• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A driving assisting method comprising gripping a driving maneuver (6) of the vehicle (1), performed without the use of a driving assistance system, using sensors (20) of the vehicle (1), calculating an equivalent driving maneuver (8) performed with the aid of a driving assistance system, and evaluating the entered driving maneuver (6) and the equivalent driving maneuver (8) using of at least one criterion, then transmit the result of the operation of the seized driving maneuver (6) and the equivalent driving maneuver (8).
    公开号:FR3034067A1
    申请号:FR1652256
    申请日:2016-03-17
    公开日:2016-09-30
    发明作者:Akos Levay；Albert Meszaros
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a driving assistance method and to a device for its implementation. The driving assistance method involves taking a driving maneuver using the sensors of the vehicle. The invention also relates to a device, a computer program and a central computer for implementing the method. STATE OF THE ART In the automotive field, various driving assistance systems are used to assist the driver in performing various driving maneuvers. These are, for example, assistance systems for storage maneuvers in a parking space. These systems capture the environment using the vehicle's sensors and determine the possible parking locations in the environment. From there the driver assistance system plans a driving maneuver to pass the vehicle, for example in a parking space or conversely to allow the vehicle to disengage from the parking space to return to the driving lane. Other known driver assistance systems according to the state of the art use, for example, blind spot assistants, track maintenance assistants or speed controllers (adaptive cruise control ACC). Often it is difficult to optimally use the most appropriate driver assistance system among the systems available in a vehicle. DE 10 2012 008 260 A1 describes an interactive learning method of a driving assistance system fitted to a vehicle, and this in driving mode. It is intended to monitor the driving state and to offer the driver, when the driving situation is secure, an interactive indication for the driver assistance system. If the driver accepts the offer, he will be asked to perform the maneuver. DE 10 2010 009 132 A1 discloses a method of assisting a driver for driving a vehicle. The procedure provides continuous monitoring of the condition of the vehicle and, depending on the result, the driver receives an indication of use of a driver assistance system. In particular, the driver will be able to receive indications concerning an assistance system which has not yet been activated and which would be particularly advantageous in the case where the vehicle has several driver assistance systems. OBJECT OF THE INVENTION The present invention aims to further increase the availability of the driver assistance system.
    [0002] SUMMARY OF THE INVENTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a method of driving assistance comprising grasping a driving maneuver of the vehicle, executed without the use of a driving assistance system. using vehicle sensors, calculating an equivalent driving maneuver performed with the aid of a driving assistance system, evaluating the seized driving maneuver and the equivalent driving maneuver using at least one criterion and issue the result of the operation of the seized driving maneuver and the equivalent driving maneuver.
    [0003] The method is preferably applied for normal use of the vehicle. The driver drives his vehicle without using a driver assistance system fitted to the vehicle. It is intended to enter the driving maneuver performed by the driver using the sensors. The sensors include distance sensors such as ultrasonic sensors, radar sensors, Lidar sensors as well as optical cameras. Preferably, these sensors also use for their operation, the various driving assistance systems equipping the vehicle. The driving assistance systems on the vehicle are chosen in particular from the following systems: assistance system for parking maneuvers, blind spot assist system, maintenance assistance system on a track, installations speed regulators, garage assistants, field assistants, garage building assistants, highway assistants and a combination of at least two such driver assistance systems. Driver assistance systems also include other systems that provide automatic vehicle guidance for certain driving situations. The vehicles are generally equipped with a navigation system which determines the position of the vehicle, for example by means of navigation satellites. It is also possible to use odometric sensors as well as the instantaneous steering angle to enter in detail the driving maneuver performed by the driver; in the context of the present description, the receiver of the satellite navigation system 10, the wheel stroke sensors and the steering angle gripping means are also considered to be capturing sensors of a driving maneuver . In the context of the present description, a driving maneuver corresponds to a clearly defined driving situation such as, for example, an engagement maneuver in a parking space, the disengagement of a parking space, a maneuver. overtaking, a lane change maneuver or the like and also phases of driving situation which can not be clearly defined such as for example the highway traffic. In clearly defined driving situations, driving maneuvers may be referred to as a time-bound segment of this driving situation. In addition, a pipe can also be analyzed overall and in this case the entire path is considered to constitute the driving maneuver. For a seized driving maneuver, an equivalent driving maneuver is calculated and for this equivalent driving maneuver one, or where appropriate, several of the driving assistance systems equipping the vehicle is used. The calculation of the equivalent driving maneuver 30 can be done in the case of clearly defined driving maneuvers, such as, for example, an engagement maneuver in a parking space, at the end of this maneuver, or it can already be also execute it while the driving maneuver is in progress. In the latter case, the calculated equivalent driving maneuver will be updated continuously or at predetermined time intervals and will be adapted to the progress of the entered driving maneuver. In the case of a non-clearly defined driving maneuver, the calculation of the equivalent driving maneuver is preferably made during the driving maneuver and the equivalent driving maneuver will preferably be updated continuously or at intervals of predefined times. According to other process variants, the equivalent driving maneuver can also be calculated taking into account the assistance by a driver assistance system which does not yet exist in the vehicle. In this case, the emission of the result of the evaluation preferably includes an indication concerning this driver assistance system and the possibility of installing it a posteriori. Both the driving maneuver and the calculated equivalent driving maneuver are evaluated using at least one criterion. Preferably, the criterion is chosen from among the following: energy consumption, duration of the maneuver, number of changes of direction executed, cost, wear of the vehicle, risk of accident during the driving maneuver, stress of the driver or a combination of at least two such criteria. The energy consumption in the case of a vehicle equipped with an internal combustion engine is its fuel consumption, that is to say for example the consumption of gas oil, gasoline, gas or fuel. an equivalent fuel. In the case of an electric drive, the power consumption is the electrical power required. To evaluate the stress of the driver, according to a variant embodiment, it is possible to envisage deducing it indirectly from the seized driving maneuver, for example the very long duration and the large number of changes of direction make it possible to conclude that the driving maneuver generated a lot of anxiety in the driver. In order to evaluate this anxiety, the weighted sum of the number of changes in direction of the duration of the driving maneuver can be made in particular to compare it to given thresholds. It is also possible to directly transmit driver anxiety by sensors by directly monitoring the driver using appropriate sensors.
    [0004] The result of the evaluation of the seized driving maneuver and the equivalent driving maneuver is preferably issued at the end of the driving maneuver. The result may include a recommendation for using a driver assistance system.
    [0005] Preferably, before the end of the driving maneuver, a recommendation is made to use the assistance system if the evaluation of the equivalent driving maneuver is better than the seized driving maneuver and / or after a certain amount of time. time. Preferably, a threshold is provided for the recommendation concerning the driver assistance system to be issued only if the difference between the evaluation of the equivalent driving maneuver and the maneuver entered is greater than this threshold. The driver assistance system that has been recommended is the driver assistance system taken into account for calculating the equivalent driving maneuver. Preferably, the result of the evaluation is presented with the display means specific to the vehicle. Such display means specific to the vehicle are for example the screens or the head-up display (HUD display) for the optical presentation of the result. According to another preferred characteristic, the emission of the evaluation result is done by a communication service or by transmitting the evaluation to a mobile. Such a communication service is for example a short message service such as for example an SMS service or an e-mail. The mobile for the emission is for example a smartphone or a tablet with appropriate application where appropriate. The transmission of the result can be done by a data transmission network, such as for example the internet network. The results emitted may be in the form of a comparison and for example for each criterion taken into account for the evaluation the value is represented without using the driver assistance system and using it. It is furthermore possible to visually prepare the result, for example in the form of an image or video which compares the seized driving maneuver with the calculated equivalent driving maneuver. Preferably, the transmission of the result also includes information regarding the use of the driver assistance system. This information is for example selected from the following: an indication for the driver assistance system, examples of application of the driver assistance system, an internet link for more complete information or a combination of at least two such information. Such an internet link 10 may in particular lead to an internet discussion forum, to information from a manufacturer or a dealer and to other media. Preferably, the calculation of the equivalent driving maneuver is made by the vehicle calculation unit. The vehicle calculation unit preferably furthermore evaluates the equivalent driving maneuver and the seized driving maneuver. As a variant, preferably, the driving maneuver entered is transmitted to a central computer and preferably a calculation unit of the central computer calculates the equivalent driving maneuver and evaluates this equivalent driving maneuver as well as the driving maneuver. entered as has been indicated. The communication with the central computer is preferably done over the Internet and the internet connection for example passes through a mobile network such as GSM, UMTS or LTE. In case of availability, it is also possible to use other paths for the connection with the Internet, for example a WLAN link or a Bluetooth link. When using a central computer, it is preferable that it include a data bank which records data sets relating to the driving maneuvers, the calculated equivalent driving maneuvers respectively and the evaluation of the driving maneuver. seizure and the equivalent driving maneuver recorded for one or more of the drivers. Preferably, the data set stored in memory is accessible by a public data network and for each data set there is issued a recommendation for using a driver assistance system. The central computer is for example a server, in particular a cloud server which communicates via a data network, for example via a link with a data network and via the Internet with the vehicle. Data sets stored in memory can be accessed over the internet. It is preferable that datasets stored in the datastore are anonymous. According to another characteristic, it is advantageous for the data transmitted to the central computer to be found only in the data bank if the driver of the vehicle has agreed. Preferably, the public access to the data bank of the central computer is designed so that a user can access different driver assistance systems by means of comparison examples from a data maneuver. conduct and a calculated equivalent driving maneuver and be informed of the benefits of the respective driving assistance system. The invention also relates to a computer program for performing one of the methods described above when the computer program is applied by a programmed computer. The computer program is for example in the form of a module for implementing a driver assistance system or a subsystem here, a vehicle or an application or a driving assistance function. This application can be executed for example on a smartphone or tablet. The computer program can be recorded on a machine-readable memory medium such as a permanent or rewritable memory medium or in combination with a computer installation or on a removable CD-ROM, a DVD, a disc Blue-Ray or a USB key. In addition or alternatively, the computer program may be provided by a computer installation such as the server for remote loading, for example by a data transmission network such as the Internet or an Internet connection. communication as well as a telephone line or a wireless link.
    [0006] The invention also relates to a driving assistance device for carrying out the method described above. The characteristics and advantages thus presented for the method also apply to the device and vice versa.
    [0007] The device comprises a control unit comprising sensors for gripping a driving maneuver. According to an alternative embodiment, the device comprises a calculation unit for calculating an equivalent driving maneuver. The computing unit enters the driving maneuver and evaluates the equivalent driving maneuver taking into account at least one criterion. According to another variant embodiment, the device comprises transmission means for transmitting the seized driving maneuver to the central computer. Transmission means 15 are provided to receive the equivalent driving maneuver calculated by the central computer and the evaluations of the seized driving maneuver and the equivalent driving maneuver. Preferably, the device comprises display means which display the result of the evaluation and where appropriate give a recommendation for a driving assistance system. The display means are for example in the form of a display screen. One can also consider as a display medium, a mobile phone, for example a smartphone or tablet. If the mobile device has its own transmission means, for example in the form of a mobile radio link or an inter-net link, the result of the evaluation and, where appropriate, a recommendation for using such systems Driving assistance may be received from the control apparatus or directly from the central facility. According to another development, the invention relates to a central computer for implementing the method described above. This central installation is for example in the form of a server or a cloud server. The central computer comprises means for calculating an equivalent driving maneuver, wherein these means calculate a driving maneuver equivalent to the seized driving maneuver and evaluating this seized driving maneuver and the calculated equivalent driving maneuver. For communication with a driving assistance device, the central calculator preferably comprises a link with a data transmission network, such as for example the internet. Preferably, the central computer further comprises a data bank containing data sets relating to the seized driving maneuvers, the equivalent driving maneuvers 10, calculated and for their evaluation. The central computer is preferably provided to perform the described method. Thus, the features and remarks made about the process are correspondingly applicable to the central plant and vice versa, the features described in the framework of the central plant process also apply to the process. In the device or units described for the central computer, these means are not necessarily constituted by separate elements. Thus, for example, it is possible to implement totally or partially in a control unit, particularly in the form of a computer program or a computer routine executed by a programmable computer. The advantages of the invention are as follows: A large number of driving assistants are integrated into the current vehicles. Often they are not used by the driver because he does not know the advantages of these driver assistance systems. The method according to the invention makes it possible to enter the driving maneuvers performed by the driver without using a driving assistance system; these maneuvers are evaluated and the result of the evaluation is displayed for the driver. The result of the evaluation advantageously comprises a comparison between the driving maneuver performed by the driver and the optimal driving maneuver that could be carried out using a driving assistance system. Such a direct comparison makes explicit the advantages of the driver assistance system for real situations, characteristic for each driver who can then directly recognize the added value offered by the driver assistance systems. In order to present this additional advantage of a driving assistance system, several criteria can advantageously be used, for example the consumption of energy. The method according to the invention informs the driver of possible energy savings through the use of driver assistance systems. In this case also, the advantages can be presented by the method of the invention in a comparative manner so that it is more clearly comprehensible to the driver. According to another advantageous characteristic, in addition to the evaluation, it is also possible to provide information relating to the use of the driver assistance system. The method according to the invention gives the driver both the necessary knowledge, immediately to use the proposed driving assistance system and also in connection with the relevant driving maneuvering information. According to a process development, the data sets relating to the entered driving maneuvers are stored in a publicly accessible data bank. There is thus widespread publicity about the advantages of driver assistance systems in connection with actual driving maneuvers. The examples presented are advantageously chosen as non-arbitrary; they correspond to typical driving maneuvers. This promotes the knowledge of potential users and publicity about the benefits and the mode of operation of the various driver assistance systems. Drawings The present invention will be described hereinafter with two embodiments of a driving assistance method shown in the accompanying drawings in which the same elements bear the same references and their description will not be repeated in all of them. cases.
    [0008] Thus, Fig. 1 shows a first embodiment of the device for driving assistance, Fig. 2 shows a second embodiment of the device for driving assistance and Fig. 3 shows a visual comparison between a driving maneuver, seized and an equivalent driving maneuver, calculated. DESCRIPTION OF EMBODIMENTS FIG. 1 shows a first embodiment of the driver assistance device. The device 10 is part of a vehicle 1 and comprises a control unit 12 connected to sensors 20 to grasp the driving maneuver. In the embodiment of FIG. 1, the sensors 20 consist of distance sensors 24, 15 for example in the form of ultrasonic sensors, of a camera 22 for optically grasping the environment of the vehicle 1 and sensors. 23. The sensors 20 monitor and record driving maneuvers. A driving maneuver is, for example, a clearly delimited operation such as an engagement maneuver in a parking space or a time division of the driving of the vehicle 1. For example, the beginning of a maneuver can be detected. storage in a parking space in that, for example, after a slow movement is passed reverse. The end of this engagement maneuver in a location is detected for example in that the driver passes the switching position P and cuts the motor. In the case of driving maneuvers which are not clearly demarcated, it will be used as a driving maneuver, an extract as a function of the time of the movement of the vehicle 1, for example the last 1 to 5 minutes of movement of the vehicle 1. The data entered by the sensors 20 is transferred by the control unit 12 to a computing unit 14. For a seized driving maneuver, the computing unit 14 calculates an equivalent driving maneuver which will, however, only be executed by using a driver assistance system if, for example, a parking maneuver has been detected, executed by the driver without using the assistance system, the computing unit 14 calculates a equivalent parking maneuver using an engagement assistance system in a parking space. The computing unit 14 additionally provides evaluations evaluating the seized driving maneuver and also the equivalent driving maneuver using at least one criterion. The evaluation 10 is retransmitted to the control unit 12. At the end of the driving maneuver, for example in the case of an engagement maneuver in a parking space, it switches to the parking position P and stops engine; the result of the evaluation is presented by the display means 16 to the driver of the vehicle 1. If the criterion is for example the duration of the driving maneuver, the display means 16 can provide both the necessary duration to the seized driving maneuver and also the time required for the equivalent driving maneuver resulting from the calculation. In this way, the driver will be able to recognize directly the time saving resulting from the use of the driver assistance system, for example the parking maneuvering assistance system. If the criterion is for example the energy consumption, the display means 16 may indicate how much fuel actually required the seized driving maneuver and how much fuel would have required the equivalent driving maneuver performed with the assistance system. driving. The driver of the vehicle 1 can thus directly recognize the advantages of the driver assistance system. It is further possible by the display means 16 to display additional information using the driver assistance system. This information concerns for example the description of the use of the driver assistance system. It is also possible to present the result in the form of images or animations. For example, in the case of a stowage maneuver in a parking space, the trajectory described by the vehicle 1 just in the parking space will be presented. It will be possible to represent both the trajectory of the seized driving maneuver and also that of the equivalent, calculated driving maneuver (see Figure 3 for this purpose).
    [0009] In this case also, the driver will be able to recognize directly the advantages of the driver assistance system which is here the assistance system for storage maneuvers. Figure 2 shows a second embodiment of the driver assistance device. The device 10 again comprises a control unit 12 connected to the sensors 20 to capture the driving maneuver. Instead of the computing unit 14, the device 10 according to the second embodiment comprises transmission means 18. The transmission means 18 are for example constituted by a mobile telephone interface which allows the device 10 15 establish an Internet connection. The Internet link or the transmission means 18 connect the device 10 to a central computer 100. The central computer 100 comprises a link 104 with a data transmission network, such as the Internet. The link 104 connects the central computer 100 to the device 10.
    [0010] The device 10 transmits the driving maneuver entered by the transmission means 18 to the central computer 100. The central computer 100 comprises a calculation unit 114 which calculates the maneuver equivalent to the transmitted driving maneuver; this equivalent maneuver can be performed in assistance by the driver assistance system. In addition, the calculating unit 114 evaluates the seized driving maneuver as well as the calculated equivalent driving maneuver. For the display of the result of the evaluation according to the embodiment of FIG. 2, a mobile 26 is used as an example. The mobile 26 has its own internet connection, for example by a network of wireless telephony or a mobile interface. The central computer 100 presents the result for performing the evaluation via the internet and provides the result to the mobile 26. The mobile 26 may be a smartphone or tablet having an appropriate application for presenting the results. Alternatively, one may use, for example, an internet driver to represent the result. In the embodiment of Figure 2, the central computer 100 further has a database 102 which contains the data set record. A data set corresponds, for example, to the seized driving maneuver, the equivalent driving maneuver, calculated as well as the evaluations of the seized driving maneuver and the equivalent driving maneuver. The link 104 with the data transmission network, such as for example the internet network, enables the central computer 100 to publicly access the data bank 102. This public access by the central computer 100 is preferably carried out to provide for a seized driving maneuver with also information for the driver assistance system to better perform the driving maneuver with the evaluation entered without using the driver assistance system. FIG. 3 shows, by way of example, an engagement maneuver in a parking space with or without a parking maneuvering assistance system. The display 20 of Figure 3 was established at the end of the parking maneuver and will be presented as a result for the driver. The representation according to the visualization is according to each embodiment of the method by the display means 16 associated with the vehicle 1 or by the mobile 26.
    [0011] The visualization shown in Figure 3 is based on a driving maneuver, entered, performed by the driver of the vehicle 1 without the use of a driver assistance system. The driver of the vehicle 1 is engaged in a parking space 4 delimited by the other two vehicles 2 and 3; this location is parallel to the road 9. To enter the parking space 4, the driver of the vehicle 1 used three parking maneuvers; this means that the driver has had to change the direction of engagement in the parking lot twice. The first parking maneuver was performed in reverse, the second maneuver in the forward direction and the third and last maneuver again in reverse. The actual path traveled by the vehicle 1 is shown as a line for the driving maneuver 6, entered. The calculation unit 14 of the vehicle 1 or the calculation unit 114 5 of the central computer 100 calculates an equivalent driving maneuver 8 that the driving assistance of the vehicle 1 can perform. The equivalent, calculated driving maneuver 8 is shown in FIG. 3 in the form of a continuous line which represents the possible travel of the vehicle 1. As can be seen in the representation of FIG. parking to arrive at the calculated equivalent driving man- this means that no change of driving direction is required during the parking maneuver. The visualization of the driving maneuver 6 entered and the equivalent driving maneuver 8 calculated enables the driver of the vehicle 1 to know immediately the advantages of the parking assistance system integrated in the vehicle. It is furthermore possible to indicate other criteria concerning the driving maneuver 6, input and the equivalent driving maneuver 8, 20 calculated. For the example shown in FIG. 3, the seized driving maneuver 6 lasted 75 s and consumed 0.06 l of gasoline. Because of the frequent change in driving direction it can also be concluded that the seized driving maneuver 6 results in a higher voltage for the driver of the vehicle 1. For the calculated equivalent of the driving maneuver 8 it was only necessary 25 s for fuel consumption of 0.02 1. From the non-detailed directional change of direction, it can also be concluded that the calculated equivalent driving maneuver 8 does not put the driver of the vehicle 1 in any state of stress.
    [0012] 30 3034067 16 NOMENCLATURE OF MAIN ELEMENTS 1 Vehicle 2, 3 Other vehicles 5 4 Parking space 6 Ducted driving maneuver 8 Equivalent driving maneuver 9 Street / Road 10 Driving assistance device 10 12 Control unit 14 Calculation unit 16 Display medium / Display unit 18 Transmission 20 Sensor 15 22 Camera 23 Wheel stroke sensor 24 Distance sensor 26 Mobile 100 Central computer 20 102 Data bank 104 Connection to a data network 114 Calculation unit 25
    权利要求:
    Claims (4)
    [0001]
    CLAIMS 1 °) A driving assistance method comprising the following steps: a) seizing a driving maneuver (6) of the vehicle (1), performed without the use of a driving assistance system, using sensors (20) of the vehicle (1), b) calculating an equivalent driving maneuver (8) performed with the aid of a driving assistance system, c) evaluating the seized driving maneuver (6). ) and the equivalent driving maneuver (8) using at least one criterion then, d) issuing the result of the operation of the seized driving maneuver (6) and the equivalent driving maneuver ( 8).
    [0002]
    2) Method according to claim 1, characterized in that the result is issued before the end of the driving maneuver if the evaluation of the equivalent driving maneuver (8) is better than the seized driving maneuver (6) and / or after a while.
    [0003]
    Method according to claim 1 or 2, characterized by issuing a recommendation for using the driver assistance system if the difference between the evaluation of the equivalent driving maneuver and the driving maneuver is greater than at a predefined threshold.
    [0004]
    4) Method according to claim 1, characterized in that at least one of the following criteria is selected: energy consumption, duration of the driving maneuver, number of changes in driving direction to be made, cost , vehicle wear, accident risk of the driving maneuver, driver distress or a combination of at least two such criteria. A method according to claim 1, characterized in that the result of the evaluation is issued using the display means (16) specific to the vehicle. Method according to Claim 1, characterized in that the transmission of the evaluation result is done by a communication service or by transmission of the evaluation to a mobile (26). 7) Method according to claim 1, characterized in that the emission of the result of the evaluation consists in informing with the use of the driving assistance system. Method according to Claim 1, characterized in that a calculating unit (14) of the vehicle calculates the equivalent driving maneuver (8) or the seized driving maneuver is transmitted to a computer installation. central (100), a computing unit (114) of the central computer (100) calculating the equivalent driving maneuver (8) according to step b). Method according to Claim 1, characterized in that the seizure (6) entered is transmitted to the central system (100), characterized in that the central computer (100) comprises a bank data set (102) which, in the driving maneuver (6) entered as a data set, has recorded the equivalent driving maneuver (8) calculated each time and the evaluation of the seized driving maneuver (6). and the equivalent driving maneuver (8) of one or one of the different drivers, and the data set entered is publicly accessible by the data transmission network, and for each data set there is has issued recommendations for the use of a driver assistance system. 10 °) Computer program executing the method according to one of the claims 1 to 9, when the method is exercised on a computer. 11 °) Device (10) for driving assistance characterized in that it comprises sensors (20) for grasping the driving maneuver (6) and it is designed to perform a method according to claims 1 to 9. 12 Central calculator (100), characterized in that it comprises a calculation unit (114) for calculating an equivalent driving maneuver and a connection with a data transmission network (104), the central computer (100) being designed to carry out one of the processes of claims 1 to 8.
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    同族专利:
    公开号 | 公开日
    DE102015205156B4|2018-04-05|
    FR3034067B1|2019-07-12|
    DE102015205156A1|2016-09-29|
    引用文献:
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    法律状态:
    2017-03-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-26| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-08| PLSC| Search report ready|Effective date: 20180608 |
    2020-03-25| PLFP| Fee payment|Year of fee payment: 5 |
    2021-03-22| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015205156.0A|DE102015205156B4|2015-03-23|2015-03-23|Method and device for driver assistance|
    DE102015205156.0|2015-03-23|
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