• 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 method of determining a future target path (309) to be traveled by the vehicle (301), and a safety range (311) for the safety range (311) to include at least part of the path (309); continuously adapting the range (311) along the path (309) so that the adapted safety range (313) at least partly comprises a residual trajectory of the path (309).
    公开号:FR3042767A1
    申请号:FR1660194
    申请日:2016-10-20
    公开日:2017-04-28
    发明作者:Stefan Nordbruch
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of invention
    The present invention relates to a method and a device for reducing the risk of collision of a vehicle with an object. The invention also relates to a vehicle equipped with such a device and a method as well as a parking and a computer program.
    State of the art
    Document DE 10 2012/222 562 A1 describes a garage surface management system for transferring a vehicle from a starting position to a destination position.
    During this transfer, it is important that the vehicle does not collide with objects such as other vehicles or with people.
    Purpose of the invention
    The present invention aims to develop effective means to reduce the risk of collision of a vehicle with an object.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the present invention is a method for reducing the risk of collision of a motor vehicle with an object comprising the following steps: determining a future target trajectory that the vehicle must to travel, determine a safety range based on the future target path so that the safety range includes at least part of the future target trajectory, the safety range setting a defined partial range, of the vehicle environment, continuously adapting the safety range determined during the movement of the vehicle along the set path so that the safety range, adapted, comprises at least partly a residual trajectory of the target trajectory that the vehicle must still travel, monitor the appropriate safety range while moving the vehicle along the path of setpoint on a moving object in the appropriate safety range and / or an object which is within the safety range, adapted, control the execution of one or more safety actions on the basis of monitoring to reduce the risk of collision of the vehicle with the object.
    According to another development, the invention also relates to a device for reducing the risk of collision of a vehicle with an object, this device being characterized in that it comprises: a determination facility for determining a future target path that the vehicle will have to travel, a determination facility for determining a safety range based on the future target path so that the visibility range includes at least part of the future target trajectory, the safety range setting a range. determined, defined from the environment of a motor vehicle, an adaptation installation for continuously adapting the safety range determined during the movement of the vehicle along the set path so that the appropriate safety range comprises at least in part a set trajectory that the vehicle must travel as a resi dual, a surveillance system for monitoring the safety range, adapted during the movement of the vehicle along the set path for a moving object within the appropriate safety range and / or an object within the safety range, adapted, and a control installation for controlling the execution of one or more safety actions based on monitoring to reduce the risk of collision of the vehicle with the object.
    According to another development, the invention relates to a vehicle equipped with such a device and a parking for vehicles implementing the method and the device according to the invention.
    According to another development, the invention also relates to a computer program with a program code for applying the method of the invention when the program is executed by a computer.
    Thus, one particular object of the invention is the idea of monitoring a safety range while the vehicle is moving along the set path to then adapt the vehicle so that the safety range adapted for the rest of the trajectory set of instructions that the vehicle must cover, at least in part and in particular in full. This means in particular that it must be effectively ensured that the range in which the vehicle is monitored during its movement always includes at least part of the residual trajectory of the set trajectory that the vehicle must travel. Since objects which are or move in this safety range represent a greater risk of collision for the vehicle than the objects downstream of the vehicle, the surveillance according to the invention of this safety range and the control made from monitoring according to the invention for the implementation of one or more safety actions, can effectively reduce the risk of collision of the vehicle with an object. The environment of the vehicle is in particular a beach around the vehicle up to a distance of 200 m, preferably 150 m and for example 100 m. When the vehicle is traveling in the car park, the environment of the vehicle is a range around the vehicle corresponding to a distance of for example 3 m, in particular 2 m and preferably 1.5 m and for example 1 m.
    According to a development, the one or more safety actions are elements of the safety action group, namely: reduce the instantaneous speed of the vehicle, prepare the braking system of the vehicle for braking, perform the analysis from the environment of the appropriate safety range, perform a standstill, perform an avoidance maneuver.
    Anticipating the reduction of the instantaneous speed of the vehicle notably offers the technical advantage of effectively reducing the risk of collision. In particular, this translates into the technical advantage that if the collision is unavoidable, as the vehicle speed is reduced, it decreases the severity of the collision.
    In particular, the preparation of the braking system of the vehicle for braking has the particular technical advantage of effectively reducing the reaction time of the braking system if it is actually necessary to brake. This makes it possible to shorten the braking stroke effectively.
    In particular, the analysis of the environment of the adapted safety range has the particular advantage of making it possible to effectively determine the direction in which the object moves relative to the vehicle. In particular, this makes it possible to advantageously evaluate or determine the level of risk of a possible collision. In particular, the analysis of the environment makes it possible to repeat the safety range adapted to the analysis of the environment, which is reflected, for example, in the technical advantage of effectively recognizing a possible defect in the analysis of the environment. previous environment to react appropriately.
    In particular, performing a standstill has in particular the technical advantage of reducing all the more effectively the risk of collision. In particular, if the collision is inevitable, it reduces its severity. An emergency stop is in particular the stopping of the vehicle with the maximum possible braking torque (maximum braking).
    In particular, performing an avoidance maneuver has the technical advantage of effectively reducing the risk of collision.
    According to another development, one or more security actions depend on several predefined security actions and chosen according to one or more parameters.
    This results in particular the advantage that the parametrization selects a safety action optimally adapted to the practical situation that is faced and allows to apply this action.
    According to another development, the parameters are elements of the following group of parameters, namely: the distance of the object with respect to the vehicle, the direction of movement of the object relative to the vehicle, the size of the object, the instantaneous speed of the object, the type of object.
    In predicting the parameter, there is in particular the technical advantage of being able to select the one or more security actions based on the actual object being faced.
    An object type refers to the nature of the object, for example whether it is another vehicle, a fixed infrastructure element, or a person, or an animal.
    According to another development, the remote control may relate to one or more security actions.
    This results in particular the advantage that the vehicle is not necessarily designed to autonomously decide the safety action to be performed. Indeed, this action is applied externally to the vehicle, that is to say that the vehicle will be remote controlled. The remote control includes sending remote control commands to the vehicle via a communication network and based on this information, the vehicle can perform one or more security actions.
    Thus, according to a development, the vehicle is remotely controlled to reduce its instantaneous speed. In particular, according to a development, the vehicle is remotely controlled to prepare the braking system of the vehicle for braking. In particular, according to a development, the vehicle is remotely controlled to perform an emergency stop which means that the vehicle will be stopped remotely.
    According to another development, the monitoring consists of analyzing the environmental data of an object moving in a suitable safety range and / or an object which is within the appropriate safety range, the data of the environment being provided by one or more environmental sensors which have entered the appropriate safety range, the environment sensor (s) forming part of the vehicle and / or being installed in the environment of the vehicle.
    This results in particular the technical advantage of being able to make an effective environmental analysis of the appropriate safety range. Insofar as both the vehicle environment sensors and also the environmental sensors forming part of the vehicle are used for the analysis of the environment, one of the advantages of this is the advantage of having a high degree of redundancy.
    According to a development, with the monitoring made using one or more environmental sensors (for example those of the vehicle and / or those of the car park), the appropriate safety range is entered to determine the environmental data around the vehicle. the safety range and will then be provided for further analysis.
    According to a development, the device for reducing the risk of collision of the vehicle with an object, is installed and designed to perform or apply the method of realizing the risk of collision of a vehicle with an object.
    The technical functionalities of the device result in a similar way from the corresponding technical functionalities of the method and vice versa.
    According to one development, the method for reducing the risk of collision of the vehicle with an object using the device to reduce the risk of collision of the vehicle will be executed or reduced by the object.
    According to a development, the environmental sensor or the environmental sensor elements are selected from the following group of environmental sensors: radar sensor, lidar sensor, laser sensor, video sensor, ultrasonic sensor, magnetic sensor, sensor. infrared, light barrier sensor.
    According to a development, the device comprises one or more sensors and according to another development, the vehicle comprises one or more environmental sensors.
    According to a development, the car park is equipped with one or more environmental sensors.
    According to one embodiment, the vehicle is made or designed to apply the method of the invention.
    According to another development, the parking space is designed and designed so that the method according to the invention can perform clearance and storage maneuvers.
    According to a development, an interface communicates with a communication network. The communication interface is for example that of the motor vehicle. The communication interface may also be for example that of the device. Finally the communication interface is for example that of the parking space.
    According to another development, the communication network is a WLAN network and / or a mobile telephone network.
    According to one development, the communication network comprises a network according to the LoRa standard, "LoRa" means "wide range, low power communication". The communication network thus comprises, according to the embodiment, a LoRa communication network.
    According to one development, communication over the communication network is encrypted.
    According to another development, the determined target trajectory is located in a parking lot. This means that with the determined target trajectory, which is entered by the car park, the vehicle is built in the car park.
    A car park within the meaning of the present invention is a vehicle storage area. The car park is a coherent surface with several parking spaces (in the case of parking on private land) or parking spaces (in the case of public parking). According to a development, the parking can also be a building of garages. According to one embodiment, the parking is a garage.
    According to a development, the vehicle runs without a driver or without being driven by a driver. For example, the vehicle runs in a parking lot.
    Driving without a driver or without the assistance of a driver of the vehicle consists in remotely controlling the vehicle. Such driverless driving or without the assistance of a driver of the vehicle consists, according to one embodiment, of the vehicle traveling in autonomous mode that is to say independently. In autonomous mode, the vehicle is assisted at least in part to travel. This means that the vehicle will for example be assisted in autonomous mode. Such assistance is for example to send driving data to the vehicle via a communication network and the vehicle can rely on these data to travel in autonomous mode. These data comprise for example map data of a digital map of the parking, trajectory data of a set trajectory that the vehicle must follow, destination position data corresponding to the destination position of the vehicle in the parking.
    According to a development, the vehicle performs an automatic parking maneuver in the car park. This means that the vehicle is traveling along the set path according to an automatic parking maneuver. Such an automatic maneuver is also called "AVP" maneuver, that is to say "automatic valet maneuver".
    As part of such an AVP maneuver, the vehicle travels automatically (remotely or autonomously or according to a part of autonomous trajectory or other part of trajectory in remote mode) in the car park, to rank in a parking space. This means that the AVP maneuver, for example, provides that the vehicle automatically moves from its drop position where the driver leaves the vehicle to perform the automatic valet operation, to the parking position where the vehicle is stowed automatically. An AVP maneuver according to one embodiment is to automatically move the vehicle from a parking position to a recovery position and that the vehicle automatically stops in this position to allow its driver to recover the vehicle.
    In the case of driverless driving or driver assistance, it is not necessary for a human driver to be on board the vehicle to drive it.
    According to a development, performing one or more of the security actions based on both the internal and external monitoring of the vehicle, allows the control of the vehicle, the internal monitoring of the vehicle being based on the execution at least of the steps of Determine continuous adaptation and external vehicle monitoring that is at least a determination of ongoing adaptation and monitoring. This means that two safety ranges that are independent of one another are determined and continuously adapted.
    The result is the technical advantage of effectively reducing the risk of collision. Indeed, one uses both a safety range external to the vehicle and a safety range internal to the vehicle with a continuous adaptation so as to achieve a high redundancy. Thus, since it is necessary to apply the results of the two checks for the order, the risk of collision is all the more efficiently and advantageously reduced. In particular, it improves the safety of the vehicle and objects.
    The objects of the present invention are, for example, other vehicles, animals, persons or fixed infrastructure instruments (for example columns, walls, barriers, borders). The stationary infrastructure elements are for example concerned with the parking.
    According to a development, the command facility selects one or more security actions from the predefined security actions based on one or more parameters.
    According to another development, the control installation is a remote control for activating one or more security actions.
    According to another development, the monitoring installation analyzes an object that moves in the appropriate safety range and / or an object that is within the appropriate safety range and the environment data is provided by one or more sensors of the sensor. environment that capture the appropriate safety range, the environmental sensors being those of the vehicle and / or the environment of the vehicle.
    According to another development, the control installation controls one or more safety actions based on both the internal monitoring and the external surveillance of the vehicle, the internal monitoring of the vehicle consisting in determining, adapting to continuous and to be monitored, and the external monitoring of the vehicle is based on the execution of at least the stages of determining, continuously adapting and monitoring. The expression "respective" includes the expression "and / or". The expression "at least in part" is particularly the case of a set path completely encompassing the safety range or being encompassed by the safety range.
    drawings
    The present invention will be described hereinafter in more detail with the aid of exemplary embodiments shown in the accompanying drawings in which: FIG. 1 shows a flow chart of the method for reducing the risk of collision of a vehicle with an object FIG. 2 shows a device for reducing the risk of collision of a vehicle with an object, FIG. 3 shows a vehicle, FIG. 4 shows a parking lot, and FIG. 5 shows the vehicle of FIG. a set path.
    Description of embodiments
    Figure 1 shows the flow chart of the method for reducing the risk of collision of a vehicle with an object.
    The method comprises the steps of: determining a future target path 309 that the vehicle 301 is to travel, determining a safety range 311 based on the future target path 309 so that the safety range 311 includes less in part the future target path 309, the safety range 311 setting a defined partial range of the environment of the vehicle, continuously adapting 105 the determined safety range 301 during the movement of the vehicle 301 along the set path 309 so that the safety range 313, adapted, comprises at least partly a residual trajectory of the set trajectory 309 that the vehicle 301 must still travel, monitor 107 the adapted safety range 313 during the movement of the vehicle 301 along of the set trajectory 309 on a moving object in the adapted safety range 313 and / or an object which is within the safety range 313, adapted, and control 109 the execution of one or more safety actions based on monitoring to reduce the risk of collision of the vehicle 301 with the object.
    Figure 2 shows a device 201 for reducing the risk of collision of a vehicle with an object.
    The device 201 comprises: a determination facility 203 for determining a future target trajectory 309 that the vehicle 301 will have to go through, a determination facility 205 for determining a safety range 311 based on the future target trajectory 309 so that the visibility range 301 comprises at least part of the future reference trajectory 309, the safety range 301 setting a determined range, delimited from the field of a motor vehicle, an adaptation installation 207 to continuously adapt the safety range determined during the movement of the vehicle 301 along the set trajectory 309 so that the adapted safety range 313 comprises at least in part a set trajectory 309 that the vehicle 301 must travel as a residual trajectory, a monitoring installation 209 to monitor the safety range, adapted 313 during the movement of the vehicle 301 along the set path 309 for a moving object in the adapted safety range 313 and / or an object within the adapted safety range 313, and a control facility 211 for controlling the execution of one or more safety actions based on monitoring to reduce the risk of collision of the vehicle 301 with the object.
    FIG. 3 shows a vehicle 301. The vehicle 301 comprises the device 201 of FIG. 2. For reasons of simplification, the figure does not show the elements 203, 205, 207, 209, 211.
    The vehicle 301 comprises for example one or more environmental sensors for capturing the environment of the vehicle. From the environment entered by the vehicle, environment data is obtained. For example, the environment data is analyzed to detect an object that might be in the safety range. For example, the environment data is analyzed to find an object that moves within the safe range or that could move around it (forecast). This means that according to a development, a prediction of the motion of the detected object is made to determine whether this object can move within the appropriate safety range.
    Figure 4 shows a parking lot 401 for vehicles shown schematically. The car park 401 includes a device 201. For reasons of simplification, the elements 203, 205, 207, 209, 211 are not shown.
    The car park 401 comprises, for example, several environmental sensors installed in the parking lot 401. These environmental sensors, for example, enter a vehicle that travels in the parking lot 401 along a set path. Depending on the input, it is for example planned to analyze the safety range to detect an object and monitor whether this object moves in the safety range or the location where this object is in the safety range.
    Figure 5 shows the vehicle 301. For reasons of simplification, the device 201 has not been shown.
    The vehicle 301 is traveling on a path 303. There is further provided another vehicle 305 which circulates in the opposite direction relative to the taxiway 303, that is to say which corresponds to an opposite direction of traffic. The two traffic lanes 303, 305 are separated from each other by a broken line 307. As shown in FIG. 5, the traffic lanes 303, 305 are curved, that is to say they have a curved path.
    The vehicle 301 travels along a setpoint trajectory 309. This setpoint trajectory 309 is the expected setpoint trajectory that the vehicle 301 must travel.
    A safety range 311 has been determined so that this safety range 311 at least partly encompasses the reference trajectory 309. The expression "at least partly" includes in particular the case where the set trajectory is completely encompassed by the range. safety or the appropriate safety range.
    The safety range 311 is continuously adapted while the vehicle 301 is traveling along the setpoint path 309. An example of an appropriate safety range is designated 313. As shown in FIG. 5, this adapted safety range 313 is adapted to the curvature predefined by the trajectory 303 of the vehicle. This adapted safety range "lights up" the turn. This is similar and comparable to long-range, adapted lights, or adapted headlights, which are not oriented in a straight-line manner. Thus, in a curved path, the lighting will be adapted to the curve so as to better illuminate the curve.
    The adapted safety range 313 is monitored as described above and hereinafter. According to the monitoring, it then controls the implementation of one or more safety actions to reduce the risk of collision of the vehicle 301 with an object.
    In summary, the invention develops a technical and effective concept to reduce the risk of collision of a vehicle with an object. This concept is for example the basis of a safety action such as an emergency stop. The basic idea according to the invention of the concept consists in particular in checking with a dynamic safety range (the appropriate safety range), with respect to its shape, if an object (vehicle, person, animal) approaches the vehicle or stays on the path of the vehicle or enters this trajectory. The appropriate safety range can also be called "seatbelt" as this is a kind of seatbelt that provides greater safety for the vehicle.
    According to a development, the safety range is adapted so that the residual target trajectory, that is to say the future part of the trajectory, is at least partially covered and in particular completely. This means that for example the shape of the safety belt will be dynamically adapted to cover the future trajectory. The shape adaptation is done for example as an adaptive lighting curve (adaptive lighting of high beam or adaptive lighting of dipped beam).
    If an object is in the safety range or moves within the safety range, several actions will be announced to ensure safety; this consists in ordering the implementation of one or more safety actions to reduce the risk of collision of the vehicle with this object: it reduces the instantaneous speed of the vehicle, preparing the brake system of the vehicle for braking, performs or initiates an environmental scan of the appropriate security range (for example by relating it specifically to the object or by focusing specifically on the object with other parameters or with other analyzes or with other environment models, and / or it triggers an emergency stop (execution of an emergency stop that is to say stopping the vehicle).
    According to a development, for example, the proximity (direction of the object with respect to the vehicle) and / or the direction of movement of the object with respect to the vehicle and / or the direction of movement of the object and the vehicle are determined. according to a criterion (parameter) applied by the actions.
    Insofar as the object has passed below a predetermined minimum distance from the vehicle, according to one embodiment, it is intended to trigger the emergency stop.
    If, according to a development, the object is at a predetermined minimum distance from the vehicle and its direction of movement facing the vehicle, an emergency or triggering maneuver is initiated, ie that is, in this embodiment, the vehicle is stopped.
    The monitoring of the appropriate safety range will be carried out according to one embodiment by one or more environmental sensors. Environmental sensors are for example parts of the environmental sensor system. For this purpose and according to one embodiment, the vehicle environment sensors or the environmental sensors of a parking infrastructure or the environmental sensors of both the motor vehicle and also those of the infrastructure are used. parking.
    According to a development, both in the vehicle itself, a safety range is defined and according to the safety adaptation, it is appropriately monitored at the same time according to one embodiment, so as to be able to determine the external elements. to the vehicle by means of the parking device according to the safety range and the continuous adaptation of the determined safety range as well as the corresponding monitoring of the appropriate safety range.
    The results of these checks are then used according to one embodiment to implement one or more security actions.
    权利要求:
    Claims (16)
    [1" id="c-fr-0001]
    1 °) A method for reducing the risk of collision of a motor vehicle (301) with an object comprising the following steps of: determining (101) a future target path (309) that the vehicle (301) must travel, determining (103) a safety range (311) based on the future target path (309) so that the safety range (311) at least partially comprises the future target path (309), the safety range (311) setting a defined partial range of the vehicle environment, continuously adapting (105) the determined safety range (311) during vehicle movement (301) along the set path (309) so that the adapted safety zone (313) comprises at least partly a residual trajectory of the target trajectory (309) which the vehicle (301) still has to travel, monitor (107) the adapted safety range (313) during the moves vehicle (301) along the set path (309) on a moving object within the adapted safety range (313) and / or an object within the safety range (313), adapted, and - controlling (109) the execution of one or more safety actions based on the monitoring to reduce the risk of collision of the vehicle (301) with the object.
    [0002]
    Method according to Claim 1, characterized in that the safety actions are elements of the following group of safety actions: reducing the instantaneous speed of the vehicle, preparing a braking system of the vehicle (301) for braking, perform an environmental scan of the appropriate safety range (313), perform an emergency stop, perform an avoidance maneuver.
    [0003]
    Method according to Claim 1 or 2, characterized in that one or more safety actions are selected from the predetermined safety actions as a function of one or more parameters.
    [0004]
    Method according to Claim 3, characterized in that the parameters are elements of the following group of parameters: distance of the object from the vehicle (301), direction of movement of the object relative to the vehicle ( 301), object size, instant object speed, object type.
    [0005]
    5) Method according to one of claims 1 to 4, characterized in that the commanded execution comprises a remote control of an action and / or several security actions.
    [0006]
    Method according to one of Claims 1 to 5, characterized in that the monitoring consists of analyzing the environmental data for a moving object in the safety range (313) and / or analyzing an object which is located in the safety range (313) adapted, the environment data being provided by one or more environmental sensors which have entered the appropriate safety range (313) and which include the vehicle environment sensor (s) ( 301) and / or are in the environment of the vehicle (301).
    [0007]
    7 °) Method according to one of claims 1 to 6, characterized in that to carry out one or more of the safety actions, it is controlled on the basis of an internal monitoring of the vehicle and also on a surveillance external to the vehicle, the monitoring internal to the vehicle comprising correspondingly performing at least the determination, continuous adaptation and ground-based monitoring steps and the external monitoring of the vehicle based on the execution of at least the determination, adaptation steps continuously and monitoring.
    [0008]
    8 °) Device (201) for reducing the risk of collision of a vehicle (301) with an object comprising: - a determination facility (203) for determining a future target trajectory (309) that the vehicle (301) will have through a determination facility (205) for determining a safety range (311) based on the future target path (309) so that the safety range (311) comprises at least part of the future target path (309), the safety range (311) fixing a determined range delimited from the field of a motor vehicle, - an adaptation installation (207) for continuously adjusting the determined safety range (311) during the movement of the vehicle. vehicle (301) along the set path (309) so that the adapted safety range (313) has at least in part a target path (309) that the vehicle (301) must travel as a residual path, a inst monitoring station (209) for monitoring the safety range, adapted (313) during the movement of the vehicle (301) along the set path (309) for a moving object within the adapted safety range (313) and / or an object within the safety range (313), adapted, and - a control facility (211) for controlling the execution of one or more security actions based on the monitoring to reduce the risk of collision of the vehicle (301) with the object.
    [0009]
    Device (201) according to claim 8, characterized in that the safety actions are elements of the following group of safety actions: reduce the instantaneous speed of the vehicle, prepare the braking system of the vehicle (301) to perform the braking, perform an environmental scan of the appropriate safety range (313), execute an emergency stop, perform an avoidance maneuver.
    [0010]
    10 °) Device (201) according to claim 8 or 9, characterized in that the control installation (211) performs one or more security actions among several predefined security actions according to one or more parameters.
    [0011]
    Device (201) according to claim 10, characterized in that the parameters are elements of the following group of parameters: distance of the object from the vehicle (301), direction of movement of the object relative to vehicle (301), object size, instant object speed, object type.
    [0012]
    12 °) Device (201) according to one of claims 8 to 11, characterized in that the control installation (211) controls the remote control of one of the security actions and / or one or more sets security actions.
    [0013]
    13 °) Device (201) according to one of claims 8 to 12, characterized in that the monitoring installation (209) analyzes the environmental data as to a moving object in the adapted safety range (313) and or an object within the appropriate safety range (313), the environment data being provided by one or more environmental sensors, which have entered the appropriate safety range (313), the one or more sensors environment forming part of the vehicle (301) and / or being installed in the environment of the vehicle (301).
    [0014]
    14 °) Device (201) according to one of claims 8 to 13, characterized in that the control installation (211) controls the execution of one or more security actions based on both monitoring internal to the vehicle and also to an external surveillance of the vehicle, the internal monitoring of the vehicle being based on the corresponding execution of at least one of the steps of determination, continuous adaptation and monitoring and external monitoring of the vehicle being based on the corresponding execution at least the determination, continuous adaptation and monitoring steps.
    [0015]
    15 °) Motor vehicle (301) and parking space (401) of vehicles (301) comprising the device (201) according to one of claims 8 to 14.
    [0016]
    16 °) Computer program comprising the program code for the implementation of the method according to one of claims 1 to 7 when the program product is executed by a computer.
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    优先权:
    申请号 | 申请日 | 专利标题
    DE102015220643.2A|DE102015220643A1|2015-10-22|2015-10-22|Method and device for reducing a collision risk of a collision of a motor vehicle with an object|
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