DE19648826A1 - Electronic vehicle anti-collision system - Google Patents
Electronic vehicle anti-collision systemInfo
- Publication number
- DE19648826A1 DE19648826A1 DE19648826A DE19648826A DE19648826A1 DE 19648826 A1 DE19648826 A1 DE 19648826A1 DE 19648826 A DE19648826 A DE 19648826A DE 19648826 A DE19648826 A DE 19648826A DE 19648826 A1 DE19648826 A1 DE 19648826A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- image
- lights
- hazard warning
- evaluation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
Description
Die Erfindung bezieht sich auf ein elektronisches System, bei dem eine elektronische Kamera, die im Frontbereich eines Fahrzeuges installiert ist, die Heckpartie des vorausfahrenden Fahrzeuges auf ihrer Bildplatte abbildet und dieses Bild ständig elektronisch auswertet. Dabei wird ermittelt, ob an diesem Fahrzeug Reaktionen feststellbar sind, die erkennen lassen, daß dieses Fahrzeug seine Geschwindigkeit stark vermindert bzw. vermindert hat, oder ob an diesem Fahrzeug die Warnblinkanlage eingeschaltet ist. Mit der Erkennung einer dieser Aktionen am vorausfahrenden Fahrzeug und einer daraus abzuleitenden Gefahr eines Auffahrunfalls, wird an dem Fahrzeug, welches über die elektronische Bildauswertung verfügt, über eine Relaisschaltung die Warnblinkanlage eingeschaltet. Zusätzlich kann der Fahrer optisch oder akustisch gewarnt werden. In der Folge können an nachfolgenden Fahrzeugen die Warnblinkanlagen automatisch eingeschaltet werden, wenn diese Fahrzeuge mit dem Stauwarnsystem ausgerüstet sind und die Bedingungen für die Warnung erfüllt sind.The invention relates to an electronic system in which an electronic Camera installed in the front of a vehicle, the rear of the shows the vehicle in front on their image plate and this image constantly electronically evaluated. It is determined whether there are reactions on this vehicle are noticeable, which show that this vehicle is very fast decreased or decreased, or whether the hazard warning lights on this vehicle is switched on. With the detection of one of these actions on the vehicle in front and a risk of a rear-end collision to be derived therefrom, on the vehicle, which has the electronic image evaluation, a relay circuit Hazard warning lights switched on. In addition, the driver can optically or acoustically be warned. As a result, the following vehicles can Hazard warning lights are switched on automatically when these vehicles with the Congestion warning system are equipped and the conditions for the warning are met.
Es sind bereits Systeme im Bereich der Stauwarnung bekannt. Diese basieren weitestgehend auf einer Abstandsmessung zum vorausfahrenden Fahrzeug mittels Radar- oder Lasermessung (DE 36 37 165 A1 und EP 637 525 A2). In der Auswertung von Fahrgeschwindigkeit und Abstand der Kraftfahrzeuge untereinander werden dem Fahrzeugführer Warnsignale erteilt bzw. es wird durch Eingriff in die Fahrzeugführung diese beeinflußt, indem die Fahrgeschwindigkeit vermindert wird bzw. das Fahrzeug angehalten wird. Diese Systeme sind rechtlich sehr umstritten, da dies völlig ohne Zutun der Fahrer geschieht. Dieser muß die Anlage ausschalten, wenn dieses Korrektursystem nicht ständig in seine Fahrzeugführung eingreifen soll. So ist der Fahrer nicht mehr der aktive Teil des Systems Mensch-Fahrzeug, was umfassende rechtliche Fragen und Fragen der Produkthaftung aufwirft.Systems in the area of traffic jam warning are already known. These are based largely on a distance measurement to the vehicle in front by means of Radar or laser measurement (DE 36 37 165 A1 and EP 637 525 A2). In the evaluation of the driving speed and the distance between the motor vehicles are the Vehicle drivers give warning signals or it is caused by interference in the vehicle management this is influenced by reducing the driving speed or the vehicle is stopped. These systems are very controversial from a legal point of view, as they are completely without action the driver happens. This must switch off the system if this correction system should not constantly intervene in his vehicle management. So the driver is no longer that active part of the human-vehicle system, which includes comprehensive legal issues and Product liability issues.
Das Bundesministerium für Verkehr befürwortet das informierende und warnende, nicht jedoch das korrigierende Fahrzeugsystem. The Federal Ministry of Transport does not support the informational and warning however the corrective vehicle system.
Die auf Reflektion der Laser- oder Radarstrahlung beruhenden Systeme bergen eine Zahl von Fehlmessungen, da die Reflektionen an einer Vielzahl von Hindernissen auftreten können, die nicht unbedingt im Verkehrsraum des Fahrzeugs liegen. Weiterhin können Nickbewegungen des Fahrzeuges zu Fehlmessungen führen.The systems based on reflection of the laser or radar radiation contain one Number of incorrect measurements due to the reflections on a variety of obstacles can occur that are not necessarily in the traffic area of the vehicle. Farther pitching movements of the vehicle can lead to incorrect measurements.
Weitere Vorschläge beruhen auf der Infrarotmessung zum vorausfahrenden Fahrzeug mit prinzipiell den gleichen oder ähnlichen Fehlern.Further suggestions are based on the infrared measurement of the vehicle in front basically the same or similar errors.
Nach EP 0 380 797 A1 mißt ein Sensor die Infrarotstrahlen, die Rück- und Bremsleuchten des vorausfahrenden Fahrzeuges ausstrahlen und meldet dem Fahrer des nachfolgenden Fahrzeuges nur, daß sich im Verkehrsraum vor seinem Fahrzeug ein Hindernis befindet. Es überläßt in der Folge alle Handlungen dem Führer dieses Fahrzeuges. Außerdem setzt diese Anlage voraus, daß die Rück- und Bremsleuchten eingeschaltet sind.According to EP 0 380 797 A1, a sensor measures the infrared rays, the back and The brake lights of the vehicle in front are emitted and reported to the driver of the following vehicle only that one in the traffic area in front of his vehicle Obstacle. It subsequently leaves all actions to the leader Vehicle. In addition, this system requires that the rear and brake lights are switched on.
Aus der EP 0 246 436 A2 ist eine Vorrichtung zum automatischen Einschalten einer Warnblinkanlage bekannt, bei der die Warnblinkanlage über einen Beschleunigungssensor bei einem Auffahrunfall oder einer Notbremsung selbsttätig eingeschaltet wird. Die Fahrer der nachfolgenden Fahrzeuge müssen erst das Warnblinklicht erkennen, bevor sie Gegenmaßnahmen zur Kollisionsverhütung einleiten können.EP 0 246 436 A2 describes a device for automatically switching on a Hazard warning system known, in which the hazard warning system via a Acceleration sensor automatically in the event of a rear-end collision or emergency braking is switched on. The drivers of the following vehicles have to do this first Detect hazard warning lights before taking countermeasures to prevent collisions can.
Weiterhin sind Anlagen bekannt, bei denen zur Stauwarnung Funk- oder Infrarotsignale vom vorausfahrenden zum nachfolgenden Fahrzeug übertragen werden, die dazu genutzt werden, daß an den nachfolgenden Fahrzeugen die Warnblinkanlage eingeschaltet wird. Als besonderes Problem tritt dabei auf, daß jedes Fahrzeug mit dieser Anlage ausgestattet sein muß.Furthermore, systems are known in which radio or infrared signals are used to warn of traffic jams from the vehicle in front to the vehicle behind, which are used for this be that the hazard warning lights are switched on on the following vehicles. A particular problem arises that every vehicle with this system must be equipped.
Die Erfindung "Kollisionswarnsystem für Fahrzeuge mittels elektronischer Bildauswertung soll anhand eines Ausführungsbeispiels nachfolgend erläutert werden.The invention "collision warning system for vehicles using electronic Image evaluation is to be explained below using an exemplary embodiment.
Nach Fig. 1 des Anhangs ist bei einem vorausbefindlichen Fahrzeug die Warnblinkanlage eingeschaltet. Im Frontbereich des nachfolgenden Fahrzeuges ist eine elektronische Kamera installiert, die gleichzeitig mit dem Einschalten der Stromversorgung für das Fahrzeug aktiviert wird und die Konturen eines vorausbefindlichen Gegenstandes auf ihrer Bildplatte abbildet. Diese Bildsignale des Gegenstandes werden digitalisiert oder anderweitig aufbereitet, so daß sie mathematisch ausgewertet und z. B. als Fahrzeug identifiziert werden können.According to FIG. 1 of the appendix, the hazard warning lights are switched on for a vehicle in front. In the front area of the following vehicle, an electronic camera is installed, which is activated at the same time as the power supply for the vehicle is switched on and shows the contours of an object in front of it on its image plate. These image signals of the object are digitized or otherwise processed so that they are evaluated mathematically and z. B. can be identified as a vehicle.
Die auswertbaren Konturen können dabei durch die Umrisse des Fahrzeuges oder durch die eingeschalteten Rück-, und/oder Bremsleuchten evtl. durch die Begrenzungsleuchten oder durch die Kennzeichenbeleuchtung gebildet werden.The contours that can be evaluated can be determined by the outline of the vehicle or by the switched on tail lights and / or brake lights may be due to the position lights or be formed by the license plate light.
Wenn nun am als Fahrzeug identifizierten System die Warnblinkanlage einschaltet, so bildet die Kamera diese Situation zusätzlich auf ihrer Bildplatte ab. An dem beiderseitig gleichem Bildrhythmus und dem Abstand zu den erkannten Konturen, errechnet der Computer über das vorgegebene Programm, daß sich vor dem Fahrzeug ein Hindernis befindet, daß dieses Hindernis ein Fahrzeug ist, und daß dieses Fahrzeug eine Gefahrenmeldung sendet.If the hazard warning system on the system identified as a vehicle now switches on, then so the camera also depicts this situation on its image plate. On both sides the same picture rhythm and the distance to the recognized contours Computer on the given program that there is an obstacle in front of the vehicle believes that this obstacle is a vehicle and that this vehicle is a vehicle Sends danger message.
Diese Erkennung wird möglich, da lt. Straßenverkehrs-Zulassungsordnung (StVZO) die Rück- und Warnleuchten symmetrisch angeordnet und bestimmte Maße und Abstände einzuhalten sind. Über die Größen e₁ und e₂ und die Winkel α und β kann der Abstand A mathematisch mit hinreichender Genauigkeit bestimmt werden. Durch die ständige Messung der Winkel α und β und der daraus bestimmbaren Winkelveränderung pro Zeiteinheit kann die Relativgeschwindigkeit bestimmt werden, mit der sich das Meßfahrzeug dem Fahrzeug mit eingeschalteter Warnblinkanlage nähert. Über die Relativgeschwindigkeit Δv zwischen den Fahrzeugen in Verbindung mit den Größen A und e kann der Rechner bestimmen, ab wann akute Kollisionsgefahr besteht. Somit ist er in der Lage, über einen Steuerimpuls die Warnblinkanlage an diesem Fahrzeug einzuschalten und den Fahrer dieses Fahrzeuges akustisch, optisch oder anderweitig zu warnen.This detection is possible because according to the Road Traffic Licensing Regulations (StVZO) Rear and warning lights arranged symmetrically and certain dimensions and distances are to be observed. About the sizes e₁ and e₂ and the angles α and β, the distance A can be determined mathematically with sufficient accuracy. Because of the constant Measurement of the angles α and β and the resulting change in angle per Unit of time, the relative speed at which the Test vehicle approaches the vehicle with the hazard warning lights switched on. About the Relative speed Δv between the vehicles in connection with the sizes A and the computer can determine when there is an acute risk of collision. So he is able to control the hazard warning lights on this vehicle switch on and the driver of this vehicle acoustically, optically or otherwise to warn.
Mit dem Einschalten der Warnblinkanlage wird frühzeitig der diesem Fahrzeug nachfolgende Fahrzeugführer gewarnt. Besonders dann, wenn dieses Fahrzeug ebenfalls über das dargestellte Kollisionswarnsystem verfügt.When the hazard warning lights are switched on, this vehicle is switched on at an early stage following drivers warned. Especially if this vehicle too has the collision warning system shown.
Durch diese rechtzeitige Warnung, speziell bei Nebel oder anderweitig schlechten Sichtverhältnissen, kann den Stau- und Auffahrunfällen zuverlässig entgegengewirkt werden. Das gilt auch bei plötzlicher Staubildung innerhalb Kolonnenfahrt, wenn ein vorausbefindliches Fahrzeug anhalten muß und die Warnblinkanlage einschaltet bzw. wenn bei einem Unfall durch den Chrash-Schalter die Warnblinkanlage eingeschaltet wird. Wie eine Kettenreaktion läuft dann die Warnung für die nachfolgenden Fahrzeugführer der staubildenden Kette entgegen und warnt rechtzeitig die in das Gefahrenbereich einfahrenden Fahrzeugführer.With this timely warning, especially in the case of fog or other bad conditions Visibility, can reliably counteract traffic jams and rear-end collisions will. This also applies if there is a sudden build-up of congestion within the convoy, if one the vehicle in front must stop and the hazard warning lights switch on or if the hazard warning system is switched on by the crash switch in the event of an accident becomes. The warning for the following then runs like a chain reaction Driver against the dust-forming chain and warns those in time Driver entering the danger zone.
In Vervollkommnung des Erfindungsgedankens kann vorgesehen werden, daß sich die Warnblinkanlage zusätzlich ab einer vorgegebenen negativen Beschleunigung selbsttätig einschaltet oder daß eine Empfängerstufe in das Motor- und/oder Bremsmanagement eingreift, um das Kraftfahrzeug abzubremsen oder anzuhalten.In perfection of the inventive concept it can be provided that the Hazard warning flashers also automatically from a predetermined negative acceleration switches on or that a receiver level in the engine and / or brake management intervenes to brake or stop the motor vehicle.
Letztlich eröffnet die Erfindung auch die Möglichkeit, daß Polizei oder Sicherungskräfte mit Handgeräten oder auch mit fest installierten Geräten die Warnblinkanlagen der in Gefahrenbereiche einfahrenden Kraftfahrzeuge einschaltet. Somit kann vor den verschiedensten Gefahren wie Glatteis, Nebel, Staubildung usw. direkt vom Fahrbahnrand aus oder über ferngeschaltete Systeme gewarnt werden.Ultimately, the invention also opens up the possibility of police or security personnel with handheld devices or with permanently installed devices the hazard warning lights of the in Motor vehicles entering danger areas. Thus, before the various dangers such as black ice, fog, dust formation etc. directly from the Be warned from the edge of the road or via remote-controlled systems.
Um Fehlauslösungen der Warnblinkanlage zu korrigieren, die unter Umständen durch warnblinkende Fahrzeuge am Fahrbahnrand verursacht werden, ist in einer besonderen Ausgestaltung der Erfindung eine Möglichkeit vorzusehen, manuell für eine festzulegende Zeitspanne die eingeschaltete Warnblinkanlage zu deaktivieren. Eine Scharfschaltung der Anlage muß selbständig ohne Zutun des Fahrers erfolgen.To correct false triggering of the hazard warning lights, which may be caused by Warning flashing vehicles caused at the edge of the road is in a special Embodiment of the invention to provide a way to manually set for a Deactivate the switched-on hazard warning lights. An arming the system must be carried out independently without the driver's intervention.
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE19648826A DE19648826A1 (en) | 1996-11-26 | 1996-11-26 | Electronic vehicle anti-collision system |
Applications Claiming Priority (1)
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DE19648826A DE19648826A1 (en) | 1996-11-26 | 1996-11-26 | Electronic vehicle anti-collision system |
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DE19648826A Withdrawn DE19648826A1 (en) | 1996-11-26 | 1996-11-26 | Electronic vehicle anti-collision system |
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Cited By (29)
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DE19723454A1 (en) * | 1997-06-04 | 1998-12-10 | Josef Maderer | Monitoring system for motor vehicle |
DE19725756A1 (en) * | 1997-06-18 | 1998-12-24 | Abb Patent Gmbh | Operating electrical apparatus on car, e.g. rear fog lamp |
DE19730414A1 (en) * | 1997-07-16 | 1999-01-21 | Opel Adam Ag | Method to judge condition of roadway in advance |
DE19734005A1 (en) * | 1997-08-06 | 1999-02-11 | Itt Mfg Enterprises Inc | Vehicle braking distance reduction device |
DE19900754A1 (en) * | 1999-01-12 | 2000-07-27 | Moeller Claudia | Surge absorber unit for telecommunications, data technology has contact blades about twice length of spring arms for separation of blade contact element contact fingers in connector strips |
EP1024050A1 (en) * | 1999-01-29 | 2000-08-02 | Renault | Drive aid device for a motor vehicle |
FR2791932A1 (en) * | 1999-04-07 | 2000-10-13 | Honda Motor Co Ltd | Lighting control system located within a lead vehicle controlling lighting assemblies within successive vehicles, comprises of an onboard controller and monitoring system that transmits light operation data from lead to following vehicles |
DE19933782A1 (en) * | 1999-07-19 | 2001-01-25 | Volkswagen Ag | Preventing shunt accidents involves computing time until vehicles will collide taking into account value for deceleration of following vehicle, initiating an action if time below threshold |
DE19953447A1 (en) * | 1999-11-06 | 2001-05-10 | Volkswagen Ag | Control device for automobile brake lights or tail lights responds to detected proximity of following vehicle for reducing light signal intensity for preventing dazzle |
FR2800945A1 (en) * | 1999-11-10 | 2001-05-11 | Fujitsu Ltd | Cruise control unit for controlling distance between vehicles in which front car has rear panel displaying selected/indicated shape and rear car imager detects image, determining/validating shape and measuring distance |
WO2001061669A1 (en) * | 2000-02-16 | 2001-08-23 | Hrl Laboratories, Llc | Collision avoidance system utilizing machine vision taillight tracking |
GB2368118A (en) * | 2000-05-24 | 2002-04-24 | Daimler Chrysler Ag | Method of and device for detecting, ranging and classifying road users and obstacles |
DE10103392A1 (en) * | 2001-01-26 | 2002-08-08 | Bosch Gmbh Robert | Automatic traffic jam warning procedure |
DE10118033A1 (en) * | 2001-04-11 | 2002-10-24 | Am3 Automotive Multimedia Ag | Indicating intensity of braking process for motor vehicle involves briefly operating brake light in rear of vehicle with flashing frequency at start of braking depending on deceleration |
EP1341140A1 (en) * | 2002-03-01 | 2003-09-03 | Hitachi Ltd. | Vehicle control apparatus |
FR2851837A1 (en) * | 2003-02-27 | 2004-09-03 | Peugeot Citroen Automobiles Sa | Pedestrian detection method in environs of motor vehicle, uses thermal image of view ahead of vehicle, extracts hottest sources and compares them with characteristics of pedestrian, presenting enhanced display on in-vehicle screen |
EP1157889A3 (en) * | 2000-05-20 | 2006-04-12 | Georg Hagmeier | Warning device for vehicle |
WO2006089498A1 (en) * | 2005-02-22 | 2006-08-31 | Adc Automotive Distance Control Systems Gmbh | Method for identifying the activation of the brake lights of preceding vehicles |
GB2425386A (en) * | 2005-04-22 | 2006-10-25 | John Revell | Vehicle early warning system |
EP1728681A1 (en) * | 2005-06-01 | 2006-12-06 | Virginia Cremona | Communication method and signalling arrangement for vehicle |
DE102005035813A1 (en) * | 2005-07-27 | 2007-02-01 | Conti Temic Microelectronic Gmbh | Motor vehicle brake light controlling method for visualizing brake force, involves superimposing lighting effects, whose frequency and/or brightness and/or intensity are effected in relation to intensity of force, on middle light intensity |
WO2008086859A1 (en) * | 2007-01-19 | 2008-07-24 | Daimler Ag | Method and driver assistance system for assisting a driver when driving a motor vehicle |
DE102011102512A1 (en) * | 2011-05-26 | 2012-11-29 | Conti Temic Microelectronic Gmbh | Method for deriving surroundings information from the detection of rear lights of vehicles in front |
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DE102005061419B4 (en) * | 2005-12-22 | 2014-01-09 | Volkswagen Ag | Method for transmitting traffic-related information |
CN109318893A (en) * | 2018-10-30 | 2019-02-12 | 南京邮电大学 | Safe driving householder method and system based on the variation of license plate pixels tall |
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DE102018204572A1 (en) * | 2018-03-26 | 2019-09-26 | Bayerische Motoren Werke Aktiengesellschaft | Control unit and method for avoiding rear-end collisions |
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Cited By (34)
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DE19723454A1 (en) * | 1997-06-04 | 1998-12-10 | Josef Maderer | Monitoring system for motor vehicle |
DE19725756A1 (en) * | 1997-06-18 | 1998-12-24 | Abb Patent Gmbh | Operating electrical apparatus on car, e.g. rear fog lamp |
DE19730414A1 (en) * | 1997-07-16 | 1999-01-21 | Opel Adam Ag | Method to judge condition of roadway in advance |
DE19734005A1 (en) * | 1997-08-06 | 1999-02-11 | Itt Mfg Enterprises Inc | Vehicle braking distance reduction device |
DE19900754A1 (en) * | 1999-01-12 | 2000-07-27 | Moeller Claudia | Surge absorber unit for telecommunications, data technology has contact blades about twice length of spring arms for separation of blade contact element contact fingers in connector strips |
EP1024050A1 (en) * | 1999-01-29 | 2000-08-02 | Renault | Drive aid device for a motor vehicle |
FR2789205A1 (en) * | 1999-01-29 | 2000-08-04 | Renault | ASSISTANCE DEVICE FOR DRIVING A MOTOR VEHICLE |
FR2791932A1 (en) * | 1999-04-07 | 2000-10-13 | Honda Motor Co Ltd | Lighting control system located within a lead vehicle controlling lighting assemblies within successive vehicles, comprises of an onboard controller and monitoring system that transmits light operation data from lead to following vehicles |
DE19933782A1 (en) * | 1999-07-19 | 2001-01-25 | Volkswagen Ag | Preventing shunt accidents involves computing time until vehicles will collide taking into account value for deceleration of following vehicle, initiating an action if time below threshold |
DE19933782B4 (en) * | 1999-07-19 | 2013-08-01 | Volkswagen Ag | Method for avoiding rear-end collisions and device for carrying out the method |
DE19953447A1 (en) * | 1999-11-06 | 2001-05-10 | Volkswagen Ag | Control device for automobile brake lights or tail lights responds to detected proximity of following vehicle for reducing light signal intensity for preventing dazzle |
FR2800945A1 (en) * | 1999-11-10 | 2001-05-11 | Fujitsu Ltd | Cruise control unit for controlling distance between vehicles in which front car has rear panel displaying selected/indicated shape and rear car imager detects image, determining/validating shape and measuring distance |
WO2001061669A1 (en) * | 2000-02-16 | 2001-08-23 | Hrl Laboratories, Llc | Collision avoidance system utilizing machine vision taillight tracking |
EP1157889A3 (en) * | 2000-05-20 | 2006-04-12 | Georg Hagmeier | Warning device for vehicle |
GB2368118A (en) * | 2000-05-24 | 2002-04-24 | Daimler Chrysler Ag | Method of and device for detecting, ranging and classifying road users and obstacles |
GB2368118B (en) * | 2000-05-24 | 2002-11-27 | Daimler Chrysler Ag | Method of and device for detecting ranging and classifying road users and obstacles |
US6838980B2 (en) | 2000-05-24 | 2005-01-04 | Daimlerchrysler Ag | Camera-based precrash detection system |
DE10103392A1 (en) * | 2001-01-26 | 2002-08-08 | Bosch Gmbh Robert | Automatic traffic jam warning procedure |
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EP1341140A1 (en) * | 2002-03-01 | 2003-09-03 | Hitachi Ltd. | Vehicle control apparatus |
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