CN104290658A - Warning device and method for front road hazardous condition detection - Google Patents
Warning device and method for front road hazardous condition detection Download PDFInfo
- Publication number
- CN104290658A CN104290658A CN201410512866.0A CN201410512866A CN104290658A CN 104290658 A CN104290658 A CN 104290658A CN 201410512866 A CN201410512866 A CN 201410512866A CN 104290658 A CN104290658 A CN 104290658A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- current time
- front vehicles
- relative
- unsafe condition
- 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.)
- Granted
Links
Abstract
The invention belongs to the technical field of automobile active safety, and particularly relates to a warning device and method for front road hazardous condition detection. The warning device for front road hazardous condition detection comprises a vehicle, a data processing unit located in the vehicle, laser scanning radar right fixed to the center of a bumper in front of the vehicle, and a flashing buzzer fixed to an instrument panel of the vehicle. The laser emitting end of the laser scanning radar faces the front side of the vehicle, the signal output end of the laser scanning radar is electrically connected with the signal input end of the data processing unit, and the signal output end of the data processing unit is electrically connected with the flashing buzzer.
Description
Technical field
The invention belongs to automobile active safety technical field, particularly a kind of warning device for the detection of front road unsafe condition and method.
Background technology
When automobile normally travels on road, often can run into front truck and change or the situation of Reduced Speed Now, this situation is very common because front truck can according to the demand of oneself change overtake other vehicles or select suitable oneself track and speed.If front has a car or two cars to change or deceleration simultaneously, can normal circumstances be regarded as, but if many, front car changes or deceleration simultaneously, then may be cause danger in front, such as front crashes, and front vehicle is selected change or slow down to dodge danger.If this car chaufeur does not find danger or finds more lately just likely safety misadventure to occur in this case, two kinds of situations are had to occur: one is that chaufeur does not find dangerously to continue driving, then may knock the vehicle in front, consequence is very serious; Two be find more late, find dangerous after Emergency avoidance, there is potential safety hazard like this.
Summary of the invention
The object of the invention is to propose a kind of warning device for the detection of front road unsafe condition and method, the present invention can detect the unsafe condition also timely driver that front vehicles causes, and guarantees that chaufeur has enough time to dodge danger.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
The warning device detected for front road unsafe condition comprises: vehicle, the data processing unit being positioned at vehicle, the flashing buzzer being fixed on the Centromedian scanning laser radar of vehicle front bumper/spoiler and being fixed on meter panel of motor vehicle, and the Laser emission end of described scanning laser radar is towards vehicle front;
The signal output part of described scanning laser radar is electrically connected the signal input part of described data processing unit, and the signal output part of described data processing unit is electrically connected described flashing buzzer.
Described data processing unit is arm processor, micro controller system or industrial computer.
Described scanning laser radar is the safe laser scanner of SICK, and its concrete model is S3000; Described flashing buzzer is AD16-22SM type flashing buzzer.
Feature and further improvement of the technical program are:
Described scanning laser radar for gathering the cloud data of front vehicles, and is sent to data processing unit in real time for the cloud data of the front vehicles by collection; Described data processing unit is used for the cloud data according to front vehicles, judges whether vehicle front occurs unsafe condition; Described data processing unit is used for when unsafe condition appears in vehicle front, controls flashing buzzer luminous and sounding type.
Technical scheme two:
For the alarm method that front road unsafe condition detects, based on above-mentioned a kind of warning device detected for front road unsafe condition, comprise the following steps:
S1: after vehicle starts traveling, the cloud data of each front vehicles of scanning laser radar Real-time Collection, and the cloud data of each front vehicles collected is sent to data processing unit in real time;
S2: in data processing unit, draws the horizontal relative velocity of each front vehicles of current time relative to vehicle; Show that each front vehicles of current time relative to the process of the horizontal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw the horizontal relative distance of the front vehicles that current time is corresponding and vehicle; If the front vehicles that current time is corresponding is positioned at the left forward side of vehicle, the front vehicles that then current time is corresponding and the horizontal relative distance of vehicle are positive number, otherwise, if the front vehicles that current time is corresponding is positioned at the right forward side of vehicle, then the front vehicles that current time is corresponding and the horizontal relative distance of vehicle are negative; Then, front vehicles that current time the is corresponding horizontal relative velocity Vx relative to vehicle is drawn; Vx=(dx
1-dx
2)/t, dx
1represent the horizontal relative distance of the front vehicles that current time is corresponding and vehicle, dx
2represented the horizontal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment;
If be all greater than 0 by the end of the front vehicles of the continuous correspondence drawn for b time of current time relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; If the front vehicles of the continuous correspondence drawn for b time of current time is all less than 0 relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; Then, the number that current time carries out the front vehicles of changing is added up;
S3: the number of carrying out the front vehicles of changing according to current time, judges whether vehicle front occurs unsafe condition; Data processing unit, when unsafe condition appears in vehicle front, controls flashing buzzer luminous and sounding type.
Feature and further improvement of the technical program are:
In step s3, if the number that current time carries out the front vehicles of changing be greater than setting change vehicle number threshold value, then think that unsafe condition appears in vehicle front.
In step s 2, in data processing unit while drawing the horizontal relative velocity of each front vehicles of current time relative to vehicle, draw the longitudinal relative velocity of each front vehicles of current time relative to vehicle; Show that each front vehicles of current time relative to the process of longitudinal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw longitudinal relative distance of the front vehicles that current time is corresponding and vehicle; Then, front vehicles that current time the is corresponding longitudinal relative velocity Vy relative to vehicle is drawn; Vy=(dy
1-dy
2)/t, dy
1represent longitudinal relative distance of the front vehicles that current time is corresponding and vehicle, dy
2represented longitudinal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment;
Then, the deceleration/decel of the relative vehicle of each front vehicles of current time is drawn; The deceleration/decel a of the relative vehicle of the front vehicles that current time is corresponding is: a=(Vy
1-Vy
2)/t, wherein, Vy
1represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle, Vy
2represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle; If a is less than the deceleration/decel threshold value of setting, then think that dangerous deceleration behavior appears in corresponding front vehicles;
In step s3, carry out the number that the front vehicles of dangerous deceleration behavior appears in the number of the front vehicles of changing and current time according to current time, judge whether vehicle front occurs unsafe condition.
In step s3, if current time carries out the number of the front vehicles of changing and current time occurs that the number sum of the front vehicles of dangerous deceleration behavior is greater than the unsafe condition threshold value of setting, then think that unsafe condition appears in vehicle front.
Beneficial effect of the present invention is: when dangerous road conditions appear in vehicle front, can send audible and visible alarm in time to chaufeur.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of a kind of warning device for the detection of front road unsafe condition of the present invention;
Fig. 2 is the working process schematic diagram of a kind of warning device for the detection of front road unsafe condition of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
With reference to Fig. 1, it is the electrical block diagram of a kind of warning device for the detection of front road unsafe condition of the present invention.This warning device being used for the unsafe condition detection of front road comprises vehicle, and in vehicle, be provided with data processing unit, data processing unit is for identifying the unsafe condition in vehicle front.Data processing unit is arm processor, micro controller system or industrial computer.
In the embodiment of the present invention, be fixed with scanning laser radar in vehicle front bumper/spoiler centre, for gathering the cloud data of front vehicles.This scanning laser radar is the safe laser scanner of SICK, and its concrete model is S3000, and scanning angle is 190 degree, and protection zone scope is 7m, and 120 milliseconds of resolution are 30-150mm.The signal output part of this scanning laser radar is electrically connected the signal input part of above-mentioned data processing unit, and scanning laser radar is used for the cloud data of the front vehicles of collection to be sent to data processing unit in real time.
In the embodiment of the present invention, on meter panel of motor vehicle or operator's compartment bearing circle side be fixed with flashing buzzer, this flashing buzzer is Shanghai two work AD16-22SM type flashing buzzer.The signal output part of this flashing buzzer electrical connection data processing unit; When data processing unit receives the cloud data of front vehicles, according to the cloud data of front vehicles, judge whether vehicle front occurs unsafe condition; When unsafe condition appears in vehicle front, control flashing buzzer luminous and sounding type, note front road conditions to remind chaufeur.
With reference to Fig. 2, it is the working process schematic diagram of a kind of warning device for the detection of front road unsafe condition of the present invention.The working process of the warning device that this detects for front road unsafe condition is described as follows:
After vehicle starts traveling, the cloud data of each front vehicles of scanning laser radar Real-time Collection, and the cloud data of each front vehicles collected is sent to data processing unit in real time.
In data processing unit, draw the horizontal relative velocity of each front vehicles of current time relative to vehicle.Whether front vehicles can carry out the standard of changing as front vehicles relative to the horizontal relative velocity of vehicle.In the embodiment of the present invention, show that each front vehicles of current time relative to the process of the horizontal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw the horizontal relative distance of the front vehicles that current time is corresponding and vehicle.If the front vehicles that current time is corresponding is positioned at the left forward side of vehicle, the front vehicles that then current time is corresponding and the horizontal relative distance of vehicle are positive number, otherwise, if the front vehicles that current time is corresponding is positioned at the right forward side of vehicle, then the front vehicles that current time is corresponding and the horizontal relative distance of vehicle are negative; Specifically, the cloud data of front vehicles is the cloud data in the three-dimensional cartesian coordinate system taking scanning laser radar as initial point, the X-axis forward of this three-dimensional cartesian coordinate system represents the horizontal left direction in track, the X-axis negative sense of this three-dimensional cartesian coordinate system represents the horizontal right direction in track, the Y-axis forward of this three-dimensional cartesian coordinate system represents the travel direction of vehicle along track, and the Z axis forward of this three-dimensional cartesian coordinate system represents direction straight up.
Then, front vehicles that current time the is corresponding horizontal relative velocity Vx relative to vehicle is drawn; Vx=(dx
1-dx
2)/t, dx
1represent the horizontal relative distance of the front vehicles that current time is corresponding and vehicle, dx
2represented the horizontal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment.The current time once sampling current with scanning laser radar is corresponding, and a upper moment samples corresponding with the last time of scanning laser radar.
If be all greater than 0 (illustrating that the corresponding relative vehicle of front vehicles carries out continuing laterally motion left) by the end of the front vehicles of the continuous correspondence drawn for b time of current time relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; If the front vehicles of the continuous correspondence drawn for b time of current time is all less than 0 (illustrating that the corresponding relative vehicle of front vehicles carries out continuing laterally motion to the right) relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; Then, the number that current time carries out the front vehicles of changing is added up; In the embodiment of the present invention, the value of b is 5 to 10.
Carry out the number of the front vehicles of changing according to current time, judge whether vehicle front occurs unsafe condition; Data processing unit, when unsafe condition appears in vehicle front, controls flashing buzzer luminous and sounding type.Specifically, if the number that current time carries out the front vehicles of changing be greater than setting change vehicle number threshold value, then think that unsafe condition appears in vehicle front.In the embodiment of the present invention, the vehicle number threshold value of changing of setting is 2 or 3.When the number that current time carries out the front vehicles of changing be greater than setting change vehicle number threshold value time, scanning laser radar continuous firing, what the number of carrying out the front vehicles of changing when a certain moment was not more than setting changes vehicle number threshold value, data processing unit does not send control signal to flashing buzzer, and flashing buzzer stops luminous and sounding type.
One as the embodiment of the present invention is improved, and in data processing unit while drawing the horizontal relative velocity of each front vehicles of current time relative to vehicle, draws the longitudinal relative velocity of each front vehicles of current time relative to vehicle; Show that each front vehicles of current time relative to the process of longitudinal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw longitudinal relative distance of the front vehicles that current time is corresponding and vehicle; Longitudinal relative distance of the front vehicles that current time is corresponding and vehicle is positive number.Then, front vehicles that current time the is corresponding longitudinal relative velocity Vy relative to vehicle is drawn; Vy=(dy
1-dy
2)/t, dy
1represent longitudinal relative distance of the front vehicles that current time is corresponding and vehicle, dy
2represented longitudinal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment; If Vy is greater than 0, illustrate that the relative vehicle of front vehicles that current time is corresponding travels to the working direction in track, two spacings strengthen.If instead Vy is less than 0, illustrate that front vehicles that current time vehicle is relatively corresponding travels to the working direction in track, two spacings shorten.
Then, the deceleration/decel of the relative vehicle of each front vehicles of current time is drawn; The deceleration/decel a of the relative vehicle of the front vehicles that current time is corresponding is: a=(Vy
1-Vy
2)/t, wherein, Vy
1represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle, Vy
2represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle; If a is less than the deceleration/decel threshold value (negative) of setting, then thinks that dangerous deceleration behavior appears in corresponding front vehicles, the generation of rear-end collision may be caused.Otherwise, do not think that dangerous deceleration behavior appears in corresponding front vehicles.In the embodiment of the present invention, the deceleration/decel threshold value set is as-1m/s
2.
Then, carry out the number that the front vehicles of dangerous deceleration behavior appears in the number of the front vehicles of changing and current time according to current time, judge whether vehicle front occurs unsafe condition.Particularly, if current time carries out the number m of the front vehicles of changing and current time occurs that the number sum n of the front vehicles of dangerous deceleration behavior is greater than the unsafe condition threshold value of setting, then think that unsafe condition appears in vehicle front, otherwise, do not think that unsafe condition appears in vehicle front.In the embodiment of the present invention, the unsafe condition threshold value of setting is 2 or 3.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. the warning device detected for front road unsafe condition, it is characterized in that, comprise: vehicle, the data processing unit being positioned at vehicle, the flashing buzzer being fixed on the Centromedian scanning laser radar of vehicle front bumper/spoiler and being fixed on meter panel of motor vehicle, the Laser emission end of described scanning laser radar is towards vehicle front;
The signal output part of described scanning laser radar is electrically connected the signal input part of described data processing unit, and the signal output part of described data processing unit is electrically connected described flashing buzzer.
2. as claimed in claim 1 a kind of for front road unsafe condition detect warning device, it is characterized in that, described data processing unit is arm processor, micro controller system or industrial computer.
3. as claimed in claim 1 a kind of for front road unsafe condition detect warning device, it is characterized in that, described scanning laser radar is the safe laser scanner of SICK, and its concrete model is S3000; Described flashing buzzer is AD16-22SM type flashing buzzer.
4., for the alarm method that front road unsafe condition detects, based on a kind of warning device detected for front road unsafe condition according to claim 1, it is characterized in that, comprise the following steps:
S1: after vehicle starts traveling, the cloud data of each front vehicles of scanning laser radar Real-time Collection, and the cloud data of each front vehicles collected is sent to data processing unit in real time;
S2: in data processing unit, draws the horizontal relative velocity of each front vehicles of current time relative to vehicle; Show that each front vehicles of current time relative to the process of the horizontal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw the horizontal relative distance of the front vehicles that current time is corresponding and vehicle; If the front vehicles that current time is corresponding is positioned at the left forward side of vehicle, the front vehicles that then current time is corresponding and the horizontal relative distance of vehicle are positive number, otherwise, if the front vehicles that current time is corresponding is positioned at the right forward side of vehicle, then the front vehicles that current time is corresponding and the horizontal relative distance of vehicle are negative; Then, front vehicles that current time the is corresponding horizontal relative velocity Vx relative to vehicle is drawn; Vx=(dx
1-dx
2)/t, dx
1represent the horizontal relative distance of the front vehicles that current time is corresponding and vehicle, dx
2represented the horizontal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment;
If be all greater than 0 by the end of the front vehicles of the continuous correspondence drawn for b time of current time relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; If the front vehicles of the continuous correspondence drawn for b time of current time is all less than 0 relative to the horizontal relative velocity of vehicle, then think that front vehicles corresponding to current time is carrying out changing; Then, the number that current time carries out the front vehicles of changing is added up;
S3: the number of carrying out the front vehicles of changing according to current time, judges whether vehicle front occurs unsafe condition; Data processing unit, when unsafe condition appears in vehicle front, controls flashing buzzer luminous and sounding type.
5. as claimed in claim 4 a kind of for front road unsafe condition detect alarm method, it is characterized in that, in step s3, if the number that current time carries out the front vehicles of changing be greater than setting change vehicle number threshold value, then think that unsafe condition appears in vehicle front.
6. as claimed in claim 4 a kind of for front road unsafe condition detect alarm method, it is characterized in that, in step s 2, in data processing unit while drawing the horizontal relative velocity of each front vehicles of current time relative to vehicle, draw the longitudinal relative velocity of each front vehicles of current time relative to vehicle; Show that each front vehicles of current time relative to the process of longitudinal relative velocity of vehicle is: according to the cloud data of front vehicles corresponding to current time, draw longitudinal relative distance of the front vehicles that current time is corresponding and vehicle; Then, front vehicles that current time the is corresponding longitudinal relative velocity Vy relative to vehicle is drawn; Vy=(dy
1-dy
2)/t, dy
1represent longitudinal relative distance of the front vehicles that current time is corresponding and vehicle, dy
2represented longitudinal relative distance of the front vehicles that a upper moment is corresponding and vehicle, t represented the time difference in current time and a upper moment;
Then, the deceleration/decel of the relative vehicle of each front vehicles of current time is drawn; The deceleration/decel a of the relative vehicle of the front vehicles that current time is corresponding is: a=(Vy
1-Vy
2)/t, wherein, Vy
1represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle, Vy
2represent the longitudinal relative velocity of front vehicles corresponding to current time relative to vehicle; If a is less than the deceleration/decel threshold value of setting, then think that dangerous deceleration behavior appears in corresponding front vehicles;
In step s3, carry out the number that the front vehicles of dangerous deceleration behavior appears in the number of the front vehicles of changing and current time according to current time, judge whether vehicle front occurs unsafe condition.
7. as claimed in claim 6 a kind of for front road unsafe condition detect alarm method, it is characterized in that, in step s3, if current time carries out the number of the front vehicles of changing and current time occurs that the number sum of the front vehicles of dangerous deceleration behavior is greater than the unsafe condition threshold value of setting, then think that unsafe condition appears in vehicle front.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512866.0A CN104290658B (en) | 2014-09-29 | 2014-09-29 | A kind of warning device and method for preceding road detection of unsafe condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410512866.0A CN104290658B (en) | 2014-09-29 | 2014-09-29 | A kind of warning device and method for preceding road detection of unsafe condition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104290658A true CN104290658A (en) | 2015-01-21 |
| CN104290658B CN104290658B (en) | 2018-03-06 |
Family
ID=52310691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410512866.0A Active CN104290658B (en) | 2014-09-29 | 2014-09-29 | A kind of warning device and method for preceding road detection of unsafe condition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104290658B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598053A (en) * | 2016-12-19 | 2017-04-26 | 驭势科技（北京）有限公司 | Automatic driving vehicle transverse motion control object selection method |
| CN109360410A (en) * | 2018-10-11 | 2019-02-19 | 百度在线网络技术（北京）有限公司 | Vehicle coordination approach, device, vehicle and medium |
| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN110171413A (en) * | 2018-02-20 | 2019-08-27 | 现代自动车株式会社 | For controlling the device and method of the driving of vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5495251A (en) * | 1993-02-20 | 1996-02-27 | Lucas Industries Public Limited Company | Method of and apparatus for cruise control |
| DE69522089T2 (en) * | 1995-02-08 | 2002-04-25 | Toyota Motor Co Ltd | Vehicle radar for the exclusion of a vehicle performing a lane change as a target object |
| CN101031161A (en) * | 2006-02-21 | 2007-09-05 | 通用汽车环球科技运作公司 | Inter vehicular ad hoc routing protocol and communication system |
| CN102035874A (en) * | 2009-10-02 | 2011-04-27 | 通用汽车环球科技运作公司 | Reducing the computational load on processors by selectively discarding data in vehicular networks |
| CN202345598U (en) * | 2011-11-11 | 2012-07-25 | 长安大学 | Track change danger early-warning device for vehicles |
| DE102012219188A1 (en) * | 2011-10-26 | 2013-05-02 | GM Global Technology Operations LLC (n.d. Ges. d. Staates Delaware) | A collision avoidance system and method of operating the same |
| CN204124041U (en) * | 2014-09-29 | 2015-01-28 | 长安大学 | A kind of warning device detected for front road unsafe condition |
-
2014
- 2014-09-29 CN CN201410512866.0A patent/CN104290658B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5495251A (en) * | 1993-02-20 | 1996-02-27 | Lucas Industries Public Limited Company | Method of and apparatus for cruise control |
| DE69522089T2 (en) * | 1995-02-08 | 2002-04-25 | Toyota Motor Co Ltd | Vehicle radar for the exclusion of a vehicle performing a lane change as a target object |
| CN101031161A (en) * | 2006-02-21 | 2007-09-05 | 通用汽车环球科技运作公司 | Inter vehicular ad hoc routing protocol and communication system |
| CN102035874A (en) * | 2009-10-02 | 2011-04-27 | 通用汽车环球科技运作公司 | Reducing the computational load on processors by selectively discarding data in vehicular networks |
| DE102012219188A1 (en) * | 2011-10-26 | 2013-05-02 | GM Global Technology Operations LLC (n.d. Ges. d. Staates Delaware) | A collision avoidance system and method of operating the same |
| CN202345598U (en) * | 2011-11-11 | 2012-07-25 | 长安大学 | Track change danger early-warning device for vehicles |
| CN204124041U (en) * | 2014-09-29 | 2015-01-28 | 长安大学 | A kind of warning device detected for front road unsafe condition |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598053A (en) * | 2016-12-19 | 2017-04-26 | 驭势科技（北京）有限公司 | Automatic driving vehicle transverse motion control object selection method |
| CN110171413A (en) * | 2018-02-20 | 2019-08-27 | 现代自动车株式会社 | For controlling the device and method of the driving of vehicle |
| CN109360410A (en) * | 2018-10-11 | 2019-02-19 | 百度在线网络技术（北京）有限公司 | Vehicle coordination approach, device, vehicle and medium |
| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104290658B (en) | 2018-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102069800B (en) | Vehicle running control method and control device | |
| CN208101973U (en) | A kind of intelligent driving auxiliary anti-collision system | |
| CN110155045A (en) | A kind of vehicle promptly accelerates Self-Protection Subsystem and its self-protection method | |
| CN102439644B (en) | Vehicle surrounding monitor device and method for monitoring surroundings used for vehicle | |
| CN103587524A (en) | Lateral active collision avoidance system and control method thereof | |
| CN106448190B (en) | Real-time monitoring and early warning device and method for traffic flow around self-vehicle on highway | |
| CN108257417A (en) | For the vehicle collision prewarning method and device of roadside unit | |
| CN104751677B (en) | vehicle collision alarm method and system | |
| CN103587516A (en) | Vehicle tire burst classifying brake control device and control method | |
| CN107139919A (en) | For the self-protection method of vehicle anti-rear collision early warning, system and vehicle | |
| CN203255120U (en) | Safe collision avoidance system of commercial vehicle | |
| CN103587467A (en) | Dangerous-overtaking early-warning prompting method and system | |
| DE112008004159T5 (en) | Object detection device and object detection method | |
| CN108961839A (en) | Driving lane change method and device | |
| CN205220593U (en) | Vehicle anticollision alarm system | |
| CN104290658A (en) | Warning device and method for front road hazardous condition detection | |
| CN102642530A (en) | Intelligent full-automatic braking system and control method thereof | |
| CN111169462B (en) | Safe distance calculation module and calculation method thereof | |
| CN105068086A (en) | Vehicle forward-direction obstacle avoidance system and obstacle detecting method using same | |
| CN110718094A (en) | Collision early warning method, device and equipment | |
| CN205523950U (en) | Car low -speed anticollision early -warning system based on ultrasonic radar | |
| CN108318884A (en) | The method for realizing low speed emergency braking based on ultrasonic sensor | |
| JP2019191882A (en) | Platoon travel controller | |
| CN203267899U (en) | Driving system in foggy days | |
| CN205417368U (en) | Highway driving safety precaution device based on ITS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |