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WO2008040607A1 - Système d'assistance au conducteur et procédé de recherche d'objets localisés - Google Patents

Système d'assistance au conducteur et procédé de recherche d'objets localisés Download PDF

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Publication number
WO2008040607A1
WO2008040607A1 PCT/EP2007/059219 EP2007059219W WO2008040607A1 WO 2008040607 A1 WO2008040607 A1 WO 2008040607A1 EP 2007059219 W EP2007059219 W EP 2007059219W WO 2008040607 A1 WO2008040607 A1 WO 2008040607A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
objects
zone
stopped
stopping
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/EP2007/059219
Other languages
German (de)
English (en)
Inventor
Peter Petschnigg
Oliver Schwindt
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2008040607A1 publication Critical patent/WO2008040607A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/462—Indirect determination of position data using multipath signals
    • G01S2013/464—Indirect determination of position data using multipath signals using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

Definitions

  • the invention relates to a driver assistance system for motor vehicles and to a method for tracking located objects, which is implemented in such a driver assistance system.
  • ACC Adaptive Cruise Control
  • ACC Adaptive Cruise Control
  • ACC Adaptive Cruise Control
  • ACC Adaptive Cruise Control
  • a tracking device such as an angle-resolving radar sensor
  • the location data of the objects are detected periodically by means of the radar sensor.
  • the Objects located in the current cycle of the radar sensor are identified with objects located in previous cycles so that the movements of the objects can be tracked.
  • Highways or well-developed highways ie in situations where the driver does not expect the system to react to stationary obstacles. Therefore, these systems need only react to moving objects.
  • advanced ACC systems should also be used at low speeds and possibly even in city traffic and should in particular offer the possibility of automatically decelerating the own vehicle to a standstill when, for example when approaching a jam end, the front vehicle stops.
  • the system should also control the automatic restarting of the vehicle when the vehicle in front is moving again.
  • DE 10 2005 003 194 A1 describes an ACC system in which for this purpose the located objects are classified into three categories, namely as moving objects, stationary objects and stopped objects.
  • the stopped objects are objects whose instantaneous absolute speed is close to zero, but which are in the
  • Absolute velocity zero has been classified as a stationary object, although in fact it is a relevant obstacle.
  • a stationary object for example a traffic sign or a vehicle parked at the edge of the road, so that the radar sensor measures the same distance and the same relative speed for both objects.
  • the angular resolution of the radar sensor is often lowered so much that the two objects can no longer be distinguished.
  • Relative speed of the object is dependent. In general, it can therefore be decided on the basis of the frequency of the received signals whether two signals originate from the same object or from different objects. However, if both objects are at rest, that is, they have the same relative velocity, and are also coincidentally at the same distance, then the signals can no longer be differentiated by frequency, and it can not be determined with certainty whether the received signals from two different objects have different Azimuth angles or originate from a single extended object.
  • the determination of the azimuth angles and thus also the identification of the located objects with the previously located objects is then subject to considerable uncertainties, and it may therefore happen that the radar echo received by the stopped vehicle is now falsely identified with the stationary object (traffic sign or parked vehicle).
  • the stationary object traffic sign or parked vehicle.
  • the location system looks as if the stopped vehicle merged with the stationary object and thus disappeared as an independent object. If, due to the proper motion of the vehicle equipped with the ACC system, the distance conditions change again, the stopped vehicle appears as a new, stationary object.
  • the system according to the invention "notices" the location at which a vehicle in front stopped, even if this stopped object can not be tracked even in the course of the tracking procedure. If then a new object appears in the same place, then it is automatically identified with the lost stopped object. In this way, particularly in the situation described above, it can be ensured that a stopped vehicle is correctly classified as a stopped object even after a temporary loss of the object, so that the driver assistance system can adequately respond to this object.
  • the stopping zone is a rectangular horizontal surface which is dimensioned in length and width so that the stopped object despite some
  • this rectangle has a width of about ltm and a length of about 2 m, and their dimensions are thus approximately of the same order of magnitude, but are slightly smaller than the plan of a conventional car. According to a development, the dimensions and shape of this stopping zone can also be varied depending on the distance, the direction of the road or on other factors which influence the accuracy with which the distance and the azimuth angle or the lateral position of the object can be measured.
  • stopping zones may exist at the same time. In that case, when a new standing object is located, the position of that object is compared with all the stopping zones, and if the object is in at least one of these stopping zones, it is classified as a stopped object.
  • FIGS 2 and 3 are sketches of different traffic situations in which the inventive method is used.
  • FIGS 4 and 5 are flowcharts for explaining the method according to the invention.
  • an ACC system is shown as an example of a driver assistance system in a motor vehicle, which includes an electronic data processing device 10 and a built-in vehicle 12 locating device.
  • the locating device 12 is, for example, an angle-resolving radar sensor, such as an FMCW radar sensor, with which the apron of the vehicle is monitored.
  • the periodically collected by the locating device 12 raw data are transmitted to the data processing device 10 and processed there in an evaluation unit 14, so that one obtains a list of distances, relative velocities and azimuth of all located objects. From the distances and azimuth angles, it is also possible to determine the lateral positions of the objects, that is to say the coordinates in the direction perpendicular to the direction of travel of the vehicle.
  • the data obtained in each measurement cycle are transmitted to a tracking module 16, with which the movements of the individual objects are tracked.
  • a speed sensor 18 provides the speed V of the "own" vehicle, i. h., the vehicle equipped with the driver assistance system. By comparing the measured relative velocities of the objects with the velocity V, the absolute velocities of the objects can also be determined so that it is possible in particular to distinguish between stationary objects and moving objects. This is done in a classification module 20 in which, inter alia, a directory 22 of all moving objects is maintained.
  • a vehicle traveling directly in the lane traveled by its own vehicle is located among the moving objects, then this vehicle is selected as the target for the distance control, and the dynamic data of this object are transferred to a controller 24, which on the basis of these data the drive system 26 and, if necessary, also the brake system 28 of the vehicle engages to regulate the speed of the vehicle so that the target object is tracked at an appropriate distance.
  • the classification module 20 also includes a directory 30 of paused objects. If the target object stops, the controller 24 also brakes the own vehicle into the state, so that it comes to a standstill at an appropriate stopping distance behind the target object.
  • the controller 24 can also control the automatic restarting of the own vehicle, if not too long a period of time has elapsed since the stopping process and if there are no other stationary or moving obstacles ahead of the vehicle.
  • the controller 24 only takes into account objects listed in the directory 30 as held objects. Radar targets that were recognized as standing objects from the start and never moved later are, on the other hand, ignored by the ACC system. In this way, the data processing effort is kept within limits and at the same time avoided that radar echoes of objects such as manhole covers, expansion joints or smaller objects that are on the road, are misinterpreted as obstacles.
  • objects listed in the directory 30 as held objects. Radar targets that were recognized as standing objects from the start and never moved later are, on the other hand, ignored by the ACC system. In this way, the data processing effort is kept within limits and at the same time avoided that radar echoes of objects such as manhole covers, expansion joints or smaller objects that are on the road, are misinterpreted as obstacles.
  • objects listed in the directory 30 as held objects.
  • Directory 30 also lists paused objects that are on a side track. Therefore, if the driver of the own vehicle makes a lane change just before reaching the tail end, a stopped object existing on the new lane may be selected as the target object.
  • FIG. 1 An example of such a situation is illustrated in FIG.
  • a vehicle 32 equipped with the locating device 12 and the associated ACC system travels on a roadway 34 on which a plurality of parking vehicles 36, 38 are located on the right-hand side of the road, which are recognized by the ACC system as a stationary object and thus except in the control Keep in mind.
  • a vehicle 40 In front of the "own" vehicle 32 drives a vehicle 40, which forms the target object for the distance control.
  • the locating device 12 measures for the two vehicles 38, 40, the same relative speed and also approximately the same distance.
  • the distance of the vehicle 40 is still slightly larger than that of the vehicle 38.
  • the distance ratio will reverse in the further course due to the larger cross-placement of the vehicle 38. Consequently, at some point a time is reached at which the distances of the two vehicles 38, 40 are so similar to each other that the Freguenzen the radar echoes obtained from these vehicles can not be distinguished.
  • the two vehicles 38, 40 then appear to the locator 12 as a single, relatively worn-out object, and the azimuth angle measured for that object is not sharply defined.
  • this process can therefore be represented as if the reflex point, which hitherto has represented the vehicle 40, wander to the vehicle 38 and rise to its reflex point.
  • the vehicle 40 is deleted from the directory 30 of stopped objects.
  • the distance measured for the vehicle 40 is so much smaller than the distance of the vehicle 38, the two objects can be distinguished again.
  • the tracking module 16 detects, at the location of the vehicle 40, a new object that can not identify it with any of the objects tracked earlier. Since this object is not moving, it is now ignored as a standing object.
  • the driver of the vehicle 32 would expect the ACC system to recognize the vehicle 40 as a sustained vehicle and triggers a corresponding stopping process for the own vehicle. Only relatively late would the driver recognize that the ACC system is failing in this case because it mistakenly considers the vehicle 40 to be a stationary object and not a stopped object.
  • the vehicle 32 equipped with the ACC system tracks a vehicle 42 serving as a target, in front of which another vehicle 44 travels in the same lane. Since the radar beam 46 emitted and received again by the locating device 12 is reflected on the road surface 48 and thus also reaches the vehicle 44, both vehicles 42 and 44 can be located. As long as these two vehicles are in motion, they are guided as moving objects in the directory 22.
  • the radar beam 46 can be interrupted so that the tracking module 16 can no longer track the vehicle 44. Consequently, this vehicle would be deleted from the list of stopped objects.
  • the vehicle 44 can suddenly be located again, and it is now interpreted by the tracking module as a new, stationary object. Therefore, after the vehicle 42 has cleared the path, the controller 24 would not respond to the vehicle 44, but cause the vehicle 32 to accelerate.
  • a situation occurs in which the system behavior does not meet the expectations of the Driver of the vehicle 32 corresponds and the driver must react relatively quickly to avert a rear-end collision.
  • FIG. 4 shows a program routine executed by the
  • Data processing device 10 is executed in Fig. 1 and can be assigned to the classification module 20.
  • This program routine maintains a directory 50 of stopping zones, which represent the positions of held objects even if these objects themselves can no longer be located.
  • step S1 The program routine of FIG. 4 is executed periodically for each moving object registered in the directory 22.
  • step S1 it is checked whether the relevant object has come to a standstill. As long as this is not the case, step S1 is repeated cyclically. If the object is no longer moving, then it is reclassified to a suspended object in step S2 and added to the directory 30.
  • step S2 a stop zone 54 is generated and stored in the directory 50, which is shown graphically in FIG.
  • This stop zone is a horizontally oriented rectangular area with a width of about 1 m and a length of about 2 m, which is centered on the reflection point, ie the presumed location of the object in question, in Figure 2 of the vehicle 40.
  • FIG. 1 This stop zone is a horizontally oriented rectangular area with a width of about 1 m and a length of about 2 m, which is centered on the reflection point, ie the presumed location of the object in question, in Figure 2 of the vehicle 40.
  • the stopping zone 54 is oriented with its longitudinal axis parallel to the longitudinal axis of the "own" vehicle 32.
  • the road curvature is taken into account, for example, the yaw rate of the own vehicle, so that a correct lane allocation of the located objects can be made, it is also possible in a modified embodiment that the stopping zone 54 with its longitudinal axis parallel to local road course is oriented.
  • the stopping surface 54 is represented, for example, by the coordinates of its center and by its length and width.
  • the length and width can optionally also vary depending on the distance and the azimuth angle or the lateral storage of the object in question.
  • step S3 it is then checked in step S3 whether the
  • Object has set in motion again, d. that is, whether it is reclassified from a stopped object to a moving object. If this is the case, the stop zone is deleted again in step S4. Subsequently, the program is terminated. However, since the object is again a moving object, the routine shown in FIG. 4 is immediately restarted for that object.
  • step S5 the stop zone 54 is tracked in step S5. This means that the coordinates of the stopping zone are tracked in accordance with the proper movement of the vehicle 32, that the stopping zone remains stationary with respect to the lane 34.
  • the length and width of the Stopping zone 54 are adapted according to the changes in the distance and the azimuth angle of this stopping zone.
  • step S6 it is checked in step S6 whether the own vehicle 32 has passed the stopping zone. If this is not the case, ie, if the stopping zone is still in front of the own vehicle 32, a return to step S3, and the above-described steps S3 to S6 are repeated. On the other hand, if the own vehicle 32 has meanwhile passed the stop zone or crossed over it, the program branches from step S6 to step S4, the stop zone is deleted, and the routine is ended. In this way, it is ensured that the number of stopping zones in directory 50 does not increase beyond all limits.
  • step S10 it is checked whether the locating device 12 has located a new stationary object, ie an object with the absolute speed zero. If this is not the case, the step S10 is repeated cyclically. If a new stationary object has been located, it is checked in step S5 if this object is located in at least one of the stopping zones listed in the directory 50. If so, the object is classified as a suspended object in step S5 and included in directory 30, although this object has never moved since its first appearance. Then the routine is ended. If the result of the query in step S5 is negative, step S12 is skipped, and the routine is terminated immediately, ie the new object is classified as a stationary object and is ignored in the control.
  • step S1 the vehicle 40 stops, this is detected in step S1, and in step S2, the object is included in the directory 30, and the stop zone 54 is generated. Subsequently, the vehicle 40 may be poor due to the lack of
  • steps S10 through S12 cause the vehicle 40 to be again included in the directory 30 as a stopped object ,
  • the controller 24 may respond to the vehicle 40 as expected by the driver of the vehicle 32.
  • the method described above also ensures in the situation shown in FIG. 3 that the controller 24 reacts adequately to the vehicle 44.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de recherche d'objets (36, 38, 40) localisés par un appareil de localisation (12) d'un véhicule à moteur (32), procédé consistant à différencier des objets en déplacement, des objets stationnaires (36, 38) et des objets stoppés (40), un objet étant classé comme "stoppé" lorsqu'il ne se déplace pas, mais qu'il s'est toutefois précédemment déplacé. Le procédé est caractérisé en ce qu'il comprend les étapes suivantes : lorsqu'un objet (40) est classé comme "stoppé", une zone d'arrêt (54) donnée correspondant à l'emplacement d'arrêt de cet objet est mémorisée et, lorsqu'un nouvel objet, qui ne se déplace pas, est localisé, et se trouve dans une zone d'arrêt (54), ledit objet est classé comme "stoppé".
PCT/EP2007/059219 2006-10-04 2007-09-04 Système d'assistance au conducteur et procédé de recherche d'objets localisés Ceased WO2008040607A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006046903A DE102006046903A1 (de) 2006-10-04 2006-10-04 Fahrerassistenzsystem und Verfahren zum Verfolgen von georteten Objekten
DE102006046903.8 2006-10-04

Publications (1)

Publication Number Publication Date
WO2008040607A1 true WO2008040607A1 (fr) 2008-04-10

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WO (1) WO2008040607A1 (fr)

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JP4538762B2 (ja) * 2008-05-20 2010-09-08 トヨタ自動車株式会社 車間距離制御装置
DE102014216159B4 (de) * 2014-08-14 2016-03-10 Conti Temic Microelectronic Gmbh Fahrerassistenzsystem
DE102018116982A1 (de) * 2018-05-24 2019-12-24 Daimler Ag Verfahren zum zumindest teilautomatisierten Steuern eines Kraftfahrzeugs
DE102023210142A1 (de) * 2023-10-17 2025-04-17 Volkswagen Aktiengesellschaft Verfahren zum Betreiben einer automatischen Distanzregelung für ein Kraftfahrzeug

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DE102005003194A1 (de) * 2005-01-24 2006-07-27 Robert Bosch Gmbh Fahrerassistenzsystem mit Einrichtung zur Erkennung von stehenden Objekten

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CN103782192B (zh) * 2011-09-05 2017-02-22 罗伯特·博世有限公司 用于机动车的安全装置

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