a processing unit (11) for processing the sensor data. A method of providing driving assistance information comprises the steps of : determining the cost (c) of pairs (30, 31, 32) of acceleration values on the basis of the sensor data, each pair of acceleration values representing a longitudinal (a Ion) and a lateral (a lat) acceleration of the vehicle, - selecting a pair (32) of least cost acceleration values, and - providing driving assistance information including the pair of least cost acceleration values. The processing unit (10) may be arranged for providing visible, audible and/or hap tic driving assistance information to the driver of the vehicle, and/or for providing steering assistance.
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公开(公告)号：EP2917760B1
公开(公告)日：2018-03-28
申请号：EP13801881.7
申请日：2013-11-08
CPC分类号： B60W30/16 , B60W2550/306 , B60W2550/308 , G01B21/16 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9353 , G01S2013/936 , G01S2013/9375 , G08G1/166
摘要： A method of determining a safe distance (dsafe) between a first vehicle (1) and a second vehicle (2) moving ahead of the first vehicle, each vehicle having a state which comprises at least one of a position (s1, s2), a speed and an acceleration of the respective vehicle, the method comprising the steps of:—collecting sensor data relating to the state of the vehicles (1, 2),—determining, using the sensor data and a time-dependent description of the state of the second vehicle (2), a state of the second vehicle (2) as a result of a maximum deceleration of said second vehicle,—determining, using a time-dependent model of the behaviour of the first vehicle (1) and said state of the second vehicle (2), a state of the first vehicle (1) as a result of said maximum deceleration of said second vehicle (2), and—determining, using said state of the second vehicle (2) and said state of the first vehicle (1), the safe distance (dsafe). Said state of the second vehicle (2) and said state of the first vehicle (1) involve uncertainties introduced by the sensor data, thus increasing the safety margin of the method.
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4.发明公开COLLISION AVOIDANCE SYSTEM AND METHOD FOR A ROAD VEHICLE AND RESPECTIVE COMPUTER PROGRAM PRODUCT 有权Kollisionsverhindungssystem und -Verfahren und entpsrechendes Computerprogrammprodukt
公开(公告)号：EP2486555A1
公开(公告)日：2012-08-15
申请号：EP10763072.5
申请日：2010-10-05
CPC分类号： G08G1/164 , B60W30/0956 , G01S2013/9353 , G01S2013/9357 , G01S2013/936 , G08G1/0112 , G08G1/0133 , G08G1/07 , G08G1/096783 , G08G1/161 , G08G1/163 , G08G1/165 , G08G1/166
摘要： Collision avoidance actions in a road vehicle are controlled based on a computed probability density of future positions of the vehicle. A preliminary probability density (32) is computed by means of a mechanical model by extrapolation from the detected state of the vehicle, including at least its detected position(31). Map data is used to define different regions in an area that contains the road, such as a first region that comprises a road part for traffic that moves in the direction of travel of the vehicle, a second region that comprises a road part for traffic in the opposite direction and a third region bordering on the road. The regions are used to obtain a correction factor of the computed probability density function in the first region (33). The correction factor is computed dependent on the aggregates of the probability density function in respective ones of the regions. In this way it is possible to compensate for errors that result from extrapolations that misinterpret swerving motion that suggest that the vehicle will move of the road, but are automatically corrected by the driver.
摘要翻译： 基于计算出的车辆未来位置的概率密度来控制道路车辆中的碰撞避免动作。 初步概率密度（32）通过从检测到的车辆的状态通过外推的机械模型计算，包括至少其检测到的位置（31）。 地图数据用于在包含道路的区域中定义不同的区域，例如包括在车辆行驶方向上移动的交通的道路部分的第一区域，包括用于交通的道路部分的第二区域 相反的方向和与道路接壤的第三区域。 这些区域用于获得第一区域中计算的概率密度函数的校正因子（33）。 校正因子根据各个区域中的概率密度函数的聚集来计算。 以这种方式，可以补偿因外推而导致的曲线误差，这些误差表明车辆将会移动道路，而是被司机自动校正。
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5.发明授权Collision avoidance system and method and respective computer program product 有权避碰系统和方法以及各自的计算机程序产品
公开(公告)号：EP2486555B1
公开(公告)日：2017-09-13
申请号：EP10763072.5
申请日：2010-10-05
CPC分类号： G08G1/164 , B60W30/0956 , G01S2013/9353 , G01S2013/9357 , G01S2013/936 , G08G1/0112 , G08G1/0133 , G08G1/07 , G08G1/096783 , G08G1/161 , G08G1/163 , G08G1/165 , G08G1/166
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公开(公告)号：EP2917760A2
公开(公告)日：2015-09-16
申请号：EP13801881.7
申请日：2013-11-08
CPC分类号： B60W30/16 , B60W2550/306 , B60W2550/308 , G01B21/16 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9353 , G01S2013/936 , G01S2013/9375 , G08G1/166
摘要： A method of determining a safe distance (dsafe) between a first vehicle (1) and a second vehicle (2) moving ahead of the first vehicle, each vehicle having a state which comprises at least one of a position (s1, s2), a speed and an acceleration of the respective vehicle, the method comprising the steps of:—collecting sensor data relating to the state of the vehicles (1, 2),—determining, using the sensor data and a time-dependent description of the state of the second vehicle (2), a state of the second vehicle (2) as a result of a maximum deceleration of said second vehicle,—determining, using a time-dependent model of the behaviour of the first vehicle (1) and said state of the second vehicle (2), a state of the first vehicle (1) as a result of said maximum deceleration of said second vehicle (2), and—determining, using said state of the second vehicle (2) and said state of the first vehicle (1), the safe distance (dsafe). Said state of the second vehicle (2) and said state of the first vehicle (1) involve uncertainties introduced by the sensor data, thus increasing the safety margin of the method.
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公开(公告)号：EP2162716B1
公开(公告)日：2011-08-17
申请号：EP08766757.2
申请日：2008-05-30
发明人： SCHEEPERS, Bart Theodoor Maria , VERSMISSEN, Antonius Cornelis Maria , PLOEG, Jeroen , CORBEIJ, Rene Mathieu , SCHUTYSER, Pieter Jan
IPC分类号： G01M17/007
CPC分类号： G01M17/0072 , G01M17/0078
摘要： A test system (1) is arranged for testing vehicle systems which comprise at least one sensor (20). The test system comprises a test stand (11) for accommodating a vehicle (2), an object (12) which is movable relative to the test stand, and a control unit (13) for controlling the movement of the object. The test stand (11) is provided with a speed measurement unit (14) for detecting the virtual speed (v) of the vehicle, while the control unit (13) is arranged for controlling the movement of the object in dependence on said virtual speed. The object (12) preferably is a dummy vehicle which may be pulled along a track (16).
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