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WO2018141340A1 - Identification d'inégalités de la route à l'aide d'une analyse de situation - Google Patents

Identification d'inégalités de la route à l'aide d'une analyse de situation Download PDF

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Publication number
WO2018141340A1
WO2018141340A1 PCT/DE2018/200002 DE2018200002W WO2018141340A1 WO 2018141340 A1 WO2018141340 A1 WO 2018141340A1 DE 2018200002 W DE2018200002 W DE 2018200002W WO 2018141340 A1 WO2018141340 A1 WO 2018141340A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
road
unevenness
speed
vertical position
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/DE2018/200002
Other languages
German (de)
English (en)
Inventor
Oana GASKEY
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.)
Continental Automotive GmbH
Original Assignee
Continental Automotive 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
Priority claimed from ROA201700065A external-priority patent/RO132761A2/ro
Priority claimed from DE102017201838.0A external-priority patent/DE102017201838A1/de
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to DE112018000165.2T priority Critical patent/DE112018000165A5/de
Publication of WO2018141340A1 publication Critical patent/WO2018141340A1/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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • 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
    • B60W30/143—Speed control
    • 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
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/14—Photo or light sensitive means, e.g. Infrared
    • B60G2401/142—Visual Display Camera, e.g. LCD
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/223—Stiffness
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/226—Damping

Definitions

  • the invention relates to a device for a vehicle, a vehicle with a device, a method, a program element and a computer-readable medium.
  • a first aspect of the invention relates to a device for a vehicle, which is integrated, for example, in a driver assistance system.
  • This has a detector arrangement which is guided to detect a vertical position change of a driving ahead ⁇ vehicle, and a control unit on.
  • the vertical position change of the preceding vehicle is caused by a ridden road surface unevenness.
  • the controller is executed when the vertical position change of the preceding vehicle exceeds a predefined threshold value and occurs within a predefined period of time to conclude a significant roadway unevenness.
  • the speed of the vehicle is reduced when a significant road bump has been concluded.
  • the detector arrangement can be used for the detection of road bumps. This can search the road directly in front of the vehicle for bumps in the road. However, this can lead to problems in the detection, especially in poor visibility conditions such as darkness or moisture. Furthermore, it is advantageous to estimate the effects of uneven road surface on one's own vehicle. Another possibility road bumps is to indirectly detect the road bumps by the movement of a vo ⁇ outgoing vehicle. The preceding vehicle may be continuously monitored by the detector arrangement of the device. The individual images of the detector arrangement can be compared with one another.
  • a roadway unevenness typically leads to a vertical change in position of the vehicle body.
  • These effects on the preceding vehicle can be detected by the detector array.
  • attention can be paid to a vertical change in position of the preceding vehicle within a predefined period of time.
  • a predefined threshold such as 10cm, 15cm or 20cm
  • a vertical position change of the preceding vehicle is exceeded within a predefined time interval, for example 200 ms or 300 ms, it is possible to conclude that there is a significant road surface roughness.
  • the detector array can estimate the effect of road roughness to the host vehicle better, as the impact of each road roughness may be in the advance ⁇ vehicle observed.
  • the device may reduce the speed upon detection of significant roadway unevenness.
  • the speed reduction may be triggered by an indication to the driver of the vehicle. Alternatively it can be provided that the speed reduction takes place independently through the device. Also, the reduction in speed may be dependent on the nature of the roadway bumpiness, i. the stronger the expected effects of roadway roughness on the vehicle, the more the speed of the vehicle can be reduced.
  • the device may provide that after passing the road bump, the original speed is restored.
  • This may be particularly advantageous when the vehicle is provided with a VELOCITY ⁇ keitsregel Surprise (cruise control). Ie, the vehicle reduces speed, because a significant driving ⁇ ground unevenness was detected and passed this road roughness can be accelerated to the set in the cruise control speed.
  • An embodiment of the invention provides that the device is executed, the distance to the preceding Determine vehicle and calculate the time at which the road bumpiness is reached.
  • the device can reduce the speed to the required level by this time, so that the final speed is reached only when reaching the road surface unevenness.
  • the evaluation of the individual images of the detector arrangement can be simplified by the distance data.
  • the individual images can be corrected more easily by the distance data so as to more easily detect a vertical position change of the preceding vehicle.
  • the speed of the preceding vehicle thereby, as the own Ge ⁇ speed is known and can include the change of distance to a differential speed between the own vehicle and the preceding vehicle.
  • Outliers in the detector data can be compensated by the controller by comparing the history of the individual images. Thus, only existing road bumps lead to a reduction in speed.
  • a further embodiment of the invention provides that the detector arrangement has a camera, preferably with one Image processing, wherein the distance to the vehicle ahead by means of a radar or a Lidarsensor takes place.
  • a camera can be provided with a corresponding image processing. It is also possible to use several cameras together.
  • a radar and / or a lidar sensor can be used.
  • ultrasonic sensors and / or laser scanners for the distance detection can be used.
  • a combination of several different sensor technologies is also provided.
  • the device can also rely on existing sensors in the vehicle, so that the device can be integrated inexpensively and with little space in a vehicle concept.
  • An embodiment of the invention provides that the device is designed to determine the distance to the vehicle ahead by means of a stereo camera and image processing.
  • the distance to the vehicle ahead can also be measured by a stereo camera with appropriate image processing. That is, two cameras are used with a defined distance from each other, which have substantially the same field of view. Due to the different perspectives of the two cameras, the depth can be determined by means of image analysis. As a result, space and costs can be saved. In addition, the flexibility is increased in a subsequent integration into a vehicle concept, since not every vehicle concept, a radar or a lidar sensor is provided.
  • An embodiment of the invention provides that the device is designed to adapt the settings of the springs and the dampers of the vehicle on detection of a significant roadway unevenness in order to compensate for the road surface unevenness.
  • the device may also adjust the vehicle's springs and dampers to the road surface unevenness, thereby minimizing the effects of roadway roughness on the passengers. If the springs and dampers can be adjusted according to the situation, the vehicle can be adapted to the specific road surface roughness. Among other things, this can lead to a gain in comfort or the speed does not have to be reduced so far.
  • An embodiment of the invention provides that the device is designed to increase the speed of the vehicle as soon as the road surface unevenness has passed.
  • the vehicle By knowing when the road roughness reached the vehicle, the vehicle can be accelerated to be ⁇ the initial speed again after passing this road roughness. Especially if the vehicle by a speed control device (cruise control) holds the speed, after the road bump again
  • a further aspect of the invention relates to a method for detecting a roadway unevenness.
  • the preceding vehicle can be detected, so that vertical position changes of the preceding vehicle can be detected.
  • the vertical Position changes are detected, which were caused by road bumps.
  • the method may detect the road surface roughness when the vertical position change of the preceding vehicle exceeds a predefined threshold and occurs within a predefined period of time such that the effect of roadway unevenness on the vehicle and its occupants is minimized.
  • the individual steps of the method can also be carried out in different order or can also be carried out simultaneously.
  • Another aspect of this invention relates to a vehicle having a device described above and below.
  • the vehicle may be, for example, a motor vehicle, such as a car, bus or truck.
  • Another aspect of the present invention relates to a program element that, when executed by a controller of a vehicle, instructs the vehicle to perform the method described in the context of the present invention.
  • Another aspect of the present invention relates to a computer readable medium having stored thereon a computer program which, when executed by a controller, directs the controller to perform the method described in the context of the present invention.
  • Fig. 1 shows a schematic representation of a device according to an embodiment of the invention.
  • Fig. 2 shows a schematic representation of a vertical
  • FIG. 3 shows a schematic representation of a vehicle with a device and a roadway unevenness.
  • FIG. 4 shows a schematic representation of a vehicle with a device and a vehicle ahead, which undergoes a vertical position change due to a road surface unevenness.
  • FIG. 5 shows a flow chart for a method for reducing the speed when detecting road bumps.
  • the device 100 has a detector arrangement 110, a control device 120 and a distance measuring arrangement 130.
  • the detector arrangement 110 is designed to recognize a preceding vehicle and to record its vertical position changes (movements).
  • the detector assembly 110 may consist of one or more cameras.
  • the control unit 120 is executed from the data of the detector Order 110 to extract and evaluate the vertical position changes of the preceding vehicle. For the evaluation, the control unit can compare the images of the vehicle ahead with each other and thus detect the vertical position changes of the vehicle ahead. As soon as the control unit detects a vertical position change of the preceding vehicle, which has a predefi ⁇ -defined threshold value of the positional change exceeds, for example, 10cm, 15cm or 20cm and pre-defined within a
  • the STEU ⁇ er réelle 120 close to a significant road surface unevenness.
  • These significant road bumps may be, for example, potholes or speed bumps.
  • the controller may instruct the driver of the vehicle 200 to reduce the speed of the vehicle 200 so that the roadway roughness has less effect on the vehicle 200 and its occupants. On the one hand, this reduces the mechanical load on the vehicle parts, that is, reduces the wear and, on the other hand, the comfort for the passengers of the vehicle 200 can be increased.
  • the controller 120 may also direct the vehicle 200 to reduce the speed, particularly when the vehicle 200 has semi-automated or fully automated driving functions.
  • the distance measuring arrangement 130 By the distance measuring arrangement 130 the distance between the vehicle 200 and the preceding ⁇ vehicle can be determined. By determining the distance, the controller 120 may determine when the vehicle 200 reaches the roadway unevenness. Thus, a targeted reduction of the speed can be done until reaching the position of the road bump. Also, the vehicle can be accelerated to 200 from his ⁇ gear speed after passing the road roughness.
  • the removal ⁇ measuring arrangement 130 is further provided for the detection of vertical position changes of the preceding vehicle helpful, since the controller 120, the images of the detector assembly 110 easier to correct the distance change between the vehicle 200 and the vehicle ahead. Also can be closed by means of the distance measuring arrangement 130 on the speed of the vehicle ahead.
  • the distance measuring arrangement 130 can consist of a radar, an ultrasound or a lidar sensor, for example. Also conceivable, however, the distance measuring device 130 is to be realized by a stereo camera with a entspre ⁇ sponding image processing or a laser scanner. Furthermore, the control unit 120 based on the data of the
  • Detector assembly 110 determine the effects of road bumps on the vehicle 200.
  • the controller may reduce the speed of the vehicle 200, depending on the expected effects of roadway bumps on the vehicle 200.
  • the control unit 120 may adjust, in addition to a reduction in the vehicle speed, the settings of the springs and the dampers of the vehicle 200, so that the off ⁇ effects of road unevenness on the vehicle to be lower 200th
  • the device 100 can also be operated, for example, in the dark and / or wet, since the vehicle ahead ⁇ ⁇ driving is recognizable even in the dark by its lighting ⁇ processing facilities.
  • the effects of road bumps on one's own vehicle can also be better estimated since the effects of road bumps on the vehicle ahead have been observed and are therefore known. Fig.
  • FIG 2 shows a schematic representation of a vehicle which undergoes through a road unevenness vertical positi ⁇ ons.
  • the individual images of the detector arrangement are compared.
  • the vehicle is at an initial position, which is symbolized by the upper dashed line.
  • image n stands for an image larger than two and is intended to represent the time course of the vertical change in position of the vehicle. It can be seen that the vehicle continues to move down until image n is reached.
  • This vertical positi ⁇ ons selectedung of picture 1 on picture 2 to picture n indicates a road unevenness in the form of, for example, a pothole.
  • the temporal course of the change in position over the individual images of the detector arrangement can also be used to deduce the duration of this change in position.
  • time interval the vertical position change takes place and how big the position change is.
  • the time interval in which images are taken is known, and the resulting vertical positi ⁇ ons selectedung can be determined by image analysis.
  • image analysis it can also be concluded that the road surface is uneven. The greater the vertical position change in a shorter time interval, the stronger the impact of the road surface roughness on the vehicle and its occupants.
  • FIG. 3 shows a vehicle 200 with the device 100 on a road having a roadway unevenness.
  • the road surface unevenness is indicated by the gray area in front of the vehicle.
  • the road surface unevenness is difficult to detect by a camera system of the vehicle, especially in the dark or when wet. If the vehicle drives over the roadway unevenness, here a pothole, the roadway unevenness induces a vertical change in position into the vehicle.
  • 4 shows a schematic representation of a vehicle 200 with the device 100 and a vehicle in front.
  • FIG. 4 shows two possibilities for a roadway unevenness. On the one hand a pothole (upper part) and on the other a speed threshold (lower part). Due to the roadway unevenness, the rear of the vehicle in front is subjected to a vertical change in position. This is illustrated in Fig.
  • the Ent ⁇ fernungsmessan Aunt 130 may determine 200 and the preceding vehicle, the distance between the own vehicle. Thus, it can be calculated when the road surface unevenness will reach or reach the own vehicle. In addition, based on the distance, the time or the distance can be determined in which the speed of the vehicle 200 is to be reduced. Also can be calculated, must be delayed as much to own property adequate Ge ⁇ speed until reaching the road roughness. As a further aspect, after passing the roadway unevenness, the vehicle 200 may be accelerated back to its initial speed. 5 shows a flow chart for a method for speed adaptation of a vehicle.
  • step 501 a preceding vehicle is detected and observed by a detector arrangement.
  • Step 502 is used to detect a ver ⁇ tical position change of the preceding vehicle, the vertical position change is caused by a road bump.
  • step 503 the speed of the vehicle is reduced if the vertical position change of the preceding vehicle is a predefined threshold exceeds and occurs within a predefined period of time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif (100) pour un véhicule. Ledit dispositif comprend un ensemble de détection (110), qui est conçu pour détecter une modification de position verticale d'un véhicule précédent, et un appareil de commande (120), la modification de position verticale du véhicule précédent étant provoquée par une irrégularité de la chaussée parcourue. L'appareil de commande (120) est conçu, lorsque la modification de position verticale du véhicule précédent dépasse une valeur seuil prédéfinie et est réalisée pendant un laps de temps prédéfini, pour conclure à une irrégularité importante de la chaussée.
PCT/DE2018/200002 2017-02-06 2018-01-26 Identification d'inégalités de la route à l'aide d'une analyse de situation Ceased WO2018141340A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112018000165.2T DE112018000165A5 (de) 2017-02-06 2018-01-26 Erkennung von Straßenunebenheiten anhand einer Situationsanalyse

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ROA201700065A RO132761A2 (ro) 2017-02-06 2017-02-06 Sistem de identificare a denivelărilor la nivelul străzii, pe baza unei analize de situaţie
DE102017201838.0A DE102017201838A1 (de) 2017-02-06 2017-02-06 Erkennung von Straßenunebenheiten anhand einer Situationsanalyse
DE102017201838.0 2017-02-06
ROA201700065 2017-02-06

Publications (1)

Publication Number Publication Date
WO2018141340A1 true WO2018141340A1 (fr) 2018-08-09

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PCT/DE2018/200002 Ceased WO2018141340A1 (fr) 2017-02-06 2018-01-26 Identification d'inégalités de la route à l'aide d'une analyse de situation

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DE (1) DE112018000165A5 (fr)
WO (1) WO2018141340A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2571589A (en) * 2018-03-01 2019-09-04 Jaguar Land Rover Ltd Terrain inference method and apparatus
CN111016909A (zh) * 2018-10-08 2020-04-17 上海汽车集团股份有限公司 一种道路颠簸信息提示的方法及装置
CN111267850A (zh) * 2020-01-22 2020-06-12 东风小康汽车有限公司重庆分公司 一种车辆自适应巡航控制方法及装置
CN111746537A (zh) * 2020-06-22 2020-10-09 重庆长安汽车股份有限公司 基于路面平整度的自适应巡航车速控制系统、方法及车辆
US11904850B2 (en) * 2020-08-25 2024-02-20 Hyundai Mobis Co., Ltd. System for and method of recognizing road surface
US12243319B2 (en) 2018-03-01 2025-03-04 Jaguar Land Rover Limited Methods and apparatus for acquisition and tracking, object classification and terrain inference

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DE102011007608A1 (de) * 2011-04-18 2012-10-18 Robert Bosch Gmbh Verfahren und System zur aktiven Fahrwerksregelung
DE102012017569A1 (de) * 2012-09-06 2013-03-14 Daimler Ag Verfahren zum Betrieb eines Fahrzeuges
DE102012022367A1 (de) * 2012-11-15 2014-05-15 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Regelung und/oder Steuerung einer Dämpfungs-und/oder Stabilisierungsvorrichtung eines Kraftfahrzeugs
DE112012006147T5 (de) * 2012-03-29 2015-01-15 Toyota Jidosha Kabushiki Kaisha Straßenoberflächen-Zustands-Bestimmungsvorrichtung

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Publication number Priority date Publication date Assignee Title
DE102005051141A1 (de) * 2005-10-26 2007-05-03 GM Global Technology Operations, Inc., Detroit Regelungsverfahren für elektronisch regelbares Dämpfungssystem in Fahrzeugen und elektronisch regelbares Dämpfungssystem
DE102008052132A1 (de) * 2007-10-22 2009-04-23 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum Verbessern des Fahrverhaltens eines Kraftfahrzeugs
DE102011007608A1 (de) * 2011-04-18 2012-10-18 Robert Bosch Gmbh Verfahren und System zur aktiven Fahrwerksregelung
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GB2571589B (en) * 2018-03-01 2020-09-16 Jaguar Land Rover Ltd Terrain inference method and apparatus
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CN111016909B (zh) * 2018-10-08 2021-04-16 上海汽车集团股份有限公司 一种道路颠簸信息提示的方法及装置
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