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WO2019137864A1 - Procédé pour la prévention d'une situation critique pour un véhicule à moteur, dans lequel une distance entre un contour de véhicule à moteur et un contour d'objet est déterminée, système d'assistance au conducteur ainsi que véhicule - Google Patents

Procédé pour la prévention d'une situation critique pour un véhicule à moteur, dans lequel une distance entre un contour de véhicule à moteur et un contour d'objet est déterminée, système d'assistance au conducteur ainsi que véhicule Download PDF

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Publication number
WO2019137864A1
WO2019137864A1 PCT/EP2019/050206 EP2019050206W WO2019137864A1 WO 2019137864 A1 WO2019137864 A1 WO 2019137864A1 EP 2019050206 W EP2019050206 W EP 2019050206W WO 2019137864 A1 WO2019137864 A1 WO 2019137864A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
contour
determined
critical point
critical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/050206
Other languages
German (de)
English (en)
Inventor
Christos Maraslis
Thomas Mohr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2019137864A1 publication Critical patent/WO2019137864A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • 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

Definitions

  • a method for preventing a critical situation for a motor vehicle wherein a distance between a motor vehicle body and an object contour is determined
  • the invention relates to a method for preventing a critical situation for a motor vehicle.
  • a detection device of the motor vehicle By means of a detection device of the motor vehicle, an object contour of an object in an environment of the motor vehicle is detected and compared with a motor vehicle contour of the motor vehicle.
  • the invention is concerned with a driver assistance system and with a motor vehicle.
  • Collision avoiding systems are already known from the prior art, in which the collision of an object with the motor vehicle is calculated as a function of the distance and a relative speed of the motor vehicle to the contour of the motor vehicle. It is also known that odometry is used to calculate the proper motion of the motor vehicle. Furthermore, algorithms for object detection are already known, which also provide height information of the object during the detection.
  • the known systems are used in parking and maneuvering systems, which then determine a trajectory based on the detected object and then move the motor vehicle according to the trajectory.
  • the prior art systems use predetermined contours for the objects. These are either saved or adjusted depending on the function. The corresponding extensions are not object-dependent and therefore not adapted to the individual case.
  • DE 10 2015 208 590 A1 discloses a device for determining a vehicle passable space.
  • an apparatus for determining a vehicle passable space is disclosed, with at least one detection unit for detecting spatial coordinates of at least one object in one
  • the device has a determination unit which is designed to determine a space that can be traveled by the vehicle on the basis of space coordinates of the at least one object detected by the detection unit and on the basis of predetermined dimensions of the vehicle.
  • a three-dimensional motor vehicle contour is compared with a three-dimensional environment. This requires a high computational effort.
  • Object of the present invention is a method to provide a driver assistance system and a motor vehicle, by means of which a critical situation for a motor vehicle with low computational complexity can be prevented.
  • This task is performed by a procedure, a driver assistance system as well
  • One aspect of the invention relates to a method for preventing a critical situation for a motor vehicle.
  • a detection device of the motor vehicle By means of a detection device of the motor vehicle, an object contour of an object in an environment of the motor vehicle is detected.
  • Object contour is compared with a motor vehicle contour of the motor vehicle.
  • a height of a critical point of the object contour at which the motor vehicle would touch the object in the critical situation is determined. It is a distance between the critical point and a two-dimensional vehicle contour, which depends on the detected height of the critical point of the object contour on
  • Motor vehicle is determined determined. When falling below one in one
  • the part of the vehicle contour is determined depending on the critical location at which the object and the motor vehicle would touch.
  • the three-dimensional object and the three-dimensional motor vehicle are not compared with each other, but merely
  • the two-dimensional motor vehicle configuration is then dependent on the detected height of the critical point. It is the two-dimensional motor vehicle to a two-dimensional outer shape of the motor vehicle
  • the motor vehicle can be divided into at least two, in particular three, planes, and the distance between the critical point and one of the at least two levels, which is selected as a function of the detected height of the critical point, determined.
  • this can result in a simplified motor vehicle contour which matches the outer contour of the vehicle Motor vehicle adapted to be provided.
  • a lower contour considered in a vertical direction of the motor vehicle, which is dependent on the position of the wheels may be determined
  • a second vehicle contour which for example includes the motor vehicle from the hood to the trunk as a contour
  • a third contour which for example, ranging from the windshield to the rear window, be determined.
  • the vehicle contour could be placed around the wheels of the motor vehicle in order to protect them accordingly or to plan a trajectory.
  • the object In an altitude range of 20 centimeters to 70 centimeters, the object would, for example, with the
  • Motor vehicle collide This causes the motor vehicle contour is placed on the maximum outer contour of the motor vehicle. For example, in a height range over 1 meter, the object would collide with the windshield.
  • the driver's cabin is already at the maximum outside contour of the motor vehicle from the height range
  • the point at which a motor vehicle component of the motor vehicle occupies the smallest distance to the object is determined as the critical point.
  • a motor vehicle component a wheel and / or a front-side and / or a rear-side bumper and / or a windshield and / or a rear window may be mentioned.
  • the critical point is thus the point at which the motor vehicle with the motor vehicle component would first touch the object.
  • the critical point can thus be prevented that any contact of the motor vehicle is prevented with the object.
  • the height of the critical point of the object contour is determined relative to a floor on which the motor vehicle is located. In particular, this allows objects which are located on the ground to be determined.
  • the object contour and the critical point resulting therefrom can be determined from the ground, so that objects which are located on the ground can advantageously be detected.
  • the critical situation between objects which are located on the ground can be advantageously prevented.
  • the height of the critical point of the object contour can be determined relative to a predetermined point on the motor vehicle.
  • objects that are not on the ground, but for example, extend from a ceiling and do not touch the ground and protrude in the direction of the motor vehicle can be mitbestimmt and
  • Objects and the motor vehicle can be prevented.
  • external environment information of the environment is taken into account in determining the height of the critical point.
  • environmental information of a 3D map which also includes the height of objects as environmental information, can be taken into account in the method.
  • the 3D map can be stored inside the vehicle, for example on a navigation system of the motor vehicle. It is likewise possible that the 3D map is stored on an external computing unit, for example a server device, and can be called up by means of a communication device of the motor vehicle.
  • the height of the object or the height of the critical location of the object can be reliably and redundantly determined thereby, which makes it even more reliable to prevent the critical situation.
  • a distance between a polygonal motor vehicle door is determined as a two-dimensional motor vehicle body and the height of the critical point.
  • Seen bird's eye view in particular has a polygonal outer contour can by using the polygonal motor vehicle as two-dimensional
  • Motor vehicle ko ntur a simplified model of the motor vehicle ko ntur be created.
  • the polygonal motor vehicle may be rectangular or octagonal. In particular, this further reduces the computing power, so that the method can be carried out even more advantageously.
  • Motor vehicle ko ntur depending on the height of the critical point to at least another motor vehicle component contour, in particular to a contour of a side mirror of the motor vehicle and / or a luggage carrier on the motor vehicle and / or a
  • the polygonal vehicle contour is extended by a motor vehicle component contour, for example a triangular vehicle contour for a side mirror, and is taken into account when determining the critical point.
  • a critical situation between the motor vehicle and the object can be prevented.
  • the Function unit is sent and a warning signal is generated for a driver of the motor vehicle.
  • the warning signal may be, for example, an audible and / or haptic and / or visual warning signal.
  • the warning signal can vary accordingly depending on the distance. For example, at a wide distance at which the critical situation does not yet occur, an acoustic signal in its frequency of occurrence, for example a beep, with a low frequency occur. The closer the motor vehicle component is to the object, and thus the vehicle contour approaches the critical point, the more frequently the warning signal can be generated. This allows the driver of the
  • Function unit is sent and the motor vehicle is at least semi-autonomous decelerated when falling below the stored distance threshold to prevent the critical situation.
  • the functional unit may then be act an acceleration device or to a braking device of the motor vehicle, which is controlled by the control signal, so that the motor vehicle when falling below the stored distance threshold.
  • the motor vehicle is in fully autonomous ferry operation and also here at
  • Ferry operation especially in fully autonomous ferry operation, reliably prevent the critical situation between the object and the motor vehicle.
  • the motor vehicle can be operated at least semi-autonomously and the control signal is sent to a functional unit responsible for the semi-autonomous ferry operation and a trajectory for the motor vehicle in at least semi-autonomous ferry operation when falling below the stored distance threshold value, along which the motor vehicle is at least moved semi-autonomously, so that the critical situation is prevented.
  • a trajectory can be determined which, for example, passes the object, so that the critical situation is prevented. The trajectory is thus
  • the motor vehicle is parked at least semi-autonomously and the distance between the critical point and the two-dimensional motor vehicle body is determined during the parking process.
  • the method can be used in a parking assistance system. Especially at
  • Parking spaces approach the motor vehicle objects in which a touch is to be prevented. Furthermore, especially in parking maneuvers a
  • motor vehicle-specific outer contour in the vehicle contour. It can be a changing motor vehicle of a cab with at the
  • the driver's cab can, in particular in a vertical direction of the motor vehicle, be narrowed towards the top.
  • the motor vehicle body can be adapted via a factor at the respective support points of the driving cab, for example the respective pillars of the driving cab.
  • the distance between the motor vehicle component and the object can be determined even more individually, so that the critical situation between the motor vehicle and the object can be prevented even more reliably.
  • a further aspect of the invention relates to a driver assistance system which is designed to carry out a previously mentioned method or an advantageous embodiment thereof.
  • Yet another aspect of the invention relates to a motor vehicle having a
  • the motor vehicle is designed in particular as a passenger car.
  • the driver assistance system and the motor vehicle have representational features which make it possible to carry out the method or an advantageous embodiment thereof.
  • FIG. 1 shows a schematic view of an embodiment of a motor vehicle with a driver assistance system in a first situation
  • Fig. 2 is a further schematic view of an embodiment of the
  • Fig. 3 is a further schematic view of an embodiment of the
  • FIG. 1 shows a motor vehicle 1 according to one embodiment of the invention with a driver assistance system 2 in a first situation.
  • the motor vehicle 1 can be seen from behind or from the front along a longitudinal axis of the motor vehicle 1.
  • Fig. 1 b the motor vehicle 1 according to FIG. 1 a can be seen in a plan view.
  • the motor vehicle 1 has a detection device 3, which is designed to determine an object 4 in the environment 5 of the motor vehicle 1.
  • an object contour 6 of the object 4 is detected by means of the detection device 3.
  • the object contour 6 is compared with a motor vehicle door 7 of the motor vehicle 1.
  • a critical point 8 of the object contour 6 at which the motor vehicle 1 would touch the object 4 in the critical situation is determined.
  • a distance A (FIG. 3) between the critical point 8 and a two-dimensional motor vehicle ko ntur 7 ', which is dependent on a detected height H of the object contour 6 and the critical point 8 of the object contour 6, determined.
  • a control signal for a functional unit 9 of the motor vehicle 1 is generated so that the critical situation is prevented by means of the functional unit 9.
  • the functional unit 9 can be, for example, a warning device for a driver of the motor vehicle 1, so that a warning signal, for example as a haptic and / or audible and / or visual warning signal, is generated, so that the driver is warned of the critical situation. Also possible is that should
  • Motor vehicle 1 for example, semi-autonomously operated, that the control signal is sent to a responsible for the semi-autonomous ferry operating unit 9 and the motor vehicle 1 at least semi-autonomous falls below the
  • the functional unit 9 can then be, for example, an acceleration device and / or a braking device of the motor vehicle 1.
  • the motor vehicle body 7 can be divided into at least two, in particular three planes E 1, E 2, E 3, and the distance A between the critical point 8 and one of the at least two planes E 1, E 2, E 3, which is selected depending on the detected height H of the critical point 8 is determined.
  • the height H of the critical point 8 relates to the plane E1, so that in particular the motor vehicle door 7 is selected, in particular as a function of the plane E1.
  • the critical point 8 is determined as the point at which a motor vehicle component 1 ', in this case, for example, a tire of the
  • Fig. 1 b shows the motor vehicle 1 of FIG. 1 a in a plan view.
  • two-dimensional motor vehicle contour T has been placed according to the height H around the contour of the motor vehicle component 1 ', in particular that of the tires.
  • the two-dimensional motor vehicle contour T is polygonal, in particular rectangular.
  • the distance A between the polygonal vehicle contour 7 ' is then determined as a two-dimensional motor vehicle contour 7' and the height H of the critical point 8.
  • this environment information of a 3D map can be taken into account, so that the height H of the object 4 is already stored within the 3D map and taken into account in preventing the critical situation.
  • the motor vehicle 1 can be parked at least semi-autonomously and the distance A between the critical point 8 and the two-dimensional motor vehicle contour T is determined during the parking process. Since, in particular during the parking process, the motor vehicle is very close to the object 4
  • the driver assistance system 2 can be designed as a parking assistance system.
  • Fig. 2 shows the motor vehicle 1 in another situation.
  • Fig. 2a is the
  • the object 4 is higher in the present example than in FIG. 1.
  • the height H of the object 4 in FIG. 2 is higher than the height H of the object 4 in FIG. 1.
  • the height H of the critical point 8 of the object contour 6 is determined relative to a floor 10 on which the motor vehicle 1 is located.
  • a further step 8 of the object contour 6 is determined relative to a floor 10 on which the motor vehicle 1 is located.
  • Motor vehicle component contour 1 1 is taken into account.
  • a motor vehicle component contour 1 1 of a side mirror 12 of the motor vehicle 1 is taken into account.
  • polygonal vehicle contour T to the motor vehicle component contour 1 1 are extended.
  • the second plane E2 would be affected, so that in particular the two-dimensional motor vehicle contour T of the plane E2 would be selected.
  • Fig. 2b shows how the two-dimensional motor vehicle knockout 7 'order the entire motor vehicle 1 is placed two-dimensionally, since in particular the second plane E2 is affected by the height H of the critical point 8.
  • a further trajectory can be determined in order to avoid the object 4 and thus to prevent a critical situation between the object 4.
  • Fig. 3 shows the motor vehicle 1 in another situation.
  • the motor vehicle for example, in a parking garage as environment 5.
  • An object 4 which may for example be a supply pipe in the parking garage, depends on a ceiling 13 of the parking garage down.
  • a height H of the critical point of the object contour 6 can be determined in particular here relative to a predetermined point on the motor vehicle 1.
  • the object 4 would first touch the plane E3 of the motor vehicle 1.
  • a cab of the motor vehicle 1 may be affected, so that the critical point 8 would first touch a point of the motor vehicle 1 on the level 3.
  • the polygonal two-dimensional motor vehicle ko ntur 7 ' selected such that it corresponds to the contour of the plane E3.
  • the vehicle contour T would be from a windshield to a
  • Trunk of the motor vehicle 1 rich makes it possible for the motor vehicle 1 to travel underneath the object 4 at least in some areas, for example with an engine hood of the motor vehicle 1.
  • a motor vehicle-specific outer contour such as that of the driver's cab, is taken into account in the two-dimensional motor vehicle contour T.
  • this "narrowing" is taken into account in the determination of the distance A.
  • the critical point 8 at the Object contour 6 and a distance A between the critical point 8 and the motor vehicle 1 can be determined.
  • the functional unit 9 of the motor vehicle 1 can then be correspondingly activated, so that a critical situation, in other words touching the motor vehicle 1 at the critical point 8, is prevented.
  • a simplified method compared to a three-dimensional determination of the critical situation is possible.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour la prévention d'une situation critique pour un véhicule à moteur (1), dans lequel un contour d'objet (6) d'un objet (4) dans l'environnement (5) du véhicule à moteur (1) est déterminé au moyen d'un dispositif de détection (3) du véhicule à moteur (1) et comparé au contour de véhicule à moteur (7) du véhicule à moteur (1), une hauteur (H) d'un point critique (8) du contour d'objet (6), auquel le véhicule à moteur (1) toucherait l'objet (4) dans la situation critique, est déterminée, et une distance (A) entre le point critique (8) et un contour bidimensionnel du véhicule à moteur (7'), lequel est déterminé sur le véhicule à moteur (1) en fonction de la hauteur (H) détectée du point critique (8) du contour d'objet (6), est déterminée et, lors d'un sous-dépassement d'une valeur de seuil de distance, enregistrée dans un support de stockage, par la distance (A) déterminée, un signal de commande pour une unité fonctionnelle (9) du véhicule à moteur (1) est généré, de telle sorte que la situation critique soit évitée au moyen de l'unité fonctionnelle (9).
PCT/EP2019/050206 2018-01-12 2019-01-07 Procédé pour la prévention d'une situation critique pour un véhicule à moteur, dans lequel une distance entre un contour de véhicule à moteur et un contour d'objet est déterminée, système d'assistance au conducteur ainsi que véhicule Ceased WO2019137864A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018100596.2A DE102018100596A1 (de) 2018-01-12 2018-01-12 Verfahren zum Verhindern einer kritischen Situation für ein Kraftfahrzeug, wobei ein Abstand zwischen einer Kraftfahrzeugkontur und einer Objektkontur bestimmt wird, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018100596.2 2018-01-12

Publications (1)

Publication Number Publication Date
WO2019137864A1 true WO2019137864A1 (fr) 2019-07-18

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PCT/EP2019/050206 Ceased WO2019137864A1 (fr) 2018-01-12 2019-01-07 Procédé pour la prévention d'une situation critique pour un véhicule à moteur, dans lequel une distance entre un contour de véhicule à moteur et un contour d'objet est déterminée, système d'assistance au conducteur ainsi que véhicule

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DE (1) DE102018100596A1 (fr)
WO (1) WO2019137864A1 (fr)

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CN114852069B (zh) * 2022-05-24 2025-04-01 岚图汽车科技有限公司 一种车辆、控制车辆行驶的方法和装置
DE102022210567A1 (de) * 2022-10-06 2024-04-11 Zf Friedrichshafen Ag Parametrisierung einer Kollision eines Fahrzeugs

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