CN108216216A - A kind of control method for vehicle and device and vehicle - Google Patents
A kind of control method for vehicle and device and vehicle Download PDFInfo
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- CN108216216A CN108216216A CN201611140793.2A CN201611140793A CN108216216A CN 108216216 A CN108216216 A CN 108216216A CN 201611140793 A CN201611140793 A CN 201611140793A CN 108216216 A CN108216216 A CN 108216216A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000035484 reaction time Effects 0.000 claims description 25
- 238000000205 computational method Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of control method for vehicle and devices and vehicle, wherein control method for vehicle, include the following steps：Obtain the current travel speed of vehicle and on current driving direction with the first distance of other vehicles；It is calculated according to travel speed and brakes required second distance；Judge whether second distance is less than the first distance, if second distance is not less than the first distance, perform security control.The present invention by calculate driver reaction distance and braking distance compared with the safe distance detected, judge whether excessively near with the distance of other vehicles in same travel direction, so as to the generation that avoids rear-end collision of taking safety measures, it can effectively ensure that driver's life security, driver is allow to go on a journey safely.
Description
Technical field
The present invention relates to technical field of vehicle safety, and in particular to a kind of control method for vehicle and device and vehicle.
Background technology
Vehicle control system is to ensure that Ben Che is maintained at the distance of certain safety with other vehicles on current driving direction,
The phenomenon that knocks into the back such as prevent from colliding and rub with other vehicles, so that it is guaranteed that the life security of driver.
Current Vehicular rear collision preventing device is generally monitored spacing by camera to other vehicles in travel direction,
Prevent other vehicles on the vehicle and travel direction of oneself from knocking into the back, however in dense fog or rainy state of weather, because
It is more fuzzy for see-through, so driver can not see the distance in front clearly, the hair of rear-end collision caused by judging distance error
It is raw；The current rear-end device alerts front vehicle by the flashing lamp of car installation, because of driver's energy once in a while
It does not concentrate, does not see blinking light in time, it can be because brake causes to touch with front truck not in time so reacting slow driver
It hits and knocks into the back.The current rear-end device is relatively simple, so more safe and reliable anti-measure of knocking into the back can not be provided.
Invention content
The technical problem to be solved in the present invention is that Vehicular rear collision preventing device of the prior art is supervised by installing camera
Control spacing or installation flashing lamp alert other vehicles to prevent rear-end collision occurs, can caused by foggy weather pilot's line of vision mould
Paste, the frequent generation of driver's rear-end collision caused by error in judgement.
For this purpose, an embodiment of the present invention provides following technical solutions：
An embodiment of the present invention provides a kind of control method for vehicle, include the following steps：
Obtain the current travel speed of vehicle and on current driving direction with the first distance of other vehicles；
It is calculated according to the travel speed and brakes required second distance；
Judge the second distance whether be less than first distance, if the second distance not less than described first away from
From then performing security control.
Optionally, control method for vehicle in the embodiment of the present invention, it is described according to required for the travel speed calculates braking
Second distance the step of, including：
Obtain the reaction time；
Reaction distance is calculated according to the reaction time；
Obtain brake force；
According to the brake force calculated braking distance；
According to second distance described in the reaction distance and the braking Distance Calculation.
Optionally, control method for vehicle in the embodiment of the present invention, the computational methods of the reaction distance are as follows：
S1=VT
Wherein, S1 is the reaction distance, and V is the travel speed, and T is the reaction time of driver.
Optionally, control method for vehicle in the embodiment of the present invention, the value range of the T is 0.6s-1s.
Optionally, control method for vehicle in the embodiment of the present invention, the computational methods of the braking distance are as follows：
Wherein, a is brake force deceleration,F is brake force, and m is the quality of vehicle, and S2 is the braking distance, V
For the travel speed.
Optionally, the step of control method for vehicle in the embodiment of the present invention, the execution security control, includes：
Send out alarm signal；And/or
Travel speed is reduced until being less than on current driving direction and it according to the second distance that current driving speed calculates
First distance of its vehicle.
An embodiment of the present invention provides a kind of controller of vehicle, including such as lower unit：
Acquiring unit, for obtain the current travel speed of vehicle and on current driving direction with other vehicles first
Distance；
Computing unit brakes required second distance for being calculated according to the travel speed；
Judging unit, for judging whether first distance is less than the second distance, if the second distance is not small
In first distance, then security control is performed.
Optionally, controller of vehicle in the embodiment of the present invention, the computing unit include：
First acquisition module, for obtaining the reaction time；
First computing module, for calculating reaction distance according to the reaction time；
Second acquisition module, for obtaining brake force；
Second computing module, for according to the brake force calculated braking distance；
Third computing module, for according to the reaction distance and the braking Distance Calculation second distance.
Optionally, controller of vehicle in the embodiment of the present invention, the computational methods of the reaction distance are as follows：
S1=VT
Wherein, S1 is the reaction distance, and V is the travel speed, and T is the reaction time of driver.
Optionally, controller of vehicle in the embodiment of the present invention, the value range of the T is 0.6s-1s.
Optionally, controller of vehicle in the embodiment of the present invention, the computational methods of the braking distance are as follows：
Wherein, a is brake force deceleration,F be the brake force, m be vehicle quality, S2 for it is described braking away from
From V is the travel speed.
Optionally, controller of vehicle in the embodiment of the present invention, the judging unit include：
Alarm module, for sending out alarm signal；And/or
Reduction of speed module, for reducing travel speed until being less than current line according to the second distance that current driving speed calculates
Sail on direction with the first distance of other vehicles.
An embodiment of the present invention provides a kind of vehicle, including：
Range sensor is arranged on headstock or parking stall, for measuring the distance in travel direction with other vehicles；
The controller of vehicle, for carrying out vehicle control.
Technical solution of the embodiment of the present invention, has the following advantages that：
The present invention provides a kind of control method for vehicle and device and vehicle, wherein, control method for vehicle, including walking as follows
Suddenly：Obtain the current travel speed of vehicle and on current driving direction with the first distance of other vehicles；According to travel speed
It calculates and brakes required second distance；Judge second distance whether be less than the first distance, if second distance not less than first away from
From then performing security control.The present invention is by calculating the reaction distance of driver and braking distance and the safe distance that detects
Compare, whether judgement and the distance of other vehicles in same travel direction are excessively near, and the thing that knocks into the back is avoided so as to take safety measures
Therefore generation, can effectively ensure that driver's life security, driver is allow to go on a journey safely.
Description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to attached drawing, attached drawing is schematically without that should manage
It solves to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is the flow chart of control method for vehicle in the embodiment of the present invention 1；
Fig. 2 is the flow chart for calculating second distance in the embodiment of the present invention 1 in control method for vehicle；
Fig. 3 is the flow chart of security control in control method for vehicle in the embodiment of the present invention 1；
Fig. 4 is the structure diagram of controller of vehicle in the embodiment of the present invention 2；
Fig. 5 is the structure diagram of computing unit in controller of vehicle in the embodiment of the present invention 2；
Fig. 6 is the structure diagram of judging unit in controller of vehicle in the embodiment of the present invention 2.
Specific embodiment
The technical solution of the embodiment of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment be part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiments obtained without making creative work belong to what the present invention protected
Range.
In the description of the embodiment of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right",
The orientation or position relationship of the instructions such as " vertical ", " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship,
It is for only for ease of the description embodiment of the present invention and simplifies description rather than instruction or imply that signified device or element must have
There is specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " the
One ", " second ", " third " are only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the embodiment of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally
Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary,
It can also be the connection inside two elements, can be wireless connection or wired connection.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other into conflict.
Embodiment 1
A kind of control method for vehicle is present embodiments provided, this method is used in the control system of vehicle, is run in vehicle
Security control is carried out under state, as shown in Figure 1, this method comprises the following steps：
S11, obtain the current travel speed of vehicle and on current driving direction with the first distance of other vehicles.Vehicle
In the process of running, the travel speed of vehicle can be obtained by the rotating speed of engine, can also be detected by velocity sensor
Go out current driving speed.In headstock or tailstock setting range sensor, obtained by range sensor apart from front or behind
The distance of vehicle if this forward travel, obtains the distance of other vehicles in front of it；If this vehicle is gone backward
It sails, then obtains the distance of other vehicles of the rear view of vehicle, as the first distance.
S12, it is calculated according to travel speed and brakes required second distance；It includes braking distance and the reaction of driver
Distance is the summation of both distances.
As an alternative embodiment, control method for vehicle in the present embodiment, as shown in Fig. 2, according to travel speed
The step of braking required second distance is calculated, including：
S121, the reaction time is obtained；The reaction time of driver is a pre-set time, general according to driver
In the case of reaction time, obtained by way of experiment.
Specifically, the value range of reaction time T is 0.6s-1s.The driver of different age group, their reaction time
Also different, young driver's reaction speed may be faster than old driver's reaction speed, when in most short reaction
For most short reaction distance during time 0.6s, when being longest reaction distance in maximum response time 1s, so most short reaction away from
As long as the vehicle with a distance from identified second distance in the range of longest reaction distance less than first is all in safe condition.
S122, reaction distance is calculated according to the reaction time；It is determined according to the reaction time of current driving speed and driver.
Specifically, it is calculated according to formula S 1=VT, wherein, S1 is reaction distance, and V is travel speed, and T is driver
Reaction time, by formula it can be seen that travel speed or reaction time are bigger, reaction distance is longer, then be easier occur
Rear-end collision.
S123, brake force is obtained；The size of its brake force is determined according to the performance parameter of each vehicle.
Specifically, the size of brake force influences the size of braking distance, and the dynamics that driver steps on brake pedal is bigger, system
Dynamic distance will be shorter, when second distance be less than first apart from when, driver can use rapidly maximum braking force prevent vehicle with
Other vehicles in same travel direction knock into the back.
S124, according to brake force calculated braking distance；According to formulaIt is calculated, wherein, a subtracts for brake force
Speed,F is brake force, and m is the quality of vehicle, and S2 is braking distance, and brake force deceleration is bigger, and braking distance will
Shorter, such driver can be more nearly safe condition.
S125, according to reaction distance and braking Distance Calculation second distance；During braking the reaction of driver away from
From with braking distance and determining second distance.
Specifically, according to formula S 1=VT and formulaIt is calculated, wherein, S1 is reaction distance, and V is traveling
Speed, T are the reaction time of driver, and a is brake force deceleration,F is brake force, and m is the quality of vehicle, and S2 is system
Dynamic distance, so reaction distance is the sum of S1+S2.
S13, judge whether second distance is less than the first distance, if second distance is not less than the first distance, perform safety
Once control, if second distance is less than the first distance, driver is in a safe condition, when second distance beyond the first distance
When, then alarm needs to perform alarm operation, while driver is also required to take the quick measure for reducing speed, so as to perform peace
Full control vehicle.As shown in figure 3, the step of performing security control includes：
S131, alarm signal is sent out；When driver hears the alarm song that alarm sends out, immediately it is reacted to vehicle and is in danger
Dangerous state, needs to take emergency braking measure, while alarm also alerts the drivers of other vehicles in same direction and pays attention to
Safety.And/or
S132, travel speed is reduced until being less than on current driving direction according to the second distance that current driving speed calculates
With the first distance of other vehicles, the phenomenon that knocks into the back is avoided by performing reduction of speed brake measure.
Embodiment 2
A kind of device of vehicle control is present embodiments provided, it is corresponding with the method for vehicle control, as shown in figure 4, packet
It includes such as lower unit：
Acquiring unit 41, for obtain the current travel speed of vehicle and on current driving direction with other vehicles
One distance.
Computing unit 42 brakes required second distance for being calculated according to travel speed.
Judging unit 43, for judging whether second distance is less than the first distance, if second distance is not less than the first distance,
Then perform security control.
As an alternative embodiment, in the present embodiment vehicle control device, as shown in figure 5, computing unit 42
Including：
First acquisition module 421, for obtaining the reaction time.
First computing module 422, for calculating reaction distance according to the reaction time.
Second acquisition module 423, for obtaining brake force.
Second computing module 424, for according to brake force calculated braking distance.
Third computing module 425, for according to reaction distance and braking Distance Calculation second distance.
As an alternative embodiment, in the present embodiment vehicle control device, the computational methods of reaction distance are such as
Under：
S1=VT, wherein, S1 is reaction distance, and V is travel speed, and T is the reaction time of driver.
As an alternative embodiment, in the present embodiment vehicle control device, the value range of T is 0.6s-1s.
As an alternative embodiment, in the present embodiment vehicle control device, the computational methods of braking distance are such as
Under：
Wherein, a is brake force deceleration,F is brake force, and m is the quality of vehicle, S2 for braking away from
From V is travel speed.
As an alternative embodiment, in the present embodiment vehicle control device, as shown in fig. 6, judging unit 43
Including：
Alarm module 431, for sending out alarm signal；And/or
Reduction of speed module 432 is worked as reducing travel speed until being less than according to the second distance that current driving speed calculates
In preceding travel direction with the first distance of other vehicles.
Embodiment 3
A kind of vehicle is present embodiments provided, the control method for vehicle applied in embodiment 1 includes：
Range sensor is arranged on headstock or parking stall, for measuring the distance in travel direction with other vehicles；
Specifically, range sensor passes through using the principle of time-of-flight method come measured distance and emits especially short light
Pulse, and light pulse is measured from time for being reflected back is emitted to, with a kind of sensor of detection object distance.On vehicle
Install this range sensor can it is effectively measuring go out distance with other vehicles in same travel direction, as second distance
Secure reference value can travel driver safety.
The device of vehicle control in embodiment 2, for carrying out vehicle control.
Specifically, by all devices of vehicle control, the operation of security control is performed, prevents dangerous rear-end collision frequency
Numerous generation can make driver trust driving, go home safely, so as to protect their life and health.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or
Among changing still in the protection domain of the invention.
Claims (13)
1. a kind of control method for vehicle, which is characterized in that include the following steps：
Obtain the current travel speed of vehicle and on current driving direction with the first distance of other vehicles；
It is calculated according to the travel speed and brakes required second distance；
Judge whether the second distance is less than first distance, if the second distance is not less than first distance,
Perform security control.
It is 2. according to the method described in claim 1, it is characterized in that, described required according to travel speed calculating braking
The step of second distance, including：
Obtain the reaction time；
Reaction distance is calculated according to the reaction time；
Obtain brake force；
According to the brake force calculated braking distance；
According to second distance described in the reaction distance and the braking Distance Calculation.
3. according to the method described in claim 2, it is characterized in that, the computational methods of the reaction distance are as follows：
S1=VT
Wherein, S1 is the reaction distance, and V is the travel speed, and T is the reaction time of driver.
4. according to the method described in claim 3, it is characterized in that, the value range of the T is 0.6s-1s.
5. according to the method described in Claims 2 or 3 or 4, which is characterized in that the computational methods of the braking distance are as follows：
Wherein, a is brake force deceleration,F is brake force, and m is the quality of vehicle, and S2 is the braking distance, and V is institute
State travel speed.
6. method according to claim 1 or 2, which is characterized in that described the step of performing security control includes：
Send out alarm signal；And/or
Travel speed is reduced until being less than on current driving direction and other vehicles according to the second distance that current driving speed calculates
The first distance.
7. a kind of controller of vehicle, which is characterized in that including such as lower unit：
Acquiring unit, for obtain the current travel speed of vehicle and on current driving direction with the first of other vehicles away from
From；
Computing unit brakes required second distance for being calculated according to the travel speed；
Judging unit, for judging whether first distance is less than the second distance, if the second distance is not less than institute
The first distance is stated, then performs security control.
8. device according to claim 7, which is characterized in that the computing unit includes：
First acquisition module, for obtaining the reaction time；
First computing module, for calculating reaction distance according to the reaction time；
Second acquisition module, for obtaining brake force；
Second computing module, for according to the brake force calculated braking distance；
Third computing module, for according to the reaction distance and the braking Distance Calculation second distance.
9. device according to claim 8, which is characterized in that the computational methods of the reaction distance are as follows：
S1=VT
Wherein, S1 is the reaction distance, and V is the travel speed, and T is the reaction time of driver.
10. device according to claim 9, which is characterized in that the value range of the T is 0.6s-1s.
11. according to the device described in claim 8 or 9 or 10, which is characterized in that the computational methods of the braking distance are as follows：
Wherein, a is brake force deceleration,F is the brake force, and m is the quality of vehicle, and S2 is the braking distance,
V is the travel speed.
12. device according to claim 7 or 8, which is characterized in that the judging unit includes：
Alarm module, for sending out alarm signal；And/or
Reduction of speed module, for reducing travel speed until being less than current driving side according to the second distance that current driving speed calculates
Upwards with the first distance of other vehicles.
13. a kind of vehicle, which is characterized in that including：
Range sensor is arranged on headstock or parking stall, for measuring the distance in travel direction with other vehicles；
Controller of vehicle described in claim 7-12, for carrying out vehicle control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611140793.2A CN108216216A (en) | 2016-12-12 | 2016-12-12 | A kind of control method for vehicle and device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611140793.2A CN108216216A (en) | 2016-12-12 | 2016-12-12 | A kind of control method for vehicle and device and vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN108216216A true CN108216216A (en) | 2018-06-29 |
Family
ID=62638720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611140793.2A Withdrawn CN108216216A (en) | 2016-12-12 | 2016-12-12 | A kind of control method for vehicle and device and vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN108216216A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110727275A (en) * | 2019-03-20 | 2020-01-24 | 沈阳新松机器人自动化股份有限公司 | RGV dynamic collision avoidance control system and method based on PLC |
| CN111081243A (en) * | 2019-12-20 | 2020-04-28 | 大众问问(北京)信息科技有限公司 | Feedback mode adjusting method, device and equipment |
| CN112373300A (en) * | 2020-11-26 | 2021-02-19 | 中国人民解放军国防科技大学 | Hybrid intelligent speed limit control method and device for vehicle |
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| DE102014217909A1 (en) * | 2014-09-08 | 2016-03-10 | Bayerische Motoren Werke Aktiengesellschaft | Method for speed and / or distance control of motor vehicles |
| CN105501220A (en) * | 2015-11-24 | 2016-04-20 | 东软集团股份有限公司 | Vehicle collision warning method and device and vehicle |
| CN105531169A (en) * | 2013-09-10 | 2016-04-27 | 技术推进公司 | Method for a hybrid or electric vehicle for regulating the distance with a preceding vehicle |
| CN105667506A (en) * | 2016-03-15 | 2016-06-15 | 江苏大学 | Dynamic emergency collision avoidance control method of vehicle |
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| US20140095061A1 (en) * | 2012-10-03 | 2014-04-03 | Richard Franklin HYDE | Safety distance monitoring of adjacent vehicles |
| CN105531169A (en) * | 2013-09-10 | 2016-04-27 | 技术推进公司 | Method for a hybrid or electric vehicle for regulating the distance with a preceding vehicle |
| DE102014217909A1 (en) * | 2014-09-08 | 2016-03-10 | Bayerische Motoren Werke Aktiengesellschaft | Method for speed and / or distance control of motor vehicles |
| CN105501220A (en) * | 2015-11-24 | 2016-04-20 | 东软集团股份有限公司 | Vehicle collision warning method and device and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110727275A (en) * | 2019-03-20 | 2020-01-24 | 沈阳新松机器人自动化股份有限公司 | RGV dynamic collision avoidance control system and method based on PLC |
| CN111081243A (en) * | 2019-12-20 | 2020-04-28 | 大众问问(北京)信息科技有限公司 | Feedback mode adjusting method, device and equipment |
| CN112373300A (en) * | 2020-11-26 | 2021-02-19 | 中国人民解放军国防科技大学 | Hybrid intelligent speed limit control method and device for vehicle |
| CN112373300B (en) * | 2020-11-26 | 2022-05-13 | 中国人民解放军国防科技大学 | Vehicle hybrid intelligent speed limit control method and device |
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