• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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    • 专利摘要:
    19 Summary A method and system that implements the method of a first vehicle to support file replacement Than a file A to an adjacent file B with the same correction. The method includes receiving data related to a second vehicle behind the first vehicle and identifying that the second vehicle wishes to run the first vehicle based on the received data. Data is received indicating the occurrence of vehicles in lane B and determining at least one parameter X indicating a space Ui for the first vehicle in lane B based on the data. The parameter X is compared with a threshold value k1 which includes a length of the first vehicle, and if the parameter X is greater than the threshold value a parameter Y is determined which indicates when the second vehicle is short of the first vehicle provided that the first vehicle changes lane to the space Ui in file B and maintains its speed v1. It is then determined whether the first vehicle can maintain its speed v1 in the space Ui until the second vehicle has a map of the first vehicle based on the parameter Y, and whether it is possible to generate a lane change signal sf indicating the space U1. (Fig. 1)
    公开号:SE1350753A1
    申请号:SE1350753
    申请日:2013-06-20
    公开日:2014-12-21
    发明作者:Tony Sandberg
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The present invention relates to a system and a method for a vehicle for supporting file change according to the preamble of the independent claims, and in particular to a rear-wheel drive vehicle.
    Background of the Invention The traffic on our roads is increasing, which means that the traffic flow is negatively affected and more traffic jams occur. To solve the problem, more and more motorways are being built with more and more files. However, these are not fully utilized because drivers tend to (in the case of right-hand traffic) avoid the corphalt furthest to the right and instead traffic is generated in the lane to the left which should be the fastest, which makes it also the most dangerous.
    Changing the corrugation requires great demands on the vehicle driver. The driver must keep an eye on the back and at the same time as he has continued to look forward. This requires more energy than just continuing to drive straight ahead. Each driver seems to make his choices based on what is most comfortable for him. In addition, many drivers experience a great loss of prestige to move in order to let the flag re-emerge, especially if it meant that you yourself risk getting stuck in the longer right-hand lane. Making the right decision as a driver is black. It is required that you assess your speed relative to the slower vehicles in the right lane, just as you assess the relative speed of the vehicle approaching from behind in your own lane. Finally, you must decide whether you want to change lanes and whether you have time to be overtaken by the vehicle behind before you yourself are in the vehicle in the right lane.
    The result can be that you stay in the fast lane because you can not control the situation well enough, although a lane change could have facilitated the flow of traffic while no own loss of time or lower speed would have had to occur.
    There are several known systems to help a driver drive his vehicle in a safe way, such as lane departure warning systems, intelligent speeds, etc. For example DE-102007033887-Al is a system edge to assist the driver to change lanes from the left to Niger file. The system detects if a vehicle is approaching from behind at high speed or if the distance to the vehicle behind is small, which may indicate that the vehicle behind wants to overtake. The system determines when it is appropriate to change lanes to the right lane at a safe distance from the vehicles in the right lane, and suggests it to the driver to avoid a dangerous situation with the vehicle behind.
    However, the system only takes into account the safety distance to the vehicles in the right lane, and not if the vehicle that is to change lanes will lose on changing lanes.
    The object of the invention is thus to provide a lane change stand for the goods of a vehicle, which essentially imposes the consequences for the own vehicle of a lane change.
    Summary of the invention According to a first aspect, the object is achieved with a method for a first vehicle for supporting the change of lane from a lane A to an adjacent lane B with the same correction, the method comprising: receiving data related to a second vehicle behind it understand the vehicle; - identify that the second vehicle wishes to drive the first vehicle based on the received data, the first vehicle having a speed v1 and being in lane A; receive data indicating the presence of vehicles in file B; determining at least one parameter X related to a space U1 for the first vehicle in lane B based on the data indicating the presence of vehicles in lane B; compare parameter X with a check value k1 that includes a length of the first vehicle, and if parameter X is greater than the check value: - determine a parameter Y that indicates when the second vehicle is short of the first vehicle provided that the first vehicle changes lanes to space U1 in file B and maintains its speed v1; 3 determine if the first vehicle can maintain its speed vi in the space Ui until the second vehicle has Vint about the first vehicle based on the parameter Y, and if it is possible: generate a lane change signal sf which indicates the space U1.
    Through the method, the goods of the first vehicle can be supported in the decision whether to change lanes so that a vehicle behind can drive over. The driver can use the method to find out if it is possible to change lanes and let the vehicle behind re-drive, without having to slow down himself before it is possible to return to the previous lane. According to one embodiment, even the first vehicle can be automatically controlled to carry out the lane change.
    The driver of the first vehicle can thus be motivated to change the lane because the driver knows that he does not lose anything in making the change. The vehicle behind can then continue in its lane without slowing down, and cow formation can be avoided in this lane. The first vehicle can maintain its speed even in the second lane, and cow formation can also be avoided. After higher traffic flow can be obtained, and the various lanes along the road are utilized more efficiently. The vehicles can largely maintain their speeds, which gives smoother speeds, which reduces fuel consumption. After the vehicle behind can drive further, a potentially dangerous situation that may arise as the vehicle behind him approaches the first vehicle is avoided.
    According to a second aspect, the object is achieved by a system for a first vehicle for supporting the change of lane from a lane A to an adjacent lane B with the same correction.
    The system includes a first controller and a memory unit configured to store instructions for causing the first controller to: receive data related to a second vehicle behind the first vehicle; identifying that the second vehicle wishes to drive the first vehicle based on the received data, the first vehicle having a speed v1 and being in file A receiving data indicating the presence of vehicles in file B; 4 consist of a parameter X related to a space U1 for the first vehicle in lane B based on the data indicating the occurrence of vehicles in lane B; compare parameter X with a check value k1 that includes a length of the first vehicle, and if parameter X is greater than the check value: - determine a parameter Y that indicates when the second vehicle is short of the first vehicle provided that the first vehicle changes lanes to space Ui in file B and maintains its velocity v1; determine if the first vehicle can maintain its speed v1 in space U1 until the second vehicle has a map of the first vehicle based on parameter Y, and if it is possible: generate a lane change signal sf indicating space U1.
    According to one embodiment, two or more of the vehicles described herein are equipped for vehicle-to-vehicle communication (V2V), and can thus wirelessly transmit signals between them. According to another embodiment, one or more of the vehicles described herein are equipped for vehicle-to-from-infrastructure communication (V2I), and it is thus possible to wirelessly transmit signals to such a vehicle and infrastructure in the form of, for example, a roadside unit.
    Preferred embodiments are described in the dependent claims and in the detailed description.
    Brief description of the accompanying figures The invention will be described below with reference to the accompanying figures, of which: Fig. 1 shows a system according to an embodiment of the invention. Fig. 2 shows a method according to an embodiment of the invention. Fig. 3A-3D shows different situations for file change.
    DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Fig. 1 shows a system 6 for a first vehicle 1 for supporting the change of cradle file.
    System 6 will now be explained with reference to this figure. With "file" nnenas has a vag file. In the following figures 3A-3D, examples are shown on a path with two files, a file A and an adjacent file B with the same correction, on which path system 6 can be used to support a file change. The system 6 can be completely located in the first vehicle 1, alternatively partly in a roadside unit or another computer unit located at a distance from the first vehicle 1, and partly in the first vehicle 1. The vehicle 1 can be, for example, a passenger vehicle. The units in system 6 can e.g. communicate with each other through a local network in the vehicle, for example via a CAN bus (Computer Area Network) or LIN bus (Local Interconnect Network).
    As shown in Fig. 1, the system 6 comprises a first control unit 7 and a memory unit 8. The control unit 7 may, for example, be an ECU (Electronic Control Unit). The control unit 7 comprises a flake form of processor, for example a CPU (Central processing Unit). The memory unit 8 includes, for example, a non-volatile computer memory as a flash memory. The memory unit 8 is configured to store instructions to cause the first control unit 7 to perform a number of steps. According to one embodiment, the memory unit 8 stores a computer program P, wherein the computer program P comprises a program code for causing the control unit 7 to perform some of the steps which will be described therein. The control unit 7 and the memory unit 8 may be separate units which are connected to each other, alternatively the memory unit 8 may be incorporated in the control unit 7.
    The first control unit 7 is configured to receive data from one or more units 11, 12. According to one embodiment, the system 6 comprises a receiving unit 12 which is configured to receive wireless signals sw from vehicles and / or roadside units and generate data St to the first the control unit 7. A wireless signal and / or data st may, for example, contain information about the vehicle's position px, speed vx, identity id x and / or contain a message than one or more vehicles. The system 6 may also or instead comprise one or more detector units 11 which are configured to detect one or more vehicles in the vicinity of the first vehicle 1, and to generate data indicating one or more pitches for the vehicle or vehicles. A pitcher may, for example, be a relative position Ap or relative velocity Av.
    The first control unit 7 can receive information about the position of the first vehicle pi via a positioning unit 13 which uses, for example, GPS, Global Positioning System. The speed v1 of the first vehicle 1 can be obtained via, for example, the network 1 of the vehicle 1.
    The memory unit 8 is thus configured to store instructions for causing the first control unit 7 to receive data St, sd related to a second vehicle 2 behind the first vehicle 1, and further to identify that the second vehicle 2 wishes to run over the first vehicle 1. based on the received data. The first control unit 7 is configured to identify that the second vehicle 2 behind wants to re-run by analyzing the received data. For example, a distance between the first vehicle 1 and the second vehicle 2 can be determined, and if the distance is below a spruce value k2sa, it is identified that the second vehicle 2 wants to re-run. Another alternative is to determine that the second vehicle 2 approaches the first vehicle 1. This can be done by determining a relative speed difference between the first vehicle 1 and the second vehicle 2, and if the speed difference is greater than a spruce value k3sa it is identified that the second vehicle 2 wants to chase. The limit values k2 and k3 are adapted according to one embodiment to the speed v1 of the vehicle 1. Another alternative is to compare the speeds of vehicles 1, 2, and determine if the second vehicle 2 has a higher speed than the first vehicle 1. If the second vehicle 2 has a higher speed than the first vehicle 1, it is identified that the second vehicle 2 want to change. A further alternative is to receive a message from the other vehicle 2 that it wishes to change. This message and the speed of the other vehicle 2 can be received via, for example, V2V or V2I communication. The described options can of course be combined to more accurately identify that the second vehicle 2 behind wants to re-run the first vehicle 1. The memory unit 8 is further configured to store instructions for making the first control unit 7 receive data St, sd from the receiving unit 12 and / or the detector unit 11 indicating the presence of vehicles in lane B, and determining at least one parameter X related to a space Ui for the first vehicle 1 in lane B based on the data indicating the occurrence of vehicles in lane B. According to one embodiment, the first control unit 7 configured to identify a position parameter p3, p4 each for at least two consecutive vehicles 3, 4 in lane B based on the data indicating the occurrence of vehicles in lane B. The parameter X can then be calculated as the distance between the position parameters p3, p4 which also indicates the space U1 between the two vehicles 3, 4.
    According to one embodiment, all spaces U1 ..k between all possible k + 1 vehicles in lane B are determined along a predetermined distance, for example 2 km from the road seen from the first vehicle 1. The size and position of the spaces U1 ..k are determined.
    This can be determined by receiving data on the positions of a plurality of k + 1 vehicles, and then calculating the distance, and thus the size of the spaces UtA, between the vehicles based on the data on the positions of the vehicles. The data may also contain information on, for example, the length of the vehicles. The length of the vehicles can then be removed Than the calculated distance to get a more accurate calculation of the size of the utunnnnne Ut.k. Alternatively, a standard vehicle hose can be removed from the distance. The U1 ..k positions of the spaces can then be determined as the start and end of the spaces U.k. The start and end of the spaces can be determined by the positions of the vehicles that delimit the spaces, or the positions of the vehicles compensated for the vehicle length. A GPS receiver, for example in the form of a positioning unit 13, is usually located in the front part of the vehicle, and thus indicates the position of the front part of the vehicle. The position of the rear of the vehicle can then be determined by using data on the length of the vehicle. In this way, the system 6 can keep track of all the spaces along the track and determine where it is possible for the first vehicle 1 to make a lane change according to the invention.
    The memory unit 8 can contain map data describing the road, and the positions of the vehicles can then be related to the road. If there are no vehicles on the predetermined distance, X can be set to the size of the predetermined distance. 8 The spaces U1 ..k can instead be occupied as they are evaluated. If a space close to the first vehicle 1 is judged to be too small, the next space left in the correction can be evaluated, etc. If the first vehicle 1 is placed in lane A parallel to the space U1 in lane B, then the parameter X is determined as the distance than it the first vehicle 1 to the front of the vehicles delimiting the space Ui. When set, the system 6 can take into account the location of the first vehicle 1 relative to the space U1.
    The control unit 7 is further configured to compare the parameter X with a check value k1 which includes a length of the first vehicle 1. According to one embodiment, the check value also includes a safety distance to the other vehicle or vehicles 3, 4 in lane B. The check mark k1 may be of a predetermined size, alternatively it can be adjusted depending on the speed and length of the vehicles. If the parameter X is greater than the threshold value k1, then the first vehicle 1 takes place in the space U1, and then a number of additional steps are performed according to the method. A parameter Y is determined which indicates when the second vehicle 2 has run over the first vehicle 1 provided that the first vehicle 1 changes lane to the space Ui in lane B and maintains its speed v1. In this way one can know the time t2 and / or the position p2 of the second vehicle 2 as the second vehicle 2 is short of the first vehicle 1, and the parameter Y can indicate this. Alternatively, the parameter Y may comprise a time period 2t2 or distance 52 which the second vehicle 2 has traveled until it is short of the first vehicle 1.
    According to one embodiment, the first control unit 7 is configured to determine an ambition speed va for the second vehicle 2. The parameter Y can then be determined based on at least the ambition speed va and the speed of the first vehicle 1 to be maintained. The ambition speed va can be, for example, the speed v2 of the other vehicle 2, or an upper speed limit for the carriage. The control unit 7 can also be configured to determine a speed ramp for the speed v2 of the other vehicle 2. The second vehicle 2 may have had to adjust its speed to the speed of the first vehicle 1, and will increase its speed when it is about to overtake the first vehicle 1. By then including a 9 gradual increase of the speed of the second vehicle 2 up to the anbition speed va can be a more accurate determination of at what time and / or position the second vehicle 2 has kid about the first vehicle 1, alternatively At2 or distance s2 as the second vehicle 2 traveled until it has driven about the first vehicle 1 Than it to the other vehicle 2 can start the detour.
    The first control unit 7 is further configured to determine if the first vehicle 1 can maintain its speed v1 in the space U1 until the second vehicle 2 has short of the first vehicle 1 based on the parameter Y, and if it is possible: generate a lane change signal sf which indicates the space U1. The file change signal sf can contain information about the position and size of the space. According to one embodiment, the first control unit 7 is configured to determine a parameter Z which indicates how long the first vehicle 1 can be driven at the speed vi without having to slow down the speed as it changes lane to the space U1 in lane B. Z can be determined on a number of different true. For example, the first control unit 7 may be configured to determine how the size of the space U1 changes over time, based on the speeds v3 and v4 of the vehicles 3, 4 in the file B and the distance between them. The position pi of the first vehicle 1 in relation to the space U1 can be determined over time, and thus how long Ati the first vehicle can travel in the space U1 without colliding with the vehicle which constitutes the front boundary of the space U1 in the direction of travel of the vehicles. The parameter Z can thus be determined to be Ati. The parameter Z can instead be determined to be a time ts or position Ps for the first vehicle 1 since the first vehicle 1 after the time ts or the position Ps can no longer be driven with the maintained speed vi in file B.
    The first control unit 7 is then configured to compare the parameter Y with the paranneter Z, and generate a file change signal sf which indicates the output space U1 depending on the result of the comparison. It has been assumed that the parameters Y and Z are of the same magnitude, for example a time. If, for example, Y is At2 and Z is Ati, and when At2 is compared with Ati, it turns out that At2, then the first vehicle 1 can travel in space U1 while maintaining speed until the second vehicle 2 has short 10 past the first vehicle 1. , and the first vehicle 1 can then return to the file A. A lane change signal sf is then generated which indicates the space Ui.
    Alternatively, the control unit 7 may be configured to determine if it is possible for the first vehicle 1 to travel to Z, if Z is a position p2 or time t2, without having to reduce its speed to avoid a collision. If possible, a file change signal sf is generated which indicates the space U1.
    According to one embodiment, the system 6 comprises an indicating unit 9 which is configured to receive the lane change signal sf and to indicate the space U1 for the goods of the first vehicle 1. The indication may include where the space Ui is in the form of positions for the space U1 and / or a relative distance between the first vehicle 1 and the space Ui. The indication may also include at what time or position the first vehicle 1 can enter the space U1. This can be an advantage if the space U1 is located a bit in front of the first vehicle 1.
    According to another embodiment, or as a complement to the indication described above, the first control unit 7 is configured to send the lane change signal sf to a second control unit 10 in the first vehicle 1, the second control unit 10 at least partially automatically controlling the first vehicle 1 to perform the file change Than file A to the space Ui in file B. The second control unit 10 is then configured to generate control signals for, for example, a cruise control and a control system in the first vehicle 1.
    The memory unit 8 may also include map data and the first control unit 7 may be configured to keep track of where the vehicles 1, 2, 3, 4, 5, etc. are located in relation to each other along the road and in which lanes.
    Fig. 2 shows a flow chart of a method for the first vehicle 1, and Figs. 3A-3B show an example of a scenario in which the method can be used. The method will now be explained with reference to these figures. Figs. 3A and 3B show two adjacent files A and B with the same correction on a scale. Fig. 3A shows the first vehicle 1 running in lane A at a speed v1 at the position pi. Behind the first vehicle 1 approaches a second vehicle 2 having the speed v2 at the position p2. According to the flow chart in Fig. 2, data is received related to the second vehicle 2 behind the first vehicle 1 (A1). Based on the received data, it is identified that the second vehicle 2 wishes to drive the first vehicle 1 (A2). As previously described, this can be done in various ways, for example by receiving a message than the second vehicle 2 via wireless communication that the second vehicle 2 wishes to drive on the first vehicle 1. If it is identified that the second vehicle 2 wants to drive if, then data is received indicating the presence of vehicles in file B (A3). Figures 3A and 3B illustrate two vehicles 3, 4, and Figure 3A with a space Ui between them. The data can, for example, indicate the positions p3, p4 of the vehicles 3, 4. The data can also indicate the vehicles 3, 4 and speeds v3, v4, respectively. This data can also be received via wireless communication. Based on the received data indicating the occurrence of vehicles in lane B, at least one parameter X related to the space U1 for the first vehicle 1 in lane B (A4) is determined. This can be done by identifying a position parameter p3, p4 each for the at least two consecutive vehicles 3, 4 in file B based on the data, and calculating the parameter X as the distance between the position parameters p3, p4 which also indicates the space U1 between the two vehicles 3, 4. The distance between the positions p3 and p4 of the vehicles 3, 4 can thus be determined and thus the space between the vehicles 3, 4 in the direction of the vehicles as illustrated by an arrow in the figures. Next, parameter X is entered with a spruce value k1 that includes a length of the first vehicle 1 (A5). The boundary value k1 can, for example, be a distance which includes the length of the first vehicle 1 plus safety distance to the vehicles 3, 4 which delimit the space U1. If parameter X is greater than the threshold value, the first vehicle will have 1 place in the space Ui. If the parameter X is less than or equal to the branch value k1, the space U1 is not considered to be a sufficient start for the first vehicle 1 to be able to drive into it. If X is larger than k1 and the first vehicle 1 thus fits in the space U1, then a parameter Y is determined which indicates when the second vehicle 2 is short of the first vehicle 1 provided that the first vehicle 1 changes lane to the space U1 in lane B and maintains its speed v1 (A6). Fig. 3B illustrates the scenario that the first vehicle 1 has a short entry into the space U1 in lane B and the second vehicle 2 has overtaken the second vehicle in lane A. Y can thus be the position p2 of the second vehicle and / or the time t2 in which the second vehicle 2 is estimated to have passed the vehicle 1. According to one embodiment, a safety distance is also added between the first and the second vehicle 1, 2 so that the first vehicle 1 can safely drive out into lane A again without risking that end up in a dangerous situation with the second vehicle 2. According to the flow chart, it was now determined whether the first vehicle 1 can maintain its speed v1 in space U1 until the second vehicle 2 has a short of the first vehicle 1 based on parameter Y (A7), and if it is possible to generate a file change signal sf which indicates the space Ui (A8). If this is not possible, the method returns to step Al. Step A7 may comprise determining a parameter Z which indicates how long the first vehicle 1 can be driven at the speed v1 without having to slow down the speed as it changes lane to the space U1 in lane B. This has previously been explained in connection with the system 6 (Fig. 1) and he is referred there for further exemplification.
    For example, the parameter Y may indicate a time t1 or a position p2 for the other vehicle 2. According to this embodiment, the parameter Y is then compared with the parameter Z, and a lane change signal sf indicating the space U1 is generated depending on the result of the comparison. If the comparison shows that the first vehicle 1 can maintain its speed in the space U1 until the second vehicle 2 has run over, then a lane change signal sf is generated which indicates the space U1.
    According to one embodiment, the space U1 for the driver of the first vehicle 1 is indicated.
    The driver can choose to perform the file change. According to another or additional embodiment, the lane change signal sf is sent to a control unit 10 in the first vehicle 1, the control unit 10 at least partially automatically controlling the first vehicle 1 to perform the lane change Iran lane A to the space U1 in lane B.
    According to the flow chart, it is now determined whether the first vehicle 1 can maintain its speed v1 in the space U1 until the second vehicle 2 has a short about the first vehicle 1 based on the parameter Y (A7), and if possible a lane change signal sf is generated which indicates the space U1 (A8). In case 30 it is not possible, the method returns to step A1. Fig. 30 shows an example of when the first vehicle 1 cannot maintain its speed in the space Ui in lane B until the second vehicle 2 has a code about the first vehicle 1. The space Ui is large enough to accommodate the first vehicle 1, but too small for the second vehicle 2 to have time to re-run before the first vehicle 1 catches up with the front vehicle 3 which delimits the space U1. The speed v3 of the front vehicle 3 is also for law in relation to the speed that the first vehicle 1 wants to maintain. Step A7 can thus be determined based on the parameter X, the speed v3 of the front vehicle 3 and the speed v1 which the first vehicle wants to maintain.
    Fig. 3D shows an example pile when there are a plurality of vehicles 2, 5, 6 in the file A that want to run if the first vehicle 1. If V2V or V21 communication is used, then also the vehicles 5, 6 which are located behind the other vehicle 2 is detected.
    The step A6 can then be extended to determine when even these vehicles 5, 6 have a short of the first vehicle 1. The vehicle 5 has the speed v and the position p, and the vehicle 6 has the speed v6 and the position p6. If the space U1 is not sufficient, one or more new U2 ... Uk can be determined which are then evaluated by the method. Fig. 3D shows three vehicles 3, 4, 7 in addition to the first vehicle 1. The vehicle 3 has the speed v3 and the position p3, the vehicle 4 the speed va and the position pa, and the vehicle 7 the speed v7 and the position p7. Between vehicles 3 and 7, an additional space U2 can be determined and evaluated.
    The invention also relates to a computer program product comprising a program code stored on a computer readable medium for performing some of the method steps described above.
    The present invention is not limited to the embodiments described above. Various alternatives, modifications and equivalents can be used.
    Therefore, the above-mentioned embodiments do not limit the scope of the invention, which is defined by the appended claims.
    权利要求:
    Claims (3)
    [1]
    1. determine a parameter Z which indicates how long the first vehicle (1) can be driven at speed v1 without having to slow down as it changes lane to the space U1 in lane B;
    [2]
    2. compare parameter Y with parameter Z; - generate a file change signal sf which indicates the space U1 depending on the result of the comparison. A computer program (P) in a system (6), wherein said computer program (P) comprises a program code for causing the control unit (7) to perform any of the steps according to claims 1 to 8. A computer program product comprising a program code stored on one of a computer readable medium for performing the nodeode steps according to any one of claims 1 to 8. 1/4 sw 6 12 St 1 13 7 Sf 9 FR P
    [3]
    3. 1 2/4 RECEIVE DATA RELATED TO ANOTHER VEHICLE BEHIND AN ONE VEHICLE VEHICLE RECEIVE DATA INDICATING THE EXISTENCE OF VEHICLES IN FIL B l / IDENTIFY THE OTHER VEHICLE DESIRE KORA ABOUT THE COUNCIL INDICATES A SPACE UI FOR THE FIRST VEHICLE IN FIL B NO A DETERMINES A PARAMETER Y THAT INDICATES WHEN THE OTHER _.--- A6 THE VEHICLE HAS A SHORT ABOUT THE FIRST VEHICLE IN A7 NO CAN THE FIRST VEHICLE DISPOSE HELP ABOUT UNDERSTANDING THE VEHICLE A8, ------ JAGENERATE A FILE CHANGE SIGNAL Si THAT INDICATES THE SPACE Ui
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    法律状态:
    2021-10-05| NUG| Patent has lapsed|
    优先权:
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    SE1350753A|SE538365C2|2013-06-20|2013-06-20|Time-efficient system and method for supporting file exchange with regard to the performance of the own vehicle|SE1350753A| SE538365C2|2013-06-20|2013-06-20|Time-efficient system and method for supporting file exchange with regard to the performance of the own vehicle|
    PCT/SE2014/050711| WO2014204381A1|2013-06-20|2014-06-12|System and method for support for change of lane|
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