CN204055561U - Vehicle safe driving caution system - Google Patents
Vehicle safe driving caution system Download PDFInfo
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- CN204055561U CN204055561U CN201420514332.7U CN201420514332U CN204055561U CN 204055561 U CN204055561 U CN 204055561U CN 201420514332 U CN201420514332 U CN 201420514332U CN 204055561 U CN204055561 U CN 204055561U
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Abstract
The utility model discloses a kind of vehicle safe driving caution system, comprise main control unit, store a reference value of default vehicle safe driving; Main control unit is connected with the main control unit of the vehicle safe driving caution system that other vehicle carries by information transmission, receiver module; Running condition information acquisition module running condition information acquisition module is for detecting the running condition information of vehicle, and the signal output part of described running condition information detection module connects the signal input part of main control unit; The signal input part of alarm module described in alarm module connects the alarm signal output ends of main control unit, gives the alarm when vehicle and surrounding vehicles exist collision risk.Caution system structure of the present utility model simply, easily realizes, and can provide other detailed vehicle traveling information for chaufeur, ensures the safety traffic of vehicle.The utility model is applicable to various vehicle.
Description
Technical field
The utility model belongs to traffic safety technology, relates to the safety traffic of vehicle, specifically a kind of vehicle safe driving caution system.
Background technology
Along with the increase of vehicle guaranteeding organic quantity, on urban highway and express highway, wagon flow is in significantly increasing trend, makes traffic safety face severeer situation.Especially in Vehicular turn process, if vehicle front block by full size vehiclees such as trucks, just there will be chaufeur and can not be well understood to upcoming traffic situation, thus can not the relative position of accurate assurance and surrounding vehicles and relative velocity, there is the danger occurring to collide continuously.In addition, when vehicle high-speed is overtaken other vehicles, may due to the blind area of back mirror, cause chaufeur can not the close vehicle of some high speeds of Timeliness coverage; Or when haze weather, because visual range shortens greatly, the driving situation in front can not be understood equally.All likely there is front truck in above-mentioned situation brake suddenly or slow down, and below vehicle due to sight line unclear and cause the generation of continuous car accident, hidden danger is brought to safe driving.
In order to solve the problem, more existing vehicle boardedly have exterior vehicle checking system, but these checking systems generally adopt the form arranging camera outside vehicle body, only can monitor the visible vehicle around this car, the vehicle that is blocked be in outside car range of visibility for other cannot effectively detect, or easily occurs above-mentioned unsafe condition.
Utility model content
The purpose of this utility model, is to provide a kind of vehicle safe driving caution system, can the information of other vehicles all in perception vehicle periphery setting range, for chaufeur provides failure-free vehicle running environment information, ensures the safety traffic of vehicle;
?for solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
1. main control unit
Main control unit stores a reference value of default vehicle safe driving; Main control unit is connected with the main control unit of the vehicle safe driving caution system that other vehicle carries by information transmission, receiver module;
2. running condition information acquisition module
Running condition information acquisition module is for detecting the running condition information of vehicle, and the signal output part of described running condition information detection module connects the signal input part of main control unit;
3. alarm module
The signal input part of described alarm module connects the alarm signal output ends of main control unit, gives the alarm when vehicle and surrounding vehicles exist collision risk.
As to restriction of the present utility model: it also comprises the running condition information for showing this car vehicle stored in main control unit, and the display module of the running condition information of other vehicle that main control unit receives from the main control unit of other vehicle, the signal input part of described display module connects the display mouth of main control unit.
Limit as to another kind of the present utility model: described running condition information acquisition module is global position system;
Described information transmission, receiver module are Zigbee networking.
The utility model also has a kind of restriction: it also comprises the input selection module travelling road conditions for chaufeur input selection, and the signal output part of described input selection module connects the selection signal input part of main control unit.
Principle of work of the present utility model is:
(A) caution system is started: start vehicle when chaufeur inserts car key, chaufeur is selected to travel road conditions simultaneously, and main control unit starts caution system after receiving vehicle launch signal automatically, carries out initialization to various data;
(1) information acquisition: the running condition information of this car of running condition information acquisition module Real-time Collection vehicle, and the running condition information detected is real-time transmitted to main control unit, simultaneously main control unit sends the geological information of this car vehicle, running condition information to other vehicle by information transmission, receiver module, and the geological information of vehicle that sends of the main control unit receiving other vehicle and running condition information;
(two ') information processing: the running condition information of this car vehicle that main control unit will receive, with the running condition information of other vehicle received, by calculating the vector (having velocity magnitude and vehicle heading) of the moving velocity of vehicle, again according to the compose operation of vector function, speed of relative movement between vehicle can be calculated, according to the relative distance between vehicle, the time that vehicle will bump against needs can be calculated, compare apart from a reference value when reacting in this time and main control unit, obtain comparison result;
(three ') vehicle safe driving is warned: judge the motoring condition that vehicle is now residing, if comparison result by main control unit according to above-mentioned comparing result:
1) other vehicle traveling parallel with this car vehicle, and the distance between two cars is more than or equal to a half of the long sum of two car vehicle bodies, main control unit judges that two cars can not collide, and returns step () and proceed information acquisition;
2) other vehicle traveling parallel with this car vehicle, and the distance between two cars is less than a half of the long sum of two car vehicle bodies, calculate collision point and the collision time of two cars, if time when the collision time calculated is more than or equal to the reaction stored in main control unit apart from a reference value, then two cars can not collide, and main control unit returns step () and proceeds information acquisition; And when if the collision time calculated is less than the reaction stored in main control unit apart from a reference value time, then main control unit controls alarm module and gives the alarm, and chaufeur adjusts vehicle running state automatically according to alarm, after having adjusted, automatically returns to step ();
3) other vehicle and the not parallel traveling of this car vehicle, then main control unit calculates collision point and collision time according to the vehicle relative position obtained, relative velocity, relative distance, if time when the collision time obtained is more than or equal to the reaction stored in main control unit apart from a reference value, main control unit judges that two cars can not collide, and returns step () and proceed information acquisition;
4) other vehicle and the not parallel traveling of this car vehicle, then main control unit calculates collision point and collision time according to the vehicle relative position obtained, relative velocity, relative distance, if time when the collision time obtained is less than the reaction stored in main control unit apart from a reference value, main control unit judges that two cars can collide, control alarm module gives the alarm, chaufeur adjusts vehicle running state automatically according to alarm, after having adjusted, automatically returns to step ().
To sum up, owing to have employed above-mentioned technical scheme, compared with prior art, acquired technological advance is the utility model:
(1) the utility model operationally can realize the early warning of different directions vehicle collision, achieves omnibearing safe early warning.Mostly be the safe early warning to knocking into the back before and after vehicle in the safe early warning method of vehicle in the past, and can not predict vehicle side collision.The utility model is then utilize vehicle movement information, carries out vehicle movement trajectory analysis, and prediction vehicle collision point, carries out safe early warning.
(2) the utility model can not only detect the status information that this car travels, the status information that other vehicle (comprising the vehicle can not seen in itself) around travels can be obtained simultaneously, and the running condition information of this car vehicle can be sent to other vehicle around, for the status information that each car all provides surrounding vehicles to travel, ensure the safety traffic of vehicle, even if when there is emergency brake or stop suddenly in the vehicle not in range of visibility, chaufeur also can make corresponding measure, the generation of Accident prevention according to the information detected in time;
(3) running condition information acquisition module of the present utility model adopts global position system, and structure is simple, cost is low, and easy to connect; Information transmission, receiver module adopt Zigbee networking technology, and transmission distance can adjust arbitrarily within 75m to a few km, applied widely, can realize automatic network-building, adapts to the feature that surrounding vehicles information constantly changes.
(4) information of other vehicle received by main control unit of Warning for vehicle system not only includes speed information, location information, azimuth information, include the geological information of vehicle simultaneously, the i.e. length of vehicle, more detailed information can be provided for chaufeur, ensure the driving safety of vehicle further.
(5) HUD is utilized to show vehicle periphery information, adopt vehicle sketch, Vehicle Speed on sketch adopts analogy display method (vehicle speed within the scope of the information processing determined all contrasts in the speed of oneself), represent travel direction with arrow, the length of arrow represents faster than the speed of oneself car or slow.This method display surrounding vehicles operation information is simply clear and definite, very clear.
The utility model structure simply, easily realizes, and can provide other detailed vehicle traveling information for chaufeur, ensures the safety traffic of vehicle.
The utility model is applicable to various vehicle.
The utility model is described in further detail below in conjunction with Figure of description and specific embodiment.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the utility model caution system;
Fig. 2 is the networking schematic diagram of wireless information transfer in utility model embodiment;
Fig. 3 is the big-dipper satellite registration device mounting means schematic diagram of the utility model embodiment;
Fig. 4 is the workflow diagram of the caution system of the utility model embodiment;
Fig. 5 is the principle schematic of the utility model embodiment detection range;
Fig. 6 is the principle schematic of the utility model embodiment display result.
Detailed description of the invention
a kind of vehicle safe driving caution system of embodiment
The present embodiment is a kind of vehicle safe driving caution system, and it comprises as shown in Figure 1:
(1) main control unit, the main control unit in the present embodiment adopts small portable notebook of the prior art.There is vehicle safe driving a reference value in the storage inside of main control unit, simultaneously in order to make control more accurate, also storing the vehicle geological information of equipped vehicle to some extent in main control unit, i.e. length, width, the elevation information of institute's equipped vehicle.
In addition, main control unit can also adopt other existing microprocessor, such as Intel series microprocessor
(2) information transmission, receiver module, connects the main control unit of the vehicle safe driving caution system that this car and other vehicle carry, makes this car can receive the information of other vehicle main control unit by information transmission, receiver module.Information transmission in the present embodiment, receiver module adopt Zigbee networking technology of the prior art, concrete connection is as shown in Figure 2: the Zigbee system of installing the vehicle of this system is emission coefficient is also receiving system, and in figure, A, B, C and D are the Zigbee networking that the Zigbee system representing four cars is formed.
(3) running condition information acquisition module, for detecting vehicle position information, driving speed information, vehicle directional information, the signal output part of described running condition information detection module connects the signal input part of main control unit.
Running condition information acquisition module in the present embodiment adopts big-dipper satellite position fixing system of the prior art, in order to the particular location of vehicle can be detected, the present embodiment is provided with two cover big-dipper satellite position fixing systems, is separately positioned on headstock and the tailstock, and concrete connection as shown in Figure 3.In addition, the running condition information acquisition module of the present embodiment can also adopt GPS position fixing system of the prior art.
(4) alarm module, the alarm module given the alarm when vehicle and surrounding vehicles exist collision risk, the signal input part of described alarm module connects the alarm signal output ends of main control unit.
The present embodiment adopts MXH040-8S/P type speech chip of the prior art as voice alarm module, and the annexation of itself and main control unit as shown in Figure 1.
(5) display module, stores information for showing main control unit, and other information of vehicles that main control unit receives, and the signal input part of described display module connects the display mouth of main control unit.
Adopt read-out of looking squarely of the prior art as display module in the present embodiment, the annexation of itself and main control unit as shown in Figure 1.
(6) input selection module, select to travel road conditions for chaufeur, the present embodiment adopts the touch screen of portable notebook as input selection module, can carry out the selection of road conditions during driver actuation, and also stores the different reference values of vehicle safe driving under different road conditions in main control unit.After selected road conditions, when main control unit just can determine safe driving under these road conditions, the scope of other vehicle and a reference value of vehicle safe driving to be detected.
The specific works principle of the present embodiment as shown in Figure 4, comprises the following steps:
(A) caution system is started: when chaufeur inserts car key startup vehicle, main control unit starts caution system after receiving this actuation signal, and chaufeur is selected to travel road conditions simultaneously.
(1) information acquisition: the status information that running condition information acquisition module Real-time Collection vehicle travels, and the information detected is real-time transmitted to main control unit, main control unit sends this car information of vehicles to other vehicle by information transmission, receiver module simultaneously, and the information of vehicles that the main control unit receiving other vehicle sends.
Wherein, this vehicle travelling state information that main control unit detects comprise collected by running condition information acquisition module this car speed of a motor vehicle, this truck position, orientation itself; And the running condition information of other vehicle that main control unit receives comprises vehicle geological information, Vehicle Speed information, the location information of vehicle, the azimuth information of vehicle.
(two ') information processing: this car vehicle running state information that main control unit will receive, send the information of this car to other surrounding vehicles by information transmission, receiver module simultaneously, and the information of other vehicle received and this car are stored a reference value row comparison of vehicle safe driving state, obtain comparison result.
Main control unit connects and is calculated by the running condition information of this vehicle travelling state information received and other vehicle, by calculating the vector (having velocity magnitude and vehicle heading) of the moving velocity of vehicle, again according to the compose operation of vector function, speed of relative movement between vehicle can be calculated.According to the distance between vehicle, the time that automobile crash needs can be calculated, compare apart from a reference value when reacting in this time and main control unit, obtain comparison result.
The road conditions travelled due to vehicle are different, cause the speed of a motor vehicle also different (such as urban road driving and high speed traveling, velocity contrast is very large), therefore cause the area requirement of each numerical value during the vehicle safe driving to storing in the scope of information processing and main control unit also different, in order to reach the requirement of different road condition safety driving, chaufeur can by the different road conditions of the input selection model choice in the present embodiment warning, and the comparison information that main control unit is stored also is provided with different a reference values according to different road conditions, therefore, after chaufeur selects corresponding road conditions, main control unit will require surrounding vehicles information according to the safe driving under these road conditions, process.
Such as, on the circuit having insulation strip, a certain moment real-time traffic condition as shown in Figure 5, in figure, A car is this car vehicle, the vehicle having B, C, D, E, F, G, H, J, I, J, K, L, M, N, O, P, Q etc. a large amount of around A car, these vehicles send the vehicle traveling information that other car that the driving information of vehicle and this car receive is sent all in real time.In order to improve information processing rate, according to road speed, determine the scope of process information; When road speed is lower than 45km/h, real time information process range is defined as 50m; If when road speed is more than 45km/h, was 4 seconds, calculates real time information process range by distance during reaction, be also the 4 seconds × speed of a motor vehicle (km/h)/3.6+20, unit is rice.The present embodiment is set to when speed per hour 45km, real time information process range is defined as 50m, also namely with Ben Cheche center, as Fig. 5 draws the circle that radius is 50 meters, vehicle Q, C, E, P, B, F, O, G, N, J, H, K information within the scope of this is carried out topological analysis, according to the location information of vehicle and the azimuth information of vehicle, determine the interrelation of vehicle.According to the interrelation of vehicle, the distance between real-time analysis vehicle, sends safe early warning in time according to distance during reaction.
In above-mentioned analytic process, interrelation between vehicle obtains and surveys vehicle position information according to global position system (as adopted GPS or big-dipper satellite position fixing system), the location information in the local coordinate system that the main control unit that these location informations are converted to caution system in A car is set up.This local coordinate system take travel direction as x positive dirction, the right-hand lay of travel direction is that y forward is (because China's traffic is kept to the right, therefore y forward is determined with reference to China's traffic rule), the short transverse of vehicle is z positive dirction, and the origin of coordinates is at the center-point of vehicle.Simultaneously, real-time position information before and after the vehicle that global position system obtains, the vector (having velocity magnitude and vehicle heading) of the moving velocity of vehicle can be calculated, then according to the compose operation of vector function, speed of relative movement between vehicle can be calculated.According to the relative distance between vehicle, the time that automobile crash needs can be calculated, a reference value of vehicle safe driving in this time and main control unit is compared.
(three ') judges according to above-mentioned comparing result the motoring condition that vehicle is now residing by main control unit, and carries out respective handling, and concrete process comprises:
1) other vehicle traveling parallel with this car vehicle, and the distance (referring to the spacing at the plane geometry center of vehicle) between two cars is more than or equal to a half of the long sum of two car vehicle bodies, main control unit judges that two cars can not collide, and returns step () and proceed information acquisition;
2) other vehicle traveling parallel with this car vehicle, and the distance (referring to the spacing at the plane geometry center of vehicle) between two cars is less than a half of the long sum of two car vehicle bodies, calculate collision point and the collision time of two cars, if time when the collision time calculated is more than or equal to the reaction stored in main control unit apart from a reference value, then two cars can not collide, and main control unit returns step () and proceeds information acquisition; And when if the collision time calculated is less than the reaction stored in main control unit apart from a reference value time, then main control unit controls alarm module and gives the alarm, and chaufeur adjusts vehicle running state automatically according to alarm, after having adjusted, automatically returns to step ();
3) other vehicle and the not parallel traveling of this car vehicle, then main control unit calculates collision point and collision time according to the vehicle relative position obtained, relative velocity, relative distance, if time when the collision time obtained is more than or equal to the reaction stored in main control unit apart from a reference value, main control unit judges that two cars can not collide, and returns step () and proceed information acquisition;
4) other vehicle and the not parallel traveling of this car vehicle, then main control unit calculates collision point and collision time according to the vehicle relative position obtained, relative velocity, relative distance, if time when the collision time obtained is less than the reaction stored in main control unit apart from a reference value, main control unit judges that two cars can collide, control alarm module gives the alarm, chaufeur adjusts vehicle running state automatically according to alarm, after having adjusted, automatically returns to step ().
The concrete steps of above-mentioned early warning are as follows:
(1) obtain by global position system (as adopted GPS or big-dipper satellite position fixing system) location information and Vehicle Speed vector of surveying oneself vehicle and Adjacent vehicles.Here represent with reference to vehicle with A, it is example explanation that B represents Adjacent vehicles.Here in analyzing, only consider the situation of plane, the position (the plane geometry center representative with vehicle) of A car is (x
a, y
a), velocity vector is
; The position of B car is (x
b, y
b), velocity vector is
.
(2) collision point of A car and B car is predicted.According to position and the car speed vector of A and B, calculate collision point.The velocity vector of A car
be (x with right-angle coordinate representation
vA, y
vA), the velocity vector of B car
be (x with right-angle coordinate representation
vB, y
vB).Here two kinds of situations are divided into:
when
time, represent
with
parallel; Then,
If
(
) time, two cars are parallel, and A car and B car transverse pitch are enough large, and A car and B car can not collide.
If | y
ay
b| <L
a/ 2+L
b/ 2, and
, then illustrating that when reacting in distance, A car and B car can bump against, and system will send early warning information, reminding chaufeur to control Vehicle Speed and vehicle heading in time.
If | y
ay
b| <L
a/ 2+L
b/ 2, and
time, then illustrate that when reacting in distance, A car and B car can not bump against, and normally can run by original speed.
when
time, represent
with
not parallel, at this moment to predict may colliding a little of two cars according to vehicle driving trace.According to vehicle driving trace, prediction fouling point P point (x
p, y
p), as calculated:
x
p=
y
p=
Then when
and
(during reaction here, getting 4 seconds apart from a reference value), illustrate when reacting apart from, A car and B car can bump against, and system will send early warning information, and prompting chaufeur controls Vehicle Speed and vehicle heading in time.Otherwise vehicle can normally travel safely.
(3) one by one the vehicle in real time information process range is analyzed, and vehicle driving safety analysis is carried out in 0.5 second, interval or the circulation of 0.1 second time, so just achieves actual time safety early warning analysis.
After carrying out above-mentioned calculating comparison, the traffic information situation of vehicle periphery also can be shown by display module by main control unit.What the present embodiment adopted is existing head-up display system, and the information that realizes directly projects on front windshield.Vehicle sketch is adopted when carrying out information displaying, and the Vehicle Speed on sketch adopts analogy display method, namely the vehicle speed within the scope of the information processing determined all contrasts with the speed of this car, represents travel direction with arrow, and the length of arrow represents faster than the speed of this car or slow.After information processing, at head-up display displaying contents, as shown in Figure 6, intuitively can find out oneself car surrounding vehicles driving information and moving velocity, the speed of a motor vehicle arrow as the O car on A car (this car) left side is long, represents that O vehicle speed is faster than A car and (notes when being shown to head-up display in real time, just no longer show the identification number of vehicle, the information such as A, Q, C, E, P, B, F, O, G, N, J, H, K namely in Fig. 5, display vehicle sketch and speed conditions, simply clear).
In addition, in order to ensure accuracy rate and the speed of data processing, when road is provided with insulation strip, the main control unit of the present embodiment only processes the information of driving vehicle in the same way, and the information for the reverse vehicle of insulation strip opposite side does not process; If but without any quarantine measures on road, only rely on setting-out to distinguish the road of travel direction, need all to carry out information processing to the vehicle of two way.
Claims (4)
1. a vehicle safe driving caution system,
it is characterized in thatit comprises:
1. main control unit
Main control unit stores a reference value of default vehicle safe driving; Main control unit is connected with the main control unit of the vehicle safe driving caution system that other vehicle carries by information transmission, receiver module;
2. running condition information acquisition module
Running condition information acquisition module is for detecting the running condition information of vehicle, and the signal output part of described running condition information detection module connects the signal input part of main control unit;
3. alarm module
The signal input part of described alarm module connects the alarm signal output ends of main control unit, gives the alarm when vehicle and surrounding vehicles exist collision risk.
2. vehicle safe driving caution system according to claim 1,
it is characterized in that:it also comprises the running condition information for showing this car vehicle stored in main control unit, and the display module of the running condition information of other vehicle that main control unit receives from the main control unit of other vehicle, the signal input part of described display module connects the display mouth of main control unit.
3. vehicle safe driving caution system according to claim 1,
it is characterized in that:
Described running condition information acquisition module is global position system;
Described information transmission, receiver module are Zigbee networking.
4. vehicle safe driving caution system as claimed in any of claims 1 to 3,
it is characterized in that:it also comprises the input selection module travelling road conditions for chaufeur input selection, and the signal output part of described input selection module connects the selection signal input part of main control unit.
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| CN201420514332.7U CN204055561U (en) | 2014-09-09 | 2014-09-09 | Vehicle safe driving caution system |
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| CN201420514332.7U CN204055561U (en) | 2014-09-09 | 2014-09-09 | Vehicle safe driving caution system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192063A (en) * | 2014-09-09 | 2014-12-10 | 石家庄铁道大学 | Safe driving warning system for vehicle and corresponding warning method |
| CN106375174A (en) * | 2016-11-17 | 2017-02-01 | 吉林大学 | Vehicle safety evaluation device applied to loss assessment of insurance |
| CN106671903A (en) * | 2016-12-21 | 2017-05-17 | 雷沃重工股份有限公司 | High-safety-performance ECU control system and method |
| CN110171357A (en) * | 2018-02-20 | 2019-08-27 | 现代自动车株式会社 | Vehicle and its control method |
| CN110985127A (en) * | 2019-12-24 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Mobile terminal working method and system of surface mine unmanned transportation system |
| CN112172802A (en) * | 2019-07-02 | 2021-01-05 | 帷享科技股份有限公司 | Driving safety auxiliary system and method capable of improving judgment precision and early warning |
| CN113099415A (en) * | 2021-04-21 | 2021-07-09 | 深圳市车百路科技有限公司 | Vehicle safety monitoring system based on Beidou satellite positioning and 5G communication technology |
| CN113744562A (en) * | 2020-05-29 | 2021-12-03 | 南京市德赛西威汽车电子有限公司 | V2V communication-based vehicle continuous rear-end collision early warning method and device |
-
2014
- 2014-09-09 CN CN201420514332.7U patent/CN204055561U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192063A (en) * | 2014-09-09 | 2014-12-10 | 石家庄铁道大学 | Safe driving warning system for vehicle and corresponding warning method |
| CN104192063B (en) * | 2014-09-09 | 2017-03-29 | 石家庄铁道大学 | Vehicle safe driving caution system and corresponding alarming method for power |
| CN106375174A (en) * | 2016-11-17 | 2017-02-01 | 吉林大学 | Vehicle safety evaluation device applied to loss assessment of insurance |
| CN106671903A (en) * | 2016-12-21 | 2017-05-17 | 雷沃重工股份有限公司 | High-safety-performance ECU control system and method |
| CN110171357A (en) * | 2018-02-20 | 2019-08-27 | 现代自动车株式会社 | Vehicle and its control method |
| CN112172802A (en) * | 2019-07-02 | 2021-01-05 | 帷享科技股份有限公司 | Driving safety auxiliary system and method capable of improving judgment precision and early warning |
| CN112172802B (en) * | 2019-07-02 | 2022-05-13 | 帷享科技股份有限公司 | Driving safety auxiliary system and method capable of improving judgment precision and early warning |
| CN110985127A (en) * | 2019-12-24 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Mobile terminal working method and system of surface mine unmanned transportation system |
| CN113744562A (en) * | 2020-05-29 | 2021-12-03 | 南京市德赛西威汽车电子有限公司 | V2V communication-based vehicle continuous rear-end collision early warning method and device |
| CN113099415A (en) * | 2021-04-21 | 2021-07-09 | 深圳市车百路科技有限公司 | Vehicle safety monitoring system based on Beidou satellite positioning and 5G communication technology |
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