CN114194108A - Safety early warning device and method for vehicle and vehicle - Google Patents
Safety early warning device and method for vehicle and vehicle Download PDFInfo
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- CN114194108A CN114194108A CN202010974762.7A CN202010974762A CN114194108A CN 114194108 A CN114194108 A CN 114194108A CN 202010974762 A CN202010974762 A CN 202010974762A CN 114194108 A CN114194108 A CN 114194108A
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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
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- 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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- 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
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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Abstract
The application discloses a safety early warning device, safety method and vehicle for vehicle, the safety early warning device for vehicle includes: the shooting module has infrared night vision capability and is used for acquiring image information of surrounding objects of the vehicle; the radar is used for acquiring the relative distance and the relative speed between the vehicle and the surrounding objects; the image recognition module is electrically connected with the shooting module and the radar and is used for recognizing surrounding objects according to image information, relative distance and relative speed; the image recognition module and the warning module are electrically connected with the control module, and the control module is set to selectively control the warning module to alarm according to the recognition result of the image recognition module. The application discloses a safety precaution device for vehicle, integrated infrared shooting, radar acquisition, image recognition module's analysis and warning module do benefit to and go safely under night or the dark environment of light.
Description
Technical Field
The application relates to the technical field of vehicle manufacturing, in particular to a safety early warning device for a vehicle, a safety early warning method applicable to the safety early warning device and the vehicle with the safety early warning device.
Background
Vehicles greatly widen the travel distance and the region limitation of people, but the diversified and complicated road environment also induces many safety problems, such as: the safety accidents can be caused by obstacles suddenly intruding into the left and right sides or the front and the rear of the vehicle in the advancing direction under the conditions of limited vision caused by dark light, limited transient vision of a driver caused by opposite high beams or other back lights, strong lights and the like, or the conditions that the rearview mirrors cannot clearly reflect the road conditions and the like caused by the fact that the high beams or other strong lights are opened by the rear vehicle. At present, a doubling auxiliary technology is available in the market, but the doubling auxiliary technology can only provide the condition of coming vehicles behind adjacent lanes, cannot provide specific distance, obstacle size and obstacle identification, is mainly used for rear vehicles, is weak in identification of other types of obstacles, generally reminds in modes of vibration, flashing and the like, cannot visually display the results to a driver for judgment, and has an improved space
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, an object of the present application is to provide a safety precaution device for a vehicle, which can not only determine an obstacle at night or in an environment with a poor driving view by using a combination of radar acquisition and infrared camera shooting, but also identify the shape and size of the obstacle by software, and visually display the obstacle to allow a driver to recognize danger, thereby being beneficial to ensuring safe driving of the user at night or in an environment with a poor driving view.
According to this application embodiment's safety precaution device for vehicle, include: the shooting module has infrared night vision capability and is used for acquiring image information of peripheral objects of the vehicle; a radar for acquiring a relative distance and a relative speed of the vehicle and the surrounding object; the image recognition module is electrically connected with the shooting module and the radar and is used for recognizing the peripheral object according to the image information, the relative distance and the relative speed; the image recognition module and the warning module are electrically connected with the control module, and the control module is set to selectively control the warning module to alarm according to the recognition result of the image recognition module.
According to the safety early warning device for the vehicle of this application embodiment, through the compound mode who uses radar collection and infrared camera shooting, not only can judge the barrier night or in the relatively poor environment in driving field of vision, can also discern shape, the size of barrier through software to through showing audio-visual driver of letting and realizing danger, do benefit to and guarantee that the user is at night or the relatively poor environment safety in driving field of vision and is gone.
According to the safety early warning device for the vehicle, the control module is set to output a control instruction to the warning module to control the warning module to give an alarm when the recognition result of the image recognition module indicates that the surrounding objects have safety threats; and when the identification result of the image identification module indicates that the peripheral object has no safety threat, no control instruction is output between the control module and the warning module.
According to the safety early warning device for the vehicle, the control module is set to control the warning module to execute primary warning operation when the recognition result of the image recognition module indicates that the surrounding object has safety threat and is a non-living object; and when the identification result of the image identification module indicates that the surrounding object has safety threat and is a life object, controlling the warning module to execute secondary warning operation.
According to this application embodiment's safety precaution device for vehicle, still include: the display device is electrically connected with the control module, and the control module is used for controlling the display device to display the information of the peripheral object when the image identification module identifies that the peripheral object has the security threat.
According to the safety warning device for the vehicle of the embodiment of the application, the information of the peripheral object comprises image information, relative distance information and relative speed information.
According to the safety early warning device for the vehicle, when the image recognition module recognizes that the surrounding objects have safety threats, the outlines of the surrounding objects are described or painted with remarkable colors.
According to the safety early warning device for the vehicle, the control module is set to output a control instruction to the display equipment to control the display equipment to give a safety prompt when the identification result of the image identification module is that the surrounding object has no safety threat.
According to the safety precaution device for vehicle of this application embodiment, shoot the module with the radar is a plurality ofly, and is a plurality of shoot module, a plurality of the radar is equallyd divide and is located the left front side, the back front side, the left surface and the right flank of vehicle.
The application also provides a safety early warning method for the vehicle.
According to the safety early warning method for the vehicle in the embodiment of the application, the safety early warning method is suitable for the safety early warning device for the vehicle in any one of the embodiments.
The present application further provides a vehicle.
According to the vehicle of the embodiment of the application, the safety early warning device for the vehicle is provided with any one of the embodiments.
Compared with the prior art, the vehicle, the safety early warning method and the safety early warning device have the same advantages, and are not repeated herein.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a safety warning device for a vehicle according to an embodiment of the present application.
Reference numerals:
a safety pre-warning apparatus 100 for a vehicle,
the device comprises a shooting module 1, a radar 2, an image recognition module 3, a control module 4, a warning module 5 and a display device 6.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
A safety warning apparatus 100 for a vehicle according to an embodiment of the present application is described below with reference to fig. 1.
As shown in fig. 1, a safety precaution device 100 for a vehicle according to an embodiment of the present application includes: the device comprises a shooting module 1, a radar 2, an image recognition module 3, a control module 4 and a warning module 5.
The shooting module 1 has infrared night vision capability, and the shooting module 1 is used for acquiring image information of peripheral objects of a vehicle, that is, the shooting module 1 can complete image shooting in various scenes, not only can shoot under normal illumination conditions, but also can identify obstacle images under dim light or even no light, for example, an infrared sensor is integrated in the shooting module 1. The installation position, number, etc. of the camera modules 1 may be determined according to the vehicle configuration.
Therefore, the applicable environment of the safety precaution device 100 for vehicles of the present application is greatly enriched, for example, in the similar scenes such as the suburb dark road, the road without street lamp, the dark crossroad, the country dark road or the limited field of vision, the shooting module 1 can still effectively shoot, especially in the similar scenes such as the limited transient field of vision of the driver caused by the high beam or other back light, strong light, etc., or the road condition that the rear view mirror can not clearly reflect due to the high beam or other strong light being turned on by the vehicle behind, thereby ensuring the accuracy and reliability of image acquisition.
It should be noted that, in the prior art related to this application, the conventional shooting device is mostly adopted to shoot and acquire objects around the vehicle, but under the condition that light is affected, specific images of the objects around cannot be effectively acquired at all, and by arranging the shooting module 1 with infrared shooting capability in this application, the problems in this prior art are well solved, and it is ensured that the objects around the vehicle can be effectively acquired under different light environments, thereby being beneficial to ensuring the safety of vehicle driving.
The radar 2 is used for obtaining the relative distance and the relative speed of the vehicle and the surrounding object, in the driving process of the vehicle, the environment outside the vehicle continuously changes, the radar 2 can detect the distance between the external obstacle and the vehicle of the own side and the relative speed between the external obstacle and the vehicle of the own side in real time, and the installation position, the number and the like of the radar 2 can be determined according to the configuration of the vehicle.
The shooting module 1 and the radar 2 are both electrically connected with the image recognition module 3, therefore, image information obtained by the shooting module 1 and relative distance and relative speed information obtained by the radar 2 are input into the image recognition module 3 in real time, and the image recognition module 3 is used for recognizing surrounding objects according to the image information, the relative distance and the relative speed, and accurately recognizing the types of the surrounding objects and the relative state of the surrounding objects and the vehicle through the combination of the image information, the relative distance and the relative speed, so as to judge whether the surrounding objects have security threats to the vehicle and obtain different recognition results.
The image recognition module 3 in the present application may include image recognition software disposed on a control terminal of the vehicle, so that the image recognition software modifies the peripheral objects displayed in the image information and better and accurately recognizes the types of the peripheral objects by combining the relative speed and relative distance between the peripheral objects and the vehicle, thereby improving the accuracy and reliability of the early warning information performed by the safety early warning device.
Image recognition module 3 and warning module 5 all are connected with control module 4 electricity, and image recognition module 3 inputs the recognition result to control module 4 in, and control module 4 sets up to selectively control warning module 5 according to the recognition result of image recognition module 3 and carries out the alarm operation, and control module 4 possesses functions such as calling sensor, analysis data, output display, support individual setting simultaneously.
It should be noted that the warning device can emit sound, light, action or other stimulating signals capable of warning the driver by using the existing devices of the vehicle, such as indicator lights, sounds, etc., and can be independently arranged when the existing devices of the vehicle are absent.
That is, when the vehicle is running on the road, the shooting module 1 and the radar 2 are in a real-time monitoring mode, when an obstacle (a dynamic object which is stationary in the lane or moving towards the lane) is found in the monitored area, the radar 2 inputs the detected image information, relative distance, relative speed and the like to the image recognition module 3, the image recognition module 3 can calculate whether the vehicle and the obstacle are harmed when running continuously at the current speed, and transmit the recognition result and the analyzed information whether the safety threat exists to the control module 4, so that the control module 4 reminds the driver of the information through the warning device, thereby ensuring that the driver makes a safety operation in time, and avoiding the surrounding objects with the safety threat.
According to the safety precaution device 100 for vehicle of this application embodiment, carry out real time monitoring through shooting module 1 and radar 2 combination, gather the peripheral image information of vehicle, relative distance and relative velocity information, and all can carry out the accuracy to the peripheral object of vehicle under the light environment of difference, acquire effectively, do benefit to the security of guaranteeing the vehicle and travel, and then the analysis through image identification module 3, transmit identification information for control module 4, control module 4 of being convenient for controls warning module 5 and reminds the driver, guarantee that the driver can in time, accurately accomplish avoiding dangerous. And from this, the software and hardware combination mode of integrated infrared shooting, radar 2 collection, software discernment and safety prompt in this application is greatly favorable to improving safety precaution device's accuracy and reliability.
In some embodiments, the control module 4 is configured to: when the recognition result of the image recognition module 3 is that the surrounding objects have safety threats, a control instruction is output to the warning module 5 to control the warning module 5 to give an alarm, so that a driver is reminded of performing operation of avoiding danger.
If the image recognition module 3 recognizes that the surrounding object of the vehicle is a moving vehicle approaching the vehicle at a high speed, and the moving vehicle continues to move at the current relative distance and based on the high speed, which obviously poses a safety hazard to the vehicle, the control module 4 controls the warning module 5 to make the warning module 5 warn the driver safely, so that the driver can avoid the moving vehicle effectively in time.
When the recognition result of the image recognition module 3 is that the surrounding objects have no security threat, no control instruction is output between the control module 4 and the warning module 5, so that unnecessary interference is avoided.
If the image recognition module 3 recognizes that the surrounding objects of the vehicle are roadside trees fixed in front of the vehicle, the roadside trees do not threaten the driving safety of the vehicle, and no control instruction is output between the control module 4 and the warning module 5, that is, the driver does not need to avoid the roadside trees and maintain normal driving.
In some embodiments, the control module 4 is configured to: when the recognition result of the image recognition module 3 is that the surrounding objects have security threat and are non-living objects, the warning module 5 is controlled to execute a first-level warning operation, and when the recognition result of the image recognition module 3 is that the surrounding objects have security threat and are living objects, the warning module 5 is controlled to execute a second-level warning operation.
That is, the alarm module 5 performs different operations after receiving different alarm level information. For example, when the image recognition module 3 detects that the surrounding object is a fixed road sign located in front of the vehicle, the safety threat of the fixed road sign to the vehicle is small, and at this time, only one-level alarm operation is performed, for example, the one-level alarm operation is a voice prompt.
Or if the image recognition module 3 detects that the surrounding object is a wild animal which is located in front of the vehicle and is approaching the vehicle rapidly, the wild animal is likely to generate a security threat to the vehicle in a short time, at this time, only the first-level alarm operation is executed, which may cause the driver to be unable to respond in time, and the second-level alarm operation is executed, wherein the second-level alarm operation may be a sound prompt plus a vibration to play a role in distinguishing alarms of different levels.
Certainly, first-level alarm operation and second grade alarm operation can carry out nimble setting according to the demand of reality, if first-level alarm operation is in order to set for the sound prompt of frequency, and second grade alarm operation can be for extending more the frequency of multiple with 2 times, 3 times and carry out the sound prompt, and the mode such as supplementary steering wheel vibration, buzzing, equipment lamp scintillation simultaneously guarantees that the driver can in time realize the threat in the place ahead.
In some embodiments, the safety precaution device 100 for a vehicle of the present application further includes: and the display device 6, the display device 6 is electrically connected with the control module 4, and the control module 4 is used for controlling the display device 6 to display the information of the surrounding objects when the image recognition module 3 recognizes that the surrounding objects have security threats.
The specific application of the display device 6 may be set according to the actual situation of the vehicle, for example, the display may be performed by using a vehicle-mounted head-up display, so as to directly display brief information, such as key information of the distance, contour, speed, and the like of an obstacle; if a display screen is used, brief information or more detailed information can be displayed. In this way, the image of the peripheral object of the vehicle is directly presented to the driver through the display device 6, so that the driver can visually check and identify the peripheral object, and the driver can be enabled to perform more effective and more matched safe operation according to the image.
For example, when the driver looks at the animal that the peripheral object that display device 6 presents is the slow-motion removal such as the tortoise that moves at a slow speed, the safe operation can be made to the gesture that can relax, if the driver looks at the animal that the peripheral object that display device 6 presents is the fast-motion removal such as the horse that moves at a fast speed, can in time make safe operation with faster speed and efficiency, like this, present the driver with peripheral object more directly perceived, clearly through display device 6, be convenient for the driver to carry out more accurate, reasonable safe operation according to the peripheral object of reality.
In some embodiments, the information of the peripheral object includes image information, relative distance information, and relative speed information, and the image information obtained by the shooting module 1 can identify different obstacles, including whether the obstacle is a living body or not, and the obstacle is displayed through the display device 6, so that the situation that a driver cannot exactly know the obstacle information to be avoided due to a visual angle problem is avoided, and the accuracy of the driver in acquiring the image information is ensured.
The relative distance information and the relative speed information obtained by the radar 2 can obtain the contact time between the vehicle and the obstacle, so that the driver can be ensured to make a proper evasive action. For example, when the relative distance between the front object and the vehicle is 30m and the relative speed is 3m/s, the display device 6 displays the relative distance 30m and the relative speed 3m/s on the display device 6 in the form of character information, so that the driver can conveniently and intuitively acquire the relative distance information and the relative speed information of the surrounding objects in time, and the driver can be ensured to perform more accurate safe operation.
The image recognition module 3 is set to be used for tracing or smearing the outline of the peripheral object with a remarkable color when the peripheral object is recognized to have safety threat, so that the peripheral object is guaranteed to be displayed more accurately through the display device 6 under the condition of insufficient illumination or emergency, a driver is guaranteed to analyze the category state of the peripheral object more quickly, enough reaction time is reserved, and safe operation is performed in time.
For example, when a peripheral object in front of a vehicle is a sculpture, and the current lighting environment causes that the image acquired by the shooting module 1 cannot identify whether the peripheral object is a sculpture or a living body with vital signs, the outline of the peripheral object is described or painted with a remarkable color through the image identification module 3 in the application, so that the posture or detail action of the peripheral object can be presented more clearly and more specifically, a driver can conveniently identify and judge the peripheral object, and more accurate and safe operation can be performed.
The control module 4 is configured to output a control instruction to the display device 6 to control the display device 6 to make a safety prompt when the identification result of the image identification module 3 is that the surrounding object has no safety threat. If the vehicle needs to turn or change speed, the image recognition module 3 can help the driver to further determine the surrounding situation, so that the driver can smoothly complete the turning and changing speed.
In some embodiments, the shooting module 1 and the radar 2 are both multiple, and the multiple shooting modules 1 and the multiple radars 2 are all respectively located on the front left side, the front rear side, the left side and the right side of the vehicle. Through a plurality of shooting modules 1 and a plurality of radars 2 that distribute around the automobile body, guaranteed that image recognition module 3 can obtain sufficient information to it is enough accurate to have guaranteed that image recognition module 3 reachs the ground information, guarantees that the safety precaution device can obtain and discern the object in the peripheral different regions of vehicle, has the field of vision blind area when avoiding carrying out safety precaution through the safety precaution device, thereby improves safety precaution's security precaution's comprehensiveness and reliability.
The present application further provides a safety precaution method for a vehicle, which is applicable to the safety precaution device 100 for a vehicle of any of the above embodiments, and the advantages of the safety precaution method for a vehicle and the advantages of the safety precaution device 100 for a vehicle over the prior art are the same, and are not repeated herein.
The present application further provides a vehicle.
According to the vehicle of the embodiment of the application, the safety precaution device 100 for the vehicle of any one of the embodiments is provided. The safety early warning device 100 for the vehicle, provided by the embodiment of the application, is used for monitoring in real time through the combination of the shooting module 1 and the radar 2, collecting image information, relative distance and relative speed information around the vehicle, transmitting the information to the control module 4 through the analysis of the image recognition module 3, reminding the driver through the warning module 5, and ensuring that the driver can complete avoiding danger.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A safety precaution device (100) for a vehicle, comprising:
a camera module (1), the camera module (1) having infrared night vision capability and being used for acquiring image information of surrounding objects of the vehicle;
a radar (2), wherein the radar (2) is used for acquiring the relative distance and the relative speed of the vehicle and the peripheral object;
the image recognition module (3), the shooting module (1) and the radar (2) are both electrically connected with the image recognition module (3), and the image recognition module (3) is used for recognizing the peripheral object according to the image information, the relative distance and the relative speed;
the image recognition system comprises a control module (4) and a warning module (5), wherein the image recognition module (3) and the warning module (5) are electrically connected with the control module (4), and the control module (4) is set to selectively control the warning module (5) to perform alarm operation according to the recognition result of the image recognition module (3).
2. The safety precaution device (100) for vehicle according to claim 1, characterized in that the control module (4) is arranged to
When the recognition result of the image recognition module (3) indicates that the surrounding objects have security threats, outputting a control instruction to the warning module (5) to control the warning module (5) to give an alarm;
when the identification result of the image identification module (3) indicates that the surrounding objects have no security threat, no control instruction is output between the control module (4) and the warning module (5).
3. The safety precaution device (100) for vehicle according to claim 2, characterized in that the control module (4) is arranged to
When the recognition result of the image recognition module (3) indicates that the surrounding object has safety threat and is a non-living object, controlling the warning module (5) to execute primary alarm operation;
and when the identification result of the image identification module (3) indicates that the surrounding object has safety threat and is a living body, controlling the warning module (5) to execute secondary alarm operation.
4. The safety precaution device (100) for a vehicle according to claim 1, further comprising: the display device (6), the display device (6) is electrically connected with the control module (4), and the control module (4) is used for controlling the display device (6) to display the information of the surrounding object when the image recognition module (3) recognizes that the surrounding object has a security threat.
5. The safety precaution device (100) for a vehicle according to claim 4, characterized in that the information of the peripheral object includes image information, relative distance information, relative speed information.
6. The safety precaution device (100) for a vehicle according to claim 4, characterized in that the image recognition module (3) is configured to border or paint the outline of the surrounding object with a prominent color when recognizing that there is a safety threat to the surrounding object.
7. The safety precaution device (100) for vehicle according to claim 4, characterized in that the control module (4) is configured to output a control instruction to the display device (6) to control the display device (6) to make a safety prompt when the identification result of the image identification module (3) is that the surrounding object has no safety threat.
8. The safety warning apparatus (100) for a vehicle according to claim 1, wherein the photographing module (1) and the radar (2) are plural, and the plural photographing modules (1) and the plural radars (2) are respectively located at a front left side, a front rear side, a left side and a right side of the vehicle.
9. A safety warning method for a vehicle, characterized in that the safety warning method is applied to the safety warning apparatus (100) for a vehicle according to any one of claims 1 to 8.
10. A vehicle characterized by being provided with the safety warning device (100) for a vehicle according to any one of claims 1 to 8.
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| CN202010974762.7A CN114194108A (en) | 2020-09-16 | 2020-09-16 | Safety early warning device and method for vehicle and vehicle |
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| CN202010974762.7A CN114194108A (en) | 2020-09-16 | 2020-09-16 | Safety early warning device and method for vehicle and vehicle |
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