CN104554008A - Vehicle safety auxiliary system for lane changing - Google Patents
Vehicle safety auxiliary system for lane changing Download PDFInfo
- Publication number
- CN104554008A CN104554008A CN201410835911.6A CN201410835911A CN104554008A CN 104554008 A CN104554008 A CN 104554008A CN 201410835911 A CN201410835911 A CN 201410835911A CN 104554008 A CN104554008 A CN 104554008A
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- CN
- China
- Prior art keywords
- vehicle
- changing
- lane
- assistance system
- unit
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1215—Mirror assemblies combined with other articles, e.g. clocks with information displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle safety auxiliary system for lane changing. The vehicle safety auxiliary system comprises a video acquiring unit, an echo sensing unit, a processing unit and a display unit. The video acquiring unit acquires an image of the road after the vehicle. The echo sensing unit detects whether or not an obstacle vehicle drives in the dead zone on the rear side of the vehicle. According to the echo sensing unit, the processing unit judges whether or not the obstacle vehicle drives in the dead zone to directly affect merging or lane changing of the vehicle, if yes, sends alarms or locks a steering wheel to prevent the driver from merging or changing lanes, if no obstacle vehicle is detected to drive to directly affect the vehicle to merge, the image is acquired by the video acquiring unit and analyzed, and whether or not the vehicle drives at the back is judged; if yes, the distance between the vehicles and the relative speed are calculated; according to the distance and the relative speed, the safety level of the lane changing is estimated. The display unit arranged on a rear view mirror displays the safety level of the lane changing, accordingly helping the driver change lanes.
Description
Technical field
The present invention relates to the vehicle that a kind of vehicle safety lane-changing assistance system has applied this system.Relate to Patent classificating number B60 general vehicle B60R and be not included in vehicle, vehicle body fittings or vehicle part B60R21/00 in other classifications protection or prevent passenger or the injured bus equipment of pedestrian or accessory B60R21/01 circuit B60R21/013 of triggering secure fender guard when vehicle has an accident or be about to have an accident from comprising device for detecting collision, collision on the horizon or rolling when having an accident or occur other traffic hazards.
Background technology
Along with the development of automotive electronic technology, the active safety technologies of vehicle there has also been very much progress, and current all kinds of safety driving assist system arises at the historic moment.In reality on the run, chaufeur, when lane change, all to need to utilize in car outside rear-view mirror to observe road in the rear traffic information, judges that whether rear car and leading vehicle distance be satisfied change condition safely according to driving experience, and then completes and change operation.Even if the chaufeur that this operating process is enriched for driving experience, also the information such as real-time distance, the speed of a motor vehicle of front vehicle and this car cannot be judged accurately, this adds psychological burden to a great extent the operation of changing of chaufeur, there is certain potential safety hazard.Meanwhile, to block due to back seat occupant in car or vehicle rear seat windscreen humidity such as to haze at the reason, also usually observe rear traffic to chaufeur by room mirror to make a big impact, particularly under the environment such as heavy rain, very big inconvenience is caused to the safe driving operation of chaufeur.
Through a large amount of Germicidal efficacy, when chaufeur prepares to change, first can observe rear according to room mirror and whether there is vehicle, then turn side exterior mirror is swept, size according to the position of front vehicle in back mirror and shared back mirror area judges whether to carry out operation of overtaking other vehicles, and then opens steering indicating light acceleration change as conditions permit.In this course, key one ring is wherein become for the relative distance of front vehicle and this car and velocity estimated, as careless manipulation, then may cause the scratch accident with rear car.Existing technical study shows, the vehicle testing techniques based on video reaches its maturity, and starts to enter practical stage.As: " detecting test of vehicle and vehicle distance measurement method research based on machine vision ", Dalian University of Technology's Master's thesis in 2011 is exactly the typical apply case comparatively typically utilizing on-vehicle machines vision system to carry out detecting test of vehicle and distance survey, can be completed detecting test of vehicle and the spacing estimation of suitable precision by vehicle bottom shadow information.Those skilled in the art is according to correlative study thought, and the spacing that can be applied to front vehicle completely detects in real time to be estimated with the speed of a motor vehicle.
Summary of the invention
The present invention is directed to the proposition of above problem, especially existing vehicle lane change/doubling/lane-changing assistance system, can only merely be presented in rear view mirror blind zone whether have vehicle, and the defect of doubling suggestion can not be provided for different distance and relative velocity, and a kind of vehicle safety lane-changing assistance system of development, have:
Video acquisition unit, obtains the road image of vehicle rear; Echo sensing unit; Detect in vehicle proceeds posterolateral blind area and whether there is obstacle vehicle; Processing unit, first according to echo sensing unit, judge in target carriage, whether to there is the obstacle vehicle directly affecting vehicle doubling or change, if there is obstacle vehicle, processing unit directly sends warning or locking direction dish, stops chaufeur to carry out changing or doubling action.If do not detect the obstacle vehicle that directly can affect vehicle doubling, then obtain image by video acquisition unit, the road image described in analysis, judges whether rear view of vehicle exists vehicle; If there is vehicle, calculate the Distance geometry relative velocity of vehicle and this car; According to described Distance geometry relative velocity, the level of security that assessment Current vehicle changes; Be arranged on the display unit of back mirror, show the level of security of described vehicle lane-changing, driver assistance change operation.
Owing to passing through relative velocity and the distance of the possible obstacle vehicle in this car of video analysis and target track, the safe class suggestion of doubling or lane change is given in conjunction with setting threshold, can the doubling of direct drivers safety more intuitively, when existence directly affects the obstacle vehicle of this car doubling, the doubling action of direct prevention chaufeur, when there is potential obstacle vehicle, whether there is vehicle in the wait acknowledge rear view mirror blind zone that chaufeur need not do the long period again, directly can carry out doubling operation according to prompting; In the vehicle having blind area early warning, chaufeur also deliberately need not confirm that the obstacle vehicle in blind area sails out of.
Consider that the occupant of rear seat for vehicle can block the room mirror visual field, cause the blind area of room mirror, pretend as preferred embodiment, system also comprises: the monitoring means I whether monitoring rear windshield is blocked, when this monitoring means I detects that rear windshield is blocked, processing unit by image projection after car on room mirror.
Further, as preferred embodiment, described monitoring means I is correlation type opto-electronic pickup, when rear portion occupant blocks sensor wire harness, monitoring means I sends information to described processing unit, processing unit judges that the current room mirror visual field is blocked, and the rear view of vehicle image that described video acquisition unit obtains is presented at room mirror.
In winter driving process, each glass of vehicle is easily at vehicle interior side knot mist, if member talks in the process of moving in car, knot mist phenomenon can be more serious, and existing solution is solution of turning on the aircondition, and produces noise and waste vehicle energy, increase oil consumption.Pretend as preferred embodiment, also there is the monitoring means II of monitoring rear windshield humidity and temperature, when monitoring means II detects that temperature and humidity exceedes the knot mist threshold value of setting, the video image of described video acquisition unit Real-time Collection is presented on room mirror by processing unit.Rear windshield knot mist can be ignored like this, reduce the Occupation coefficient of air-conditioning, especially at northern rear windshield by ice-covered situation, add the safety that vehicle travels.
Further, described video acquisition unit is the single camera and/or the dual camera that are arranged at rear windshield overlying regions middle position, does encapsulation process with rear windshield.
As preferred embodiment, described echo sensing unit is ultrasonic transduter, is arranged on the both sides of vehicle rear bumper/spoiler.
As preferred embodiment, described safety changes warning level information with the green red gradual-change mode display of inverted triangle strip; The side direction information of vehicles detected by ultrasonic transduter is with the yellow equilateral triangle pattern display of flashing.
A kind of vehicle, is characterized in that having: described vehicle safety lane-changing assistance system.
Owing to have employed technique scheme, vehicle safety lane-changing assistance system provided by the invention has following advantage: the road image information utilizing camera to obtain, and analyzes real-time spacing, the speed information of front vehicle; Ultrasonic transduter is utilized to obtain in camera blind area whether there is vehicle; With this, operation is changed to chaufeur and safe and reliable direction information is provided.Meanwhile, correlation type opto-electronic pickup perception passenger is utilized whether to have an impact to back mirror imaging; Utilize humidity sensor to detect rear seat windscreen whether to haze; The accurate perception of chaufeur for car outer rear portion traffic information is strengthened with this.Whole system intelligence degree is high, and structure is simple, is easy to realize, good economy performance.
Accompanying drawing explanation
In order to the technical scheme of clearer explanation embodiments of the invention or prior art, introduce doing one to the accompanying drawing used required in embodiment or description of the prior art simply below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The present invention has 4 width accompanying drawings, wherein:
Accompanying drawing 1 vehicle safety lane-changing assistance system general arrangement schematic in the car
The visual range schematic diagram of each sensing element of accompanying drawing 2
Accompanying drawing 3 changes safely the display schematic diagram of level of evaluation information on exterior mirror
Accompanying drawing 4 system cloud gray model overall flow figure
In figure: 1. ultrasonic transduter, 2. humidity sensor, 3. exterior mirror, 4. processing unit, 5. room mirror, 6. opto-electronic pickup-receiving end, 7. camera, 8. opto-electronic pickup-transmitting terminal.
Detailed description of the invention
For making the object of embodiments of the invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:
Embodiment 1, as shown in Fig. 1,4: after vehicle launch, System self-test, camera 7, ultrasonic radar 1 and opto-electronic pickup 6/8 start simultaneously.Opto-electronic pickup transmitting terminal 8 real time emission photosignal, whether opto-electronic pickup receiving end 6 detects this photosignal exists, and illustrates that the transmission route of photosignal there occurs block as long-time receiving end 6 is in low voltage level; Meanwhile, humidity sensor 2 pairs of rear seat windscreen places carry out Humidity Detection, if when humidity value is greater than setting threshold, then illustrate that rear seat windscreen exists cloudy surface, affects room mirror imaging; Processing unit 4 based on above-mentioned two kinds of testing results, when wherein arbitrary result exists, then road in the rear project video images camera 7 obtained on room mirror, to reduce the impact of external environment condition for the chaufeur backsight visual field.
In working process, the region that front vehicle occurs may be: in camera 7 visual range, in ultrasonic radar 1 visual range, as shown in Figure 2.
For in camera 7 visual range, information handling step is as follows: the video image that camera 7 gathers is passed to processing unit 4 in real time, processing unit 4 pairs of images are analyzed, first judging whether to there is vehicle by whether there is the shade being similar to vehicle bottom in detected image, if there is vehicle, analyzing the distance of this car of vehicle distances in conjunction with prior calibrating procedure according to presented the in the picture position of shade; The relative velocity of two cars can be obtained indirectly by the range information detected between video image different frame.
When vehicle is positioned at ultrasonic radar 1 visual range, now utilizes ultrasonic radar 1 to detect turn side vehicle in real time, there is object if detect, then banning of turning movement information is passed to processing unit 4.
When chaufeur open steering indicating light be intended to turn to time, the Detection Information that processing unit 4 passes over according to camera 7 and ultrasonic radar 1, the steering model of connecting inner setting changes risk level to safety and makes assessment.The appreciable levels information obtained by camera 7 is shown in information display window 1 in fig. 3, display mode is display window 1 is green-red gradual change according to the security level information of assessment from down to up, namely rear spacing is far away, relatively the speed of a motor vehicle is slower, security level is higher, then display window 1 be filled from down to up fewer.The Detection Information obtained by ultrasonic radar 1 is shown in information display window 2 in fig. 3, display mode is that Yellow triangles flashes pattern, if namely detect in steering procedure there is vehicle in side direction, then banning of turning movement, and this information displaying in information display window 2.
Chaufeur is when turning to, and the safety projected by exterior mirror changes supplementary, can determine whether implement steering operation.If display window 1 presents green, display window 2 without display, then illustrates and currently changes safety, can perform and change operation; If display window 1 presents redness or the yellow triangle of display window 2 frequently flashes, then can not perform and change operation.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (8)
1. a vehicle safety lane-changing assistance system, is characterized in that having:
Echo sensing unit, detects vehicle proceeds posterolateral blind area and whether there is obstacle vehicle;
Video acquisition unit, obtains the image of vehicle rear;
Processing unit, judges whether there is the obstacle vehicle directly affecting vehicle lane-changing in backsight blind area, vehicle side rear according to the testing result of echo detecting unit; If there is not described obstacle vehicle, then analyze vehicle rear image, calculate the Distance geometry relative velocity of vehicle and this car in video image; According to described Distance geometry relative velocity, the level of security that assessment Current vehicle changes;
Be arranged on the display unit of back mirror, show the level of security of described vehicle lane-changing, driver assistance change operation.
2. vehicle safety lane-changing assistance system according to claim 1, it is characterized in that also there is the monitoring means I monitoring rear windshield and whether be blocked, when this monitoring means I detects that rear windshield is blocked, the video image of described video acquisition unit Real-time Collection is presented on room mirror by processing unit.
3. vehicle safety lane-changing assistance system according to claim 2, is further characterized in that described monitoring means I is correlation type opto-electronic pickup.
4. vehicle safety lane-changing assistance system according to claim 1 and 2, it is characterized in that the monitoring means II also with monitoring rear windshield humidity and temperature, when monitoring means II detects that temperature and humidity exceedes the knot mist threshold value of setting, the video image of described video acquisition unit Real-time Collection similarly is on room mirror by processing unit.
5. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described video acquisition unit is the single camera and/or the dual camera that are arranged at rear windshield overlying regions middle position, does encapsulation process with rear windshield.
6. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described echo sensing unit is ultrasonic transduter, is arranged on the both sides of vehicle rear bumper/spoiler.
7. vehicle safety lane-changing assistance system according to claim 1, is further characterized in that: described safety changes warning level information with the green red gradual-change mode display of inverted triangle strip; The side direction information of vehicles detected by ultrasonic transduter is with the yellow equilateral triangle pattern display of flashing.
8. a vehicle, is characterized in that having: the vehicle safety lane-changing assistance system as described in claim 1,2,3,5,6 or 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410835911.6A CN104554008A (en) | 2014-12-26 | 2014-12-26 | Vehicle safety auxiliary system for lane changing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410835911.6A CN104554008A (en) | 2014-12-26 | 2014-12-26 | Vehicle safety auxiliary system for lane changing |
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| CN104554008A true CN104554008A (en) | 2015-04-29 |
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| CN201410835911.6A Pending CN104554008A (en) | 2014-12-26 | 2014-12-26 | Vehicle safety auxiliary system for lane changing |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106853800A (en) * | 2017-03-02 | 2017-06-16 | 合肥鑫晟光电科技有限公司 | A kind of vehicle traveling monitoring system |
| CN107009966A (en) * | 2015-09-25 | 2017-08-04 | 福特全球技术公司 | The active detecting of upcoming vehicle and enhanced visualization |
| CN107085402A (en) * | 2017-01-21 | 2017-08-22 | 孟凯涛 | Internet of things monitoring management system |
| CN107085393A (en) * | 2017-01-22 | 2017-08-22 | 王忠亮 | Electric car headlight automatic controller |
| CN107415825A (en) * | 2016-05-24 | 2017-12-01 | 福特全球技术公司 | Extend the detection of track blind area |
| CN107531180A (en) * | 2015-05-20 | 2018-01-02 | 大众汽车有限公司 | monitoring device for automobile |
| CN108320232A (en) * | 2018-02-02 | 2018-07-24 | 斑马网络技术有限公司 | Insurance coverage of driving a vehicle generates system and method |
| CN108340918A (en) * | 2017-01-19 | 2018-07-31 | 福特全球技术公司 | Lane changing |
| CN108473138A (en) * | 2015-12-21 | 2018-08-31 | 标致雪铁龙汽车股份有限公司 | Method and apparatus for auxiliary variable speed and lane change |
| CN110091801A (en) * | 2019-05-22 | 2019-08-06 | 庞少东 | A kind of Intelligent rearview mirror system |
| CN110525343A (en) * | 2019-09-18 | 2019-12-03 | 奇瑞汽车股份有限公司 | Lane change control method, device and the storage medium of automobile |
| CN110533958A (en) * | 2018-05-24 | 2019-12-03 | 上海博泰悦臻电子设备制造有限公司 | Vehicle lane change based reminding method and system |
| CN110562141A (en) * | 2019-08-27 | 2019-12-13 | 中国第一汽车股份有限公司 | streaming media rearview mirror and display method thereof |
| CN112158131A (en) * | 2020-10-09 | 2021-01-01 | 广州小鹏汽车科技有限公司 | Doubling reminding method and device, vehicle and storage medium |
| CN112859659A (en) * | 2019-11-28 | 2021-05-28 | 初速度（苏州）科技有限公司 | Multi-sensor data acquisition method, device and system |
| CN113635834A (en) * | 2021-08-10 | 2021-11-12 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic outside rear-view mirror |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107531180A (en) * | 2015-05-20 | 2018-01-02 | 大众汽车有限公司 | monitoring device for automobile |
| CN107009966A (en) * | 2015-09-25 | 2017-08-04 | 福特全球技术公司 | The active detecting of upcoming vehicle and enhanced visualization |
| CN108473138B (en) * | 2015-12-21 | 2021-06-25 | 标致雪铁龙汽车股份有限公司 | Method and apparatus for assisting shifting and lane changing |
| CN108473138A (en) * | 2015-12-21 | 2018-08-31 | 标致雪铁龙汽车股份有限公司 | Method and apparatus for auxiliary variable speed and lane change |
| CN107415825A (en) * | 2016-05-24 | 2017-12-01 | 福特全球技术公司 | Extend the detection of track blind area |
| CN108340918A (en) * | 2017-01-19 | 2018-07-31 | 福特全球技术公司 | Lane changing |
| CN107085402B (en) * | 2017-01-21 | 2019-04-26 | 新昌县维利机械有限公司 | The electric vehicle of Internet of Things monitoring management system is installed |
| CN107085402A (en) * | 2017-01-21 | 2017-08-22 | 孟凯涛 | Internet of things monitoring management system |
| CN107085393A (en) * | 2017-01-22 | 2017-08-22 | 王忠亮 | Electric car headlight automatic controller |
| CN107085393B (en) * | 2017-01-22 | 2019-04-26 | 新昌县智创机械有限公司 | The multifunctional electric of self-navigation |
| CN106853800A (en) * | 2017-03-02 | 2017-06-16 | 合肥鑫晟光电科技有限公司 | A kind of vehicle traveling monitoring system |
| US11225192B2 (en) | 2017-03-02 | 2022-01-18 | Boe Technology Group Co., Ltd. | Vehicle advancing monitoring system |
| CN108320232A (en) * | 2018-02-02 | 2018-07-24 | 斑马网络技术有限公司 | Insurance coverage of driving a vehicle generates system and method |
| CN110533958A (en) * | 2018-05-24 | 2019-12-03 | 上海博泰悦臻电子设备制造有限公司 | Vehicle lane change based reminding method and system |
| CN110091801A (en) * | 2019-05-22 | 2019-08-06 | 庞少东 | A kind of Intelligent rearview mirror system |
| CN110562141A (en) * | 2019-08-27 | 2019-12-13 | 中国第一汽车股份有限公司 | streaming media rearview mirror and display method thereof |
| CN110562141B (en) * | 2019-08-27 | 2021-05-28 | 中国第一汽车股份有限公司 | Streaming media rearview mirror and display method thereof |
| CN110525343A (en) * | 2019-09-18 | 2019-12-03 | 奇瑞汽车股份有限公司 | Lane change control method, device and the storage medium of automobile |
| CN112859659A (en) * | 2019-11-28 | 2021-05-28 | 初速度（苏州）科技有限公司 | Multi-sensor data acquisition method, device and system |
| CN112158131A (en) * | 2020-10-09 | 2021-01-01 | 广州小鹏汽车科技有限公司 | Doubling reminding method and device, vehicle and storage medium |
| CN113635834A (en) * | 2021-08-10 | 2021-11-12 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic outside rear-view mirror |
| CN113635834B (en) * | 2021-08-10 | 2023-09-05 | 东风汽车集团股份有限公司 | Lane changing auxiliary method based on electronic exterior rearview mirror |
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Application publication date: 20150429 |