CN102637371A - Expressway automobile rear-end collision prevention system - Google Patents
Expressway automobile rear-end collision prevention system Download PDFInfo
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- CN102637371A CN102637371A CN2011102161023A CN201110216102A CN102637371A CN 102637371 A CN102637371 A CN 102637371A CN 2011102161023 A CN2011102161023 A CN 2011102161023A CN 201110216102 A CN201110216102 A CN 201110216102A CN 102637371 A CN102637371 A CN 102637371A
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Abstract
The invention relates to the technical field of expressway automobile traffic safety, in particular to an expressway automobile rear-end collision prevention system. The system comprises an uplink frequency point control module, a downlink frequency point control module, a vehicular rear-end collision prevention module and a vehicular rear-end collision prevention initializing system, wherein the uplink frequency point control module and the downlink frequency point control module are arranged at the entrance and exit of an expressway respectively; the vehicular rear-end collision prevention module is arranged on an automobile at the expressway entrance; the vehicular rear-end collision prevention initializing system is arranged in an expressway charging system; the uplink frequency point control module comprises a coding module, a decoding module, a single chip and a radio transceiving module; and the vehicular rear-end collision prevention initializing system comprises a rear-end collision prevention system initializing module, a rear-end collision prevention system clearing module and a radio-frequency module. The system provided by the invention can effectively prevent the traffic collision on the expressway.
Description
Technical field
The present invention relates to highway automobile traffic safety technology field, especially relate to the anti-system that knocks into the back of a kind of highway automobile.
Background technology
In recent years, along with the develop rapidly of China's expressway construction, highway rear-end collision sum sharply increases; The prevention of highway rear-end collision more and more causes the extensive concern of society, because when running on expressway, the speed of automobile is generally all very fast; In case run into accident, the driver can't rapid reaction so that timely Control of Automobile, thereby lead to a chain of the collision or other traffic hazards; So; An auxiliary safety warning device or a control device need be set on automobile,, avoid the generation of accident so that in the process of galloping, in time remind the driver.Automobile anti-rear end collision of the prior art system usually is employed on the automobile assembling infrared ray or the ultrasonic radar system realizes the automobile anti-rear end collision function; It on automobile, increases extra infrared ray or the ultrasonic radar system not only can increase the cost of automobile self to realize the automobile anti-rear end collision function; And can not used vehicle all be installed by this system, so just can not effectively prevent the rear-end collision of automobile on highway; Also have through GPS positioning system and GPS positioning system and combine to realize the automobile anti-rear end collision system with the highway radio lan; This scheme is because its cost of investment is bigger; So be difficult to promote, thereby very difficult generation of effectively controlling or avoiding traffic accidents.
Summary of the invention
The anti-system that knocks into the back of a kind of highway automobile that the present invention is directed to deficiency of the prior art and provide, it has been through having added the automobile anti-rear end collision module on the basis of existing expressway tol lcollection module, thereby efficiently solves the problems of the prior art.
For realizing the foregoing invention purpose; The present invention adopts following technical scheme: the anti-system that knocks into the back of described a kind of highway automobile; Include up frequency control module, descending frequency control module, vehicle-mounted anti-module and the vehicle-mounted anti-initialization system that knocks into the back of knocking into the back; Described up frequency control module and descending frequency control module are separately positioned on the entrance and exit place of expressway; The vehicle-mounted anti-module that knocks into the back is arranged on the automobile that gets into entrance, and the vehicle-mounted anti-initialization system that knocks into the back is arranged in the highway charging system; Described up frequency control module comprises first coding module, first decoder module, first single-chip microcomputer and first radio transceiver chip; The described vehicle-mounted anti-initialization system that knocks into the back comprises the anti-system initialization module that knocks into the back, anti-knock into the back system's dump block and radio-frequency module; The anti-system initialization module 14 that knocks into the back, anti-system's dump block 15 and the computer charge system module 13 of knocking into the back realize by software, and radio-frequency module 16 is knock into the back interfaces of system's dump block 15 and the vehicle-mounted anti-module that knocks into the back of the anti-system initialization module 14 and anti-of knocking into the back; The described vehicle-mounted anti-module that knocks into the back comprises Fare Collection System power module, frequency control unit circuit and warning system.
The output of the Fare Collection System power module of the described vehicle-mounted anti-module that knocks into the back links to each other with the 2nd DC/DC module with a DC/DC module successively; Corresponding the linking to each other of VCC, GND pin of the positive output end of the 2nd DC/DC module, negative output terminal and the second singlechip of frequency control module, second singlechip links to each other with second decoder module, second coding module and second radio transceiver chip respectively; The P0.0 of second singlechip ~ P0.3 pin is corresponding continuous with the D0 ~ D3 pin of second coding module; The P2.1 pin of second singlechip links to each other with 14 pins of second coding module; The P0.4 of second singlechip ~ P0.7 pin is corresponding continuous with the D0 ~ D3 pin of second decoder module, and the INTO pin of second singlechip links to each other with 17 pins of second coding module through second phase inverter, and the P2.0 pin of second singlechip links to each other with an end of the capacitor C 1 of warning system and inductance L 1 and the positive input terminal of diode D1; The other end ground connection of capacitor C 1 and inductance L 1; The negative output terminal of diode D1 links to each other with an end of capacitor C 2 and resistance R 1, the other end ground connection of capacitor C 2 and resistance R 1, and the negative output terminal of diode D1 also links to each other with 11 pins of variable resistor R2, resistance R 4 one ends and first comparer; The other end of variable resistor R2 links to each other with 4 pins of first comparer; The variable input end of variable resistor R2 links to each other with 2 pins of first comparer through resistance R 3, and the other end of resistance R 4 links to each other with 3 pins of first comparer, and 4,11 pins of first comparer link to each other with the output terminal of a DC/DC module; 2,3,4 pins of first comparer are through resistance R 6 ground connection; 4 pins of first comparer link to each other with an end of switch S 1 and resistance R 8 through resistance R 5, and switch S 1 gets the other end through capacitor C 4 ground connection with resistance R 8, and 1 pin of first comparer links to each other with an end of current monitoring point and resistance R 7; Capacitor C 3 is parallel to 1 pin output terminal of first comparer; The other end ground connection of resistance R 7, the output terminal of current monitoring point is through sampling resistor R9 ground connection, and the output terminal of current monitoring point also links to each other with 5 pins of second comparer; 6 pins of second comparer link to each other with the warning system module; The warning system module links to each other with alarm buzzer, alarm lamp respectively, and 7 pins of second comparer link to each other with the P1.3 pin of second singlechip, and the power pins of second comparer links to each other with the output terminal of a DC/DC module.
The first single-chip microcomputer model in the described up frequency control module is AT89C51; Corresponding the linking to each other of TE, D0, D1, D2, D3 pin of the P2.1 of AT89C51 single-chip microcomputer, P2.2, P2.3, P2.4, P2.5 pin and first coding module; Corresponding the linking to each other of D0, D1, D2, D3 pin of the P0.4 of AT89C51 single-chip microcomputer, P0.5, P0.6, P0.7 pin and first decoder module; The VT interface of first decoder module links to each other with the INT0 pin of AT89C51 single-chip microcomputer through first phase inverter, and the P1.0 of AT89C51 single-chip microcomputer, P1.1, P1.2, RXD, TXD pin are corresponding continuous with CX, TXEN, PWR, DO, the DI pin of first radio transceiver chip.
Described up frequency control module is identical with descending frequency control module structure, and up frequency control module and descending frequency control module are separately positioned on the inlet of expressway and outlet 10 ~ 100 places of expressway.
A described DC/DC module is used for the 24V power source conversion of Fare Collection System power module is become the 9V power supply, and the 2nd DC/DC module is used for DC/DC module output ground 9V power source conversion is become the 5V power supply.
The present invention passes through technique scheme; There is following effect: the anti-system that knocks into the back of described a kind of highway automobile; It has added the automobile anti-rear end collision module on the basis of existing expressway tol lcollection module, thereby effectively controls or avoid the generation of traffic accidents.Compared with prior art, in this programme implementation process,, further bring into play its usefulness, play a role for vehicle goes at expressway safety through Fare Collection System is improved.The system of on automobile, assembling infrared ray or ultrasonic radar system realization automobile anti-rear end collision function with available technology adopting compares, and the native system implementation cost is cheap, and has utilized existing system well, has excavated the potential of existing system; The one, native system is said anti-to knock into the back module as a kind of safeguard device vehicle-mounted safety device, can be installed on the various vehicles, and can not impact original design of automobile especially outward appearance, thereby can not bring added burden to the car owner; The 2nd, in case vehicle ' is on highway; Adverse weather condition (like foggy weather) occurs, though visibility is very low, the communication of exercising in the same way between vehicle still can be maintained; Through the said vehicle-mounted anti-module that knocks into the back of native system, adjacent vehicle can avoid rear-end collision to take place.The 4th, native system passes through to expand cheaply, has realized the decentralized control of the anti-function that knocks into the back, and through the communication of adjacent vehicle, prevents that rear-end collision from taking place.In this process, do not rely on any global information, like GPS navigation information.This invention is easy to use, with low cost, promotes easily.
Description of drawings:
Fig. 1 is that structural principle of the present invention and circuit connect synoptic diagram;
Fig. 2 is that the vehicle-mounted anti-circuit system that knocks into the back of the present invention connects synoptic diagram;
Fig. 3 is implementing procedure figure of the present invention;
Fig. 4 is the system's operational flow diagram frequently of putting of the present invention.
Shown in the figure: 1, first coding module; 2, first single-chip microcomputer; 3, first decoder module; 4, first radio receiving transmitting module; 5, up frequency control module; 6, first phase inverter; 9, the vehicle-mounted anti-initialization system that knocks into the back; 10, automobile; 11, the vehicle-mounted anti-module that knocks into the back; 12, descending frequency control module; 13, computer charge system module; 14, the anti-system initialization module that knocks into the back; 15, the anti-system's dump block that knocks into the back; 16, radio-frequency module; 17, Fare Collection System power module; 18, a DC/DC module; 19, first comparer; 20, the 2nd DC/DC module; 21, second radio transceiver chip; 22, second coding module; 23, second decoder module; 24, second phase inverter; 25, second singlechip; 26, second comparer; 27, warning system module; 28, alarm buzzer; 29, alarm lamp; 30, current monitoring point.
Embodiment
Do further to detail below in conjunction with the most preferred embodiment shown in the accompanying drawing
Like Fig. 1, shown in 2; The anti-system that knocks into the back of described a kind of highway automobile; For realizing the foregoing invention purpose; The present invention adopts following technical scheme: the anti-system that knocks into the back of described a kind of highway automobile, include up frequency control module 5, descending frequency control module 12, vehicle-mounted anti-module 11 and the vehicle-mounted anti-initialization system 9 that knocks into the back of knocking into the back, and described up frequency control module 5 and descending frequency control module 12 are separately positioned on the entrance and exit place of expressway; The vehicle-mounted anti-module 11 that knocks into the back is arranged on the automobile that gets into entrance, and the vehicle-mounted anti-initialization system 9 that knocks into the back is arranged in the highway charging system; Described up frequency control module 5 comprises first coding module 1, first decoder module 3, first single-chip microcomputer 2 and first radio transceiver chip 4; The described vehicle-mounted anti-initialization system 9 that knocks into the back comprises the anti-system initialization module 14 that knocks into the back, anti-knock into the back system's dump block 15 and radio-frequency module 16; The anti-system initialization module 14 that knocks into the back, anti-system's dump block 15 and the computer charge system module 13 of knocking into the back realize by software; Radio-frequency module 16 is interfaces of anti-knock into the back system initialization module 14 and anti-knock into the back system's dump block 15 and the vehicle-mounted anti-module that knocks into the back; When vehicle sails the expressway access into; The anti-system initialization module 14 that knocks into the back is carried out initialization operation through 16 pairs of vehicle-mounted anti-modules 11 that knock into the back of radio-frequency module; The frequency f 1 that writes vehicle heading, license plate number and set vehicle initial transmissions signal when going in the direction, receive frequency f2 is when vehicle sails out of highway; The anti-system's dump block 15 that knocks into the back is carried out clear operation through 16 pairs of vehicle-mounted anti-modules 11 that knock into the back of radio-frequency module, makes it to be in silent status; The described vehicle-mounted anti-module 11 that knocks into the back comprises Fare Collection System power module 17, frequency control unit circuit and warning system.
The output of the Fare Collection System power module 17 of the described vehicle-mounted anti-module 11 that knocks into the back links to each other with the 2nd DC/DC module 20 with a DC/DC module 18 successively; Corresponding the linking to each other of VCC, GND pin of the positive output end of the 2nd DC/DC module 20, negative output terminal and the second singlechip 25 of frequency control module, second singlechip 25 links to each other with second radio transceiver chip 21 with second decoder module 22, second coding module 22 respectively; The P0.0 of second singlechip 25 ~ P0.3 pin is corresponding continuous with the D0 ~ D3 pin of second coding module 22; The P2.1 pin of second singlechip 25 links to each other with 14 pins of second coding module 22; The P0.4 of second singlechip 25 ~ P0.7 pin is corresponding continuous with the D0 ~ D3 pin of second decoder module 23; The INTO pin of second singlechip 25 links to each other with 17 pins of second coding module 22 through second phase inverter 24; The P2.0 pin of second singlechip 25 links to each other with an end of the capacitor C 1 of warning system and inductance L 1 and the positive input terminal of diode D1, the other end ground connection of capacitor C 1 and inductance L 1, and the negative output terminal of diode D1 links to each other with an end of capacitor C 2 and resistance R 1; The other end ground connection of capacitor C 2 and resistance R 1; The negative output terminal of diode D1 also links to each other with variable resistor R2, resistance R 4 one ends and 11 pins of first comparer 19, and the other end of variable resistor R2 links to each other with 4 pins of first comparer 19, and the variable input end of variable resistor R2 links to each other with 2 pins of first comparer 19 through resistance R 3; The other end of resistance R 4 links to each other with 3 pins of first comparer 19; 4,11 pins of first comparer 29 link to each other with the output terminal of a DC/DC module, and 2,3,4 pins of first comparer 19 are through resistance R 6 ground connection, and 4 pins of first comparer 19 link to each other with an end of switch S 1 and resistance R 8 through resistance R 5; Switch S 1 gets the other end through capacitor C 4 ground connection with resistance R 8; 1 pin of first comparer 19 links to each other with an end of current monitoring point 30 and resistance R 7, and capacitor C 3 is parallel to 1 pin output terminal of first comparer 19, the other end ground connection of resistance R 7; The output terminal of current monitoring point 30 is through sampling resistor R9 ground connection; The output terminal of current monitoring point 30 also links to each other with 5 pins of second comparer 26, and 6 pins of second comparer 26 link to each other with warning system module 27, and warning system module 27 links to each other with alarm buzzer 28, alarm lamp 29 respectively; 7 pins of second comparer 26 link to each other with the P1.3 pin of second singlechip 25, and the power pins of second comparer 26 links to each other with the output terminal of a DC/DC module 18.
First single-chip microcomputer, 2 models in the described up frequency control module 5 are AT89C51; Corresponding the linking to each other of TE, D0, D1, D2, D3 pin of the P2.1 of AT89C51 single-chip microcomputer, P2.2, P2.3, P2.4, P2.5 pin and first coding module; Corresponding the linking to each other of D0, D1, D2, D3 pin of the P0.4 of AT89C51 single-chip microcomputer, P0.5, P0.6, P0.7 pin and first decoder module; The VT interface of first decoder module links to each other with the INT0 pin of AT89C51 single-chip microcomputer through first phase inverter, and the P1.0 of AT89C51 single-chip microcomputer, P1.1, P1.2, RXD, TXD pin are corresponding continuous with CX, TXEN, PWR, DO, the DI pin of first radio transceiver chip.
Described up frequency control module is identical with descending frequency control module structure, and up frequency control module 5 is separately positioned on the inlet of expressway and outlet 10 ~ 100 places of expressway with descending frequency control module 12.
Like Fig. 3, shown in 4; The anti-system that knocks into the back of described a kind of highway automobile; It connects the vehicle-mounted anti-module that knocks into the back of each module and when automobile gets into the high speed crossing, is positioned on the automobile when implementing, and the vehicle-mounted anti-initialization system 9 that knocks into the back is integrated in the existing highway tolling system; Up frequency control module 5 is positioned over 10 ~ 100 meters of up-high speed inlet, and descending frequency control module 12 is positioned over 10 ~ 100 meters of down high speed highway inlet.
Initialization and zero clearing work that system realizes the vehicle-mounted anti-modular unit that knocks into the back through radio-frequency module 16.When vehicle sails highway into, through the anti-initialization module 14 that knocks into the back writes vehicle heading, license plate number and sets vehicle initial transmissions signal when going in the direction in rate card frequency f 1, receive frequency f2.When vehicle rolled highway away from, Fare Collection System carried out rezero operation through the anti-unit that knocks into the back in the anti-15 pairs of rate cards of system's dump block that knock into the back when confirming toll amount, make it to be in silent status.In this course, on/receive frequency of descending frequency control module is always f1, and transmission frequency is always f2.
With up train is example, after vehicle sails highway into, and the vehicle-mounted anti-module that knocks into the back is initialised, to the vehicle-mounted anti-module for power supply that knocks into the back, gets into the anti-mode of operation that knocks into the back through the vehicle power module.Single-chip microcomputer is decoded to initialization information; Confirm first transmit frequency signal f1 and receive frequency f2; And information of vehicles is modulated on the f1 frequency through coding module 22 sends continuously through radio receiving transmitting module; Up frequency control module 5 receives this f1 frequency signal, through judging whether to be up vehicle after decoder module 3 decodings.If not, then abandon this signal; If the frequency values of then setting the anti-signal that knocks into the back of vehicle is f3, and should value and information coded modulation such as vehicle identification number send at frequency f2, this signal can only be received by near the up vehicle the up frequency control module.After the anti-unit wireless transceiver module 21 that knocks into the back of up vehicle receives the f2 frequency signal; Transferring to single-chip microcomputer 25 decodes through decoder module 23; Confirm that at first this signal is the instruction of issuing oneself; Set the frequency f 3 of the anti-signal that knocks into the back then, and be modulated at by coding module 22 and transfer to radio receiving transmitting module on the f3 and send by setting cycle, the receive frequency of putting radio receiving transmitting module simultaneously also is f3.Radio transceiver chip 21 in other vehicle toll cards that this signal will be gone in the same way receives and the judgement of preventing knocking into the back.In this car did not send the time period of the anti-frequency signal that knocks into the back, radio receiving transmitting module was in accepting state, is received in the frequency signal f3 that adjacent vehicle sent that goes in certain coverage; And transfer to single-chip microcomputer 25 this frequency signal is sent to the field intensity testing circuit, testing circuit is through (1,2 of first comparer (LM324) 19; 3) pin is converted into current signal with frequency signal, and then compares (5,6 of (LM324) 26 through second; 7) pin is converted into voltage signal with current signal, and it is sent into warning system module 27, and warning system judges that voltage signal is whether on some threshold values (this threshold voltage is corresponding to certain decibels of field intensity); If then report to the police through the piezoelectric buzzer in the alarm module 28, alarm lamp 29 flickers simultaneously remind the driver and conductor to note adjacent vehicle; Maintain safe distance, otherwise then do not report to the police.During whole highway went, the anti-unit that knocks into the back was in above-mentioned duty always.Principle of work when vehicle is descending and identical when up, just the frequency of the anti-signal that knocks into the back is set to f4.
Claims (5)
1. a highway automobile is prevented the system that knocks into the back; It is characterized in that including up frequency control module, descending frequency control module, vehicle-mounted anti-module and the vehicle-mounted anti-initialization system that knocks into the back of knocking into the back; Described up frequency control module and descending frequency control module are separately positioned on the entrance and exit place of expressway; The vehicle-mounted anti-module that knocks into the back is arranged on the automobile that gets into entrance, and the vehicle-mounted anti-initialization system that knocks into the back is arranged in the highway charging system; Described up frequency control module comprises first coding module, first decoder module, first single-chip microcomputer and first radio transceiver chip; The described vehicle-mounted anti-initialization system that knocks into the back comprises the anti-system initialization module that knocks into the back, anti-knock into the back system's dump block and radio-frequency module; The anti-system initialization module that knocks into the back, anti-system's dump block and the computer charge system module of knocking into the back realize by software, and radio-frequency module is the knock into the back interface of system's dump block and the vehicle-mounted module of preventing knocking into the back of the anti-system initialization module and anti-of knocking into the back; The described vehicle-mounted anti-module that knocks into the back comprises Fare Collection System power module, frequency control unit circuit and warning system.
2. the anti-system that knocks into the back of highway automobile according to claim 1; It is characterized in that: the output of the Fare Collection System power module of the described vehicle-mounted anti-module that knocks into the back links to each other with the 2nd DC/DC module with a DC/DC module successively; Corresponding the linking to each other of VCC, GND pin of the positive output end of the 2nd DC/DC module, negative output terminal and the second singlechip of frequency control module, second singlechip links to each other with second decoder module, second coding module and second radio transceiver chip respectively; The P0.0 of second singlechip ~ P0.3 pin is corresponding continuous with the D0 ~ D3 pin of second coding module; The P2.1 pin of second singlechip links to each other with 14 pins of second coding module; The P0.4 of second singlechip ~ P0.7 pin is corresponding continuous with the D0 ~ D3 pin of second decoder module, and the INTO pin of second singlechip links to each other with 17 pins of second coding module through second phase inverter, and the P2.0 pin of second singlechip links to each other with an end of the capacitor C 1 of warning system and inductance L 1 and the positive input terminal of diode D1; The other end ground connection of capacitor C 1 and inductance L 1; The negative output terminal of diode D1 links to each other with an end of capacitor C 2 and resistance R 1, the other end ground connection of capacitor C 2 and resistance R 1, and the negative output terminal of diode D1 also links to each other with 11 pins of variable resistor R2, resistance R 4 one ends and first comparer; The other end of variable resistor R2 links to each other with 4 pins of first comparer; The variable input end of variable resistor R2 links to each other with 2 pins of first comparer through resistance R 3, and the other end of resistance R 4 links to each other with 3 pins of first comparer, and 4,11 pins of first comparer link to each other with the output terminal of a DC/DC module; 2,3,4 pins of first comparer are through resistance R 6 ground connection; 4 pins of first comparer link to each other with an end of switch S 1 and resistance R 8 through resistance R 5, and switch S 1 gets the other end through capacitor C 4 ground connection with resistance R 8, and 1 pin of first comparer links to each other with an end of current monitoring point and resistance R 7; Capacitor C 3 is parallel to 1 pin output terminal of first comparer; The other end ground connection of resistance R 7, the output terminal of current monitoring point is through sampling resistor R9 ground connection, and the output terminal of current monitoring point also links to each other with 5 pins of second comparer; 6 pins of second comparer link to each other with the warning system module; The warning system module links to each other with alarm buzzer, alarm lamp respectively, and 7 pins of second comparer link to each other with the P1.3 pin of second singlechip, and the power pins of second comparer links to each other with the output terminal of a DC/DC module.
3. the anti-system that knocks into the back of highway automobile according to claim 1; It is characterized in that: the first single-chip microcomputer model in the described up frequency control module is AT89C51; Corresponding the linking to each other of TE, D0, D1, D2, D3 pin of the P2.1 of AT89C51 single-chip microcomputer, P2.2, P2.3, P2.4, P2.5 pin and first coding module; Corresponding the linking to each other of D0, D1, D2, D3 pin of the P0.4 of AT89C51 single-chip microcomputer, P0.5, P0.6, P0.7 pin and first decoder module; The VT interface of first decoder module links to each other with the INT0 pin of AT89C51 single-chip microcomputer through first phase inverter, and the P1.0 of AT89C51 single-chip microcomputer, P1.1, P1.2, RXD, TXD pin are corresponding continuous with CX, TXEN, PWR, DO, the DI pin of first radio transceiver chip.
4. according to claim 1 or the anti-system that knocks into the back of 3 described highway automobiles; It is characterized in that: described up frequency control module is identical with descending frequency control module structure, and up frequency control module and descending frequency control module are separately positioned on the inlet of expressway and outlet 10 ~ 100 places of expressway.
5. the anti-system that knocks into the back of highway automobile according to claim 1 and 2; It is characterized in that: a described DC/DC module is used for the 24V power source conversion of Fare Collection System power module is become the 9V power supply, and the 2nd DC/DC module is used for DC/DC module output ground 9V power source conversion is become the 5V power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110216102.3A CN102637371B (en) | 2011-07-30 | 2011-07-30 | Expressway automobile rear-end collision prevention system |
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| CN201110216102.3A CN102637371B (en) | 2011-07-30 | 2011-07-30 | Expressway automobile rear-end collision prevention system |
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| CN102637371B CN102637371B (en) | 2014-03-05 |
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| CN109544992A (en) * | 2018-12-20 | 2019-03-29 | 吉林大学 | A kind of vehicle collision prewarning system based on GPS and ZigBee |
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