CN102981010A - Method for verifying speed of appropriate vehicle by using camera - Google Patents
Method for verifying speed of appropriate vehicle by using camera Download PDFInfo
- Publication number
- CN102981010A CN102981010A CN2012103087898A CN201210308789A CN102981010A CN 102981010 A CN102981010 A CN 102981010A CN 2012103087898 A CN2012103087898 A CN 2012103087898A CN 201210308789 A CN201210308789 A CN 201210308789A CN 102981010 A CN102981010 A CN 102981010A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003384 imaging method Methods 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method in which a detected speed (v) of a vehicle is verified by virtue of calculating an object angle ([phi]O) and an image angle ([phi]B) and comparing the object angle ([phi]O) with the image angle ([phi]B). The object angle is an angle covered by a camera (K) when the vehicle drives through an object region of the camera (K) within a time deviation between at least two moments, while the image angle is an angle that mutually covered by images of the vehicle on pictures shot subsequently in time at the at least two moments by the camera (K).
Description
Technical field
The present invention relates to a kind of method, especially by means of the method can confirm a vehicle detection speed degree of accuracy and can recognition imaging the vehicle that travels of the speed to detect in photograph.At this, only have this speed can be assigned to clearly the vehicle of an imaging, can realize reliable identification.
Background technology
In the Traffic monitoring field, invasive and non-invasive measurement sensor (for example loop inductance, piezoelectricity bar, laser sensor, radar sensor) are used to detect the speed of vehicle.The measured value that obtains by this can be velocity amplitude or distance value or time value, can derive the velocity amplitude of measurement target vehicle from these values.Speed detects and can be used for adding up purpose, but major part is detection and punishment for traffic violations.For reaching this purpose, conventional way is to come file record is carried out in traffic violations by means of the sheet photo that the violation vehicle is taken, and the related data that usually superposeed legally on this photograph is such as speed, the date and time that detects.
Clear and definite appointment means that the speed of detection can accurately be assigned to the vehicle of an imaging and also only can be assigned to described vehicle.Not only this clearly the appointment is necessary when a plurality of vehicles are imaged in this photograph, and also be like this when only having single unit vehicle to be imaged, (for example, because deflection beam reflect and cause) causes measured speed not corresponding with the actual speed of the vehicle of imaging because here because measuring error.
Existence is from the method for the known a large amount of appointments for realizing explaining of prior art.
At the speed detection field, not only use the Noninvasive sensor (by its measured value that obtains, not only detected the speed of vehicle, and detected the distance of vehicle), also and use the invasive sensor, two piezoelectricity bars for example, they each other the interval and their be known apart from the distance that can take the camera of photograph, and the appointment of detection speed can realize by means of this distance.This distance is the distance to sensor, wherein based on the knowledge of sensor with respect to the relative position of camera, also can export to the distance of camera.Below, because the description of this invention is not very important, for simplicity, hypothesis is provided for this sensor of speed detection (or in the situation of a plurality of sensors, two piezoelectricity bars for example), be positioned in the position identical with camera at a rear sensor of travel direction.Therefore, below, this distance both can be understood to mean that this vehicle to the distance of this survey sensor, also can be that this vehicle is to the distance of this camera.
In the situation of the distance of invariable ground of use Noninvasive sensor measuring vehicle, the distance that detects in that time that this camera is triggered can be used for identification when Vehicle Driving Cycle process measurement zone the time.
In the situation of invasive sensor, the possible distance of this vehicle can be determined from the known distance of this sensor and the speed that detects in this camera is triggered that time.
Intrinsic parameter by this camera and the camera axis of this camera are with respect to this road with respect to the position of this sensor and the knowledge of arrangement, and the distance that detects can be assigned to the vehicle of imaging in this photograph.Yet possiblely ambiguously be, if particularly this photograph comprises a plurality of tracks of this road, and like this so that a plurality of vehicles can be positioned at identical distance simultaneously.
What can also occur is, if because the deflection beam reflection causes a vehicle except the vehicle of imaging measured, so just derived different speed of a different distance and (from this apart from deriving), and should distance and this speed be not the vehicle that is derived from imaging.
In order to eliminate this uncertainty, for example be known that multiple method for the Noninvasive sensor, measuring bundle by means of one in these methods, to detect the speed of a vehicle and distance and this measurement target vehicle be tracked, that is to say, when this Vehicle Driving Cycle process measurement zone, the position of this vehicle of repeated detection changes data.Thus obtained tracking data has been described the track (mobile alignment) that this vehicle is described when it travels through this measurement zone, this tracking data can be used for identification measurement target vehicle by this.
Usually possiblely be, for example by understanding track, this vehicle be assigned to some tracks, and therefore in the photograph of traffic scene with this vehicle identification out.Yet this has supposed that this road can be divided into a plurality of tracks significantly in this photograph.
DE102007022373A1 has disclosed a kind of method for detection of traffic violations, the method detects target tracking data by a radar sensor, wherein radar sensor is directed to a radar beam on the road, like this measurement zone that limits through this radar beam (below be called monitoring section) so that a plurality of vehicle can travel simultaneously.
In order to reach this purpose, radar cell can be orientated as adjacent with this road or above this road, for example be fixed on the bridge, and is wherein consistent with this road direction at this (on horizontal direction) this radar axis.
A target be can derive from the radar signal of reflection and this radar sensor and radar axis angulation arrived with respect to those surfaces of this radar beam of reflection of the relative velocity of this radar sensor, described target with the distance of radar sensor and the radar beam of reflection.
In DE102007022373A1 with in the situation of permanent radar sensor as the basis, in the phase differential of radar signal of the reflection of assessment different frequency, continuous velocity survey and/or continuous range observation have been produced by utilizing radar Doppler effect or frequency shift keying (FSK) principle.Measurement of angle is that the triangulation that for example realizes by two receiving antennas is carried out.
In measuring process, if detect a speed on predetermined threshold velocity, processor just from the distance of these detections and angle value determine a track and transmit a signal to camera to take the photograph of current traffic scene.This camera is arranged on this radar cell at a distance of known fixed range place, and be configured such that optical axial (below be called camera axis) with a fixed angle with respect to this radar axial alignment, and this traffic scene in the about predetermined distance of the degree of depth (being called as the photograph point) that surpasses a scene areas by clearly imaging.
Because all tracks of target field extend through of this camera, the radar cone also is guided on these tracks, so a plurality of vehicles that are arranged in this radar cone in that time that camera is triggered also may be imaged at this photograph.
Present in order to identify definitely the violation vehicle in this photograph, will be as being superimposed upon on this photograph by the track of measuring determined this violation vehicle.Advantageously carry out this stack, thereby so that represent a mark of this track and be superimposed on those imaging points in this photograph, and those imaging points are assigned to distance-based and angle limits, common those positions that form this track in target field.That is to say that this identification is based on this track of measuring with respect to this radar cell and carries out individually, rather than utterly with reference to one of this road independent track.
When one vehicle crosses in violation of rules and regulations, should advantageously might take a plurality of evidence photographs, these evidence photographs show the described vehicle at the diverse location place on determined track.
The fact as starting point is, in a kind of method according to DE102007022373A1, owing to blocking mutually, vehicle causes to detect definitely each in violation of rules and regulations, unexposed at DE102010012811.2() in, except carrying out the target following as DE102007022373A1 is described, with the video camera with matrix receiver come carries out image to follow the tracks of, and the tracking data that obtains is carried out the correlativity inspection.In relevant situation, a partly overlapping mark is superimposed upon on the vehicle of an imaging in these photographs.
In the situation that image is followed the tracks of, be identified for determining the tracking data of the track of vehicle from the change in location of the vehicle of an imaging.
Unexposed according to DE102010012811.2() the image of method follow the tracks of process and storage aspect need relatively high expense.
Summary of the invention
The present invention is based on the purpose of specifying a kind of method, and the method has relatively low expense aspect processing and the storage.
The method of the speed by a kind of detection that is used for the checking vehicle by means of camera has realized described purpose, in the method by a camera a plurality of photographs, this camera is known with respect to position and the arrangement of a road, a plurality of vehicles travel through the target area of this camera at this road, and therefore this camera also is known with respect to position and the arrangement of the direction of travelling, wherein, at least one moment t
1, determine this vehicle to this camera apart from e (t
1), in order to calculate at this moment t according to the speed v of this detection and by the knowledge of this travel direction
1With at least one moment t after a while
2Between this vehicle with respect to this camera mobile target angle φ
O, and wherein, at described at least two moment t
1And t
2, in situation separately by photograph of this camera, and from these photographs this vehicle these image A ' (t
1) and A'(t
2) side-play amount s' and these intrinsic calculation of parameter of this camera go out an image angle φ
B, with this image angle and this target angle φ
OCompare.
This survey sensor according to being used for velocity survey can detect this distance similarly by means of described survey sensor or another survey sensor.At this, can or carry out immediately velocity survey before the method that is used for checking is carried out simultaneously.
Only there is being a vehicle to be imaged in these photographs and this target angle φ
OWith this image angle φ
BIn a predetermined margin tolerance in the identical situation, what can infer is that the vehicle of this imaging in fact is to travel with the speed of this detection, in order to for example eliminate the measuring error that the reflection by deflection beam causes.
In a plurality of vehicles were imaged at situation in these photographs, the speed of this detection can be assigned to its image with an image angle φ
BThe vehicle of this imaging that is shifted, this image angle in a predetermined tolerance range with this target angle φ
OIdentical.
Description of drawings
Below will the present invention will be described in more detail based on an exemplary and referring to accompanying drawing, wherein:
Fig. 1 shows be used to a figure sketch explaining this method.
List of numerals
A (t
1) vehicle is at moment t
1The position
A (t
2) vehicle is at moment t
2The position
The e distance
E (t
1) at moment t
1Distance
E (t
2) at moment t
2Distance
φ
OTarget angle
The operating range that s covers
V speed
A'(t
1) vehicle of imaging is at moment t
1The position
A'(t
2) vehicle of imaging is at moment t
2The position
The K camera
The plane of delineation of BE camera K
The side-play amount of the image of s' vehicle
φ
BImage angle
Embodiment
By means of the method according to this invention, both might verify by a speed detecting of sensor arbitrarily by means of distance, in order to detect a plurality of measurement target vehicles by an other survey sensor, this other survey sensor is known with respect to the position of this camera K, perhaps might come detection speed by the survey sensor identical with the sensor that is used for distance still to be tested is detected in addition.
Explain such as foreword, when vehicle crosses monitoring section, by means of different invasives and Noninvasive sensor, just might detection speed v and to camera K apart from e.In order to verify according to the present invention determined speed v, and/or in order speed v to be assigned to a vehicle of imaging in photograph, just be necessary not only to determine and at least temporarily store this speed v, but also be necessary to determine and at least temporarily be stored in the moment t of a triggering camera K
1This measurement target vehicle to camera K apart from e(as explained below).This apart from e according to employed survey sensor and measuring principle and determined dexterously.
From following knowledge: camera K with respect to road and therefore with respect to the position of travel direction and arrangement, at moment t
1This measurement target vehicle to camera K apart from e and the speed v that detects, might infer the operating range s that covers at, this vehicle is at predetermined after a while t constantly
2Certainly covered this operating range.Therefore, with a kind of method known to those skilled in the art, might calculate this vehicle at moment t
1With t
2Between the angular region that crosses with respect to camera K (by target angle φ
ODetermine).
If will moment t
2Also be incorporated in this calculating apart from e, just can increase the accuracy that this angle is determined.That is to say, determine that vehicle accurate location (separately based on this distance, this under any circumstance all is impossible) at a time is unimportant, importantly determine as explained above target angle φ
OThe residing physical location of vehicle is only used for a basis of graphic extension.
Fig. 1 shows vehicle at moment t
1Position A (t
1) and at moment t
2Position A (t
2) and be associated accordingly apart from e (t
1) and e (t
2), the operating range s=f (v) that covers, and the target angle φ of gained
O
If use (for example) radar sensor to be used for the sensor that speed detects as one, (determined by the radar angle that is enclosed between main beam and this road edge from the position of this radar sensor and the knowledge of arrangement so, for example 20 °) and the knowledge of the distance that detects with respect to the position of this radar sensor and the knowledge of arrangement (being determined by camera axis) and by this radar sensor from camera K, also might derive this vehicle these photographs the time be carved into the distance of camera K.
If use (for example) two piezoelectricity bars to be used for the sensor that speed detects as one, then can from following knowledge derive this vehicle these photographs the time be carved into the distance of camera K: the distance between second piezoelectricity bar and the camera K and crossing second piezoelectricity bar after in the speed v (this speed v also is known subsequently) in moment of these photographs.
Camera K and measured value detect concurrent working.Described camera can be a video camera or a still camera, and this still camera is taken at least two in time in succession photographs.Described camera preferably starts when the speed v that detects on predetermined threshold velocity.At this, camera K must align with respect to this road, thereby so that its target field is overlapping with this monitoring section at least in part.Detect within the time period that vehicle crosses this monitored area at this sensor, at least two of camera K storages wherein imaging have the photograph of measurement target vehicle.
The vehicle of in Fig. 1, also having showed the imaging in the plane of delineation BE of camera K in first photograph at moment t
1Position A'(t
1) and in second photograph at moment t
2Position A'(t
2), and the side-play amount s' of the image of vehicle, this side-play amount depends on speed v and apart from e.From the intrinsic parameter of side-play amount s' and camera K, might calculate in the manner known to persons skilled in the art angular region that the image of vehicle changed (by image angle φ in these photographs
BDetermine).The resolution of the receiver matrix of camera K is higher, and the side-play amount s' that can determine is just more accurate.
Then can be with the image angle φ that calculates
BWith the target angle φ that calculates
OCompare, wherein within predetermined tolerance both unanimously then from image angle φ
BThe image shift of calculating has confirmed that the vehicle of imaging is to travel with measured speed v.
At first, the accuracy of this velocity survey might be come in this way the vehicle of an only imaging is confirmed, and secondly, in the situation that a plurality of vehicles are imaged, this measurement target vehicle can be identified.
Determine side-play amount s' by the luminous flux vector that calculates between these photographs.For reaching this purpose, use digital image processing method, these methods have been determined at least side-play amount s'(image shift amount s' take pixel as unit between two photographs of this measurement target vehicle (in succession taking in time)).
Use the knowledge of the intrinsic parameter of camera K, the side-play amount s'(target offset amount of this vehicle of also may seizing back confiscated property out).
Then the real offset of this vehicle (setting angle by camera, this camera calculate to the knowledge of the distance of this vehicle and measured speed v) can be compared with the target offset amount of seizing back confiscated property from image shift amount s'.The vehicle that both have unanimously then confirmed imaging in fact this measurement target vehicle and described vehicle also in fact is to travel with measured speed v.
From the quotient of the time period between side-play amount s' and the described image, also may estimate the speed v of this vehicle, in order in order to verify itself and measured speed v are compared.
The intrinsic parameter of these of camera can be measured before the method begins, or measured and a plurality of values that these photographs of taking from this process are derived are compared to determine by means of a plurality of vehicles are carried out.
The time interval between two images in succession should be short, so that so that side-play amount s' remains little.Yet, because only very little local offset s' is easy to cause signal noise, so preferably take more than a series of photographs of two photographs only.
Use the method according to this invention, only use on two times of this vehicle photograph in succession just can realize this checking.For the evidence in the traffic safety event, typically under any circumstance collect two images of one after the other taking fast.In this respect, described method can be utilized the iconography that has recorded, and can avoid using extra video system, this video system to comprise the expense that is associated for hardware (for example, a plurality of evaluation process devices and illumination).
Claims (5)
1. speed (method v) that is used for the confirmatory measurement target vehicle by means of camera (K), a camera (K) is taken a plurality of photographs in the method, this camera is known with respect to position and the arrangement of a road, a plurality of vehicles travel through the target area of this camera (K) at this road, and therefore this camera is known with respect to position and the arrangement of the direction of travelling, and it is characterized in that:
At at least one moment t
1, determine that this vehicle is to the distance (e (t of this camera (K)
1)), in order to (v) and the knowledge by this travel direction, calculate at this t constantly according to this speed
1With at least one moment t after a while
2Between this vehicle with respect to this camera (K) mobile target angle (φ
O);
At described at least two moment t
1And t
2, in each situation, take a photograph by this camera (K), and the image A of this vehicle from this photograph ' (t
1) and A'(t
2) side-play amount (s') and the intrinsic calculation of parameter of this camera (K) go out an image angle (φ
B), with this image angle (φ
B) and this target angle (φ
O) compare.
2. the method for claim 1 is characterized in that:
In the process of carrying out the method, use a survey sensor identical survey sensor used with determining this distance to detect this speed (v).
3. the method for claim 1 is characterized in that:
Before carrying out the method, use a survey sensor different survey sensor used from determining this distance to detect immediately this speed (v).
4. the purposes of the method for claim 1 is characterized in that:
Only there is being a vehicle to be imaged in the photograph and this target angle (φ
O) and this image angle (φ
B) in a predetermined margin tolerance in the identical situation, what infer is that the vehicle of this imaging in fact is that speed with this detection (is v) travelled, in order to for example eliminate the measuring error that the reflection by deflection beam causes.
5. the purposes of the method for claim 1 is characterized in that:
In a plurality of vehicles were imaged at situation in the photograph, the speed of this detection (v) was assigned to its image with an image angle (φ
B) vehicle of the imaging that is shifted, this image angle (φ
B) in a predetermined tolerance range with this target angle (φ
O) be identical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201110053284 DE102011053284B8 (en) | 2011-09-05 | 2011-09-05 | Method for verifying the speed of an adequate vehicle by means of a camera |
| DE102011053284.6 | 2011-09-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102981010A true CN102981010A (en) | 2013-03-20 |
| CN102981010B CN102981010B (en) | 2017-11-28 |
Family
ID=46512538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210308789.8A Active CN102981010B (en) | 2011-09-05 | 2012-08-27 | For the method for the speed for carrying out confirmatory measurement target vehicle by camera |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102981010B (en) |
| DE (1) | DE102011053284B8 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105818744A (en) * | 2016-04-27 | 2016-08-03 | 乐视控股（北京）有限公司 | Method and system for alarming overspeed condition of vehicle by monitoring |
| CN106663372A (en) * | 2014-06-23 | 2017-05-10 | 锐多视觉系统工程有限公司 | Determination of at least one feature of vehicle |
| CN112638738A (en) * | 2020-09-21 | 2021-04-09 | 华为技术有限公司 | Fault diagnosis method and fault diagnosis device for vehicle speed measuring device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104751633A (en) * | 2015-04-03 | 2015-07-01 | 上海铭联信息技术有限公司 | Vehicle detector |
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|---|---|---|---|---|
| US5809161A (en) * | 1992-03-20 | 1998-09-15 | Commonwealth Scientific And Industrial Research Organisation | Vehicle monitoring system |
| US20040101166A1 (en) * | 2000-03-22 | 2004-05-27 | Williams David W. | Speed measurement system with onsite digital image capture and processing for use in stop sign enforcement |
| CN102136196A (en) * | 2011-03-10 | 2011-07-27 | 北京大学深圳研究生院 | Vehicle velocity measurement method based on image characteristics |
| JP2012203795A (en) * | 2011-03-28 | 2012-10-22 | Nissin Electric Co Ltd | Vehicle speed measurement method and vehicle overall image detection method using the same and vehicle number plate information erroneous recognition prevention method |
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|---|---|---|---|---|
| GB2342800A (en) * | 1998-08-27 | 2000-04-19 | Monitron International Limited | Measuring vehicle speed |
| DE102007022373A1 (en) * | 2007-05-07 | 2008-11-13 | Robot Visual Systems Gmbh | Method for conclusively detecting the speed of a vehicle |
| WO2010043252A1 (en) * | 2008-10-15 | 2010-04-22 | Siemens Ag Österreich | Method and system for determining a vehicle speed |
| DE102010012811B4 (en) * | 2010-03-23 | 2013-08-08 | Jenoptik Robot Gmbh | Method for measuring speeds and associating the measured speeds with appropriate vehicles by collecting and merging object tracking data and image tracking data |
-
2011
- 2011-09-05 DE DE201110053284 patent/DE102011053284B8/en active Active
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2012
- 2012-08-27 CN CN201210308789.8A patent/CN102981010B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5809161A (en) * | 1992-03-20 | 1998-09-15 | Commonwealth Scientific And Industrial Research Organisation | Vehicle monitoring system |
| US20040101166A1 (en) * | 2000-03-22 | 2004-05-27 | Williams David W. | Speed measurement system with onsite digital image capture and processing for use in stop sign enforcement |
| CN102136196A (en) * | 2011-03-10 | 2011-07-27 | 北京大学深圳研究生院 | Vehicle velocity measurement method based on image characteristics |
| JP2012203795A (en) * | 2011-03-28 | 2012-10-22 | Nissin Electric Co Ltd | Vehicle speed measurement method and vehicle overall image detection method using the same and vehicle number plate information erroneous recognition prevention method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106663372A (en) * | 2014-06-23 | 2017-05-10 | 锐多视觉系统工程有限公司 | Determination of at least one feature of vehicle |
| CN105818744A (en) * | 2016-04-27 | 2016-08-03 | 乐视控股（北京）有限公司 | Method and system for alarming overspeed condition of vehicle by monitoring |
| CN112638738A (en) * | 2020-09-21 | 2021-04-09 | 华为技术有限公司 | Fault diagnosis method and fault diagnosis device for vehicle speed measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102981010B (en) | 2017-11-28 |
| DE102011053284B8 (en) | 2012-09-06 |
| DE102011053284B3 (en) | 2012-06-21 |
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