CN103213550B - A kind of braking automobile safety instruction control system and safety instruction control method - Google Patents
A kind of braking automobile safety instruction control system and safety instruction control method Download PDFInfo
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- CN103213550B CN103213550B CN201310163955.4A CN201310163955A CN103213550B CN 103213550 B CN103213550 B CN 103213550B CN 201310163955 A CN201310163955 A CN 201310163955A CN 103213550 B CN103213550 B CN 103213550B
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Abstract
The invention provides a kind of braking automobile safety instruction control system and safety instruction control method, this control system comprises brake sensor, rotation direction sensor, forward sight camera, rearview camera, Tip element and treater, and brake sensor, rotation direction sensor, forward sight camera are all connected with the input end conducting of treater with the mouth of rearview camera, the mouth of treater is connected with Tip element conducting.During work, first brake sensor, rotation direction sensor, forward sight camera, rearview camera Real-time Collection front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign respectively, then treater carries out processing, analyzing, and finally according to Treatment Analysis result, forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send corresponding safety instruction and collision avoidance alarm sounds; Improve drive safety and intelligent, decrease the generation of the generation of rear-end collision, particularly rear-end collision accident.
Description
[technical field]
The invention belongs to the automobile intelligent driving technique field of view-based access control model principle, particularly relate to a kind of braking automobile safety instruction control system and safety instruction control method.
[background technology]
Automobile becomes people's work and the indispensable vehicle in life day by day, along with popularizing of private car, and one of oneself important consumables becoming common people of automobile; But along with automobile pollution increases, traffic accident also constantly promotes.Therefore, reduce road traffic accident and personal casualty by the mode of the intelligent safety system improving automobile itself, or realize the trend that intelligent car is auto-domain development.
At present, automobile is provided with brake warning light in the wings, and the pedestrian at automobile rear or vehicle can judge according to the stoplight stop lamp being arranged on automobile rear whether automobile brakes, and the pedestrian of vehicle front or vehicle can only estimate the braking conditions of automobile by the speed of a motor vehicle; But, old man and child are difficult to the speed estimating automobile, and then be difficult to know whether automobile brakes, and when the vehicle of vehicle front runs into threat, when preparing emergency brake, the driver of front vehicles does not know the brake signal whether recognizing this car immediately following the automobilist after him yet, if front vehicle does not recognize the signal of front emergency brake in time, easily causes the generation of automobile rear-end collision accident.
[summary of the invention]
In order to solve the above-mentioned technical matters existed in prior art, the invention provides a kind of braking automobile safety instruction equipment and prompting control method thereof, it both pedestrian in front-rear direction and automobile can send brake signal when the brake of this automobile; Also by the brake signal of the front/rear camera of automobile and vision processor perception automobile fore-aft vehicle, and feed back to this automobile driver or rearward automobile driver give the alarm; Thus improve the intelligent of braking automobile, improve the safety that pedestrian goes across the road and the generation reducing rear-end collision accident.
The present invention solves the technical scheme that prior art problem adopts:
A kind of braking automobile safety instruction control system, includes:
One for the brake sensor of this braking automobile of Real-time Collection signal;
One for the rotation direction sensor of this motor turning of Real-time Collection signal;
One for the forward sight camera of Real-time Collection front automobile graphicinformation;
One for the rearview camera of Real-time Collection rear automobile image information;
One for forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send the Tip element of corresponding safety instruction and collision avoidance alarm sounds;
One processes for the front automobile graphicinformation to Real-time Collection, rear automobile image information, this braking automobile signal and turn sign, and makes the treater of corresponding safety instruction and/or collision avoidance alarm sounds according to this result trigger prompts unit;
And described brake sensor, rotation direction sensor, forward sight camera are all connected with the input end conducting of described treater with the mouth of rearview camera, the mouth of described treater is connected with described Tip element conducting.
Further, described Tip element primarily of for front automobile chaufeur and pedestrian are pointed out the green stoplight stop lamp in the front of this braking automobile signal, for rear automobile driver and pedestrian are pointed out the red stoplight stop lamp in the rear of this braking automobile signal, in case of emergency point out rear automobile driver to take corresponding collision avoidance measure in voice alarm mode voice announcer, in case of emergency with the vibration module composition that mode of vibration points out this automobile driver to take corresponding collision avoidance measure.
Further, described vibration module include in an emergency situation in the mode of direction of vibration dish to the steering wheel vibration module of reminding chaufeur to take corresponding collision avoidance measure, and/or for reminding chaufeur to take the driver's seat vibration module of corresponding collision avoidance measure in the mode vibrating driver's seat in an emergency situation.
Further, described brake sensor is arranged on automobile brake pedal; Described rotation direction sensor is arranged on the transmission shaft of car steering wheel; Described forward sight camera and rearview camera are arranged on automotive front and rear portion respectively.
Further, described forward sight camera is arranged on vehicle front Windshield or on inside-automobile rear mirror; Described rearview camera is arranged on the Windshield of automobile rear.
A kind of braking automobile safety instruction control method, first Real-time Collection front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign, then this front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign are processed, are analyzed, finally according to process, forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send corresponding safety instruction and collision avoidance alarm sounds to analysis result.
Further, this braking automobile safety instruction control method includes following steps:
A1. the brake signal of this automobile of brake sensor Real-time Collection;
A2. according to this brake signal, treater judges whether this automobile brakes;
A3. treater controls the green stoplight stop lamp in front in Tip element and rear red stoplight stop lamp is bright opens;
A4. rearview camera Real-time Collection rear automobile image information;
A5. treater carries out Treatment Analysis to rear automobile image information;
A6. according to Treatment Analysis result, treater judges whether front vehicle takes the behavior of brake or lane change;
A7. treater controls voice announcer and sends collision avoidance alarm sounds to rear automobile driver.
Further, this braking automobile safety instruction control method includes following steps:
B1. front camera Real-time Collection front automobile image;
B2. according to front automobile image, treater judges whether front automobile brakes;
B3. treater reads this braking automobile of brake sensor Real-time Collection signal, and judges whether this automobile has done brake collision avoidance measure according to brake signal;
B4. treater reads this motor turning of rotation direction sensor Real-time Collection signal, and judges whether this automobile has turned to collision avoidance measure according to turn sign;
B5. treater controls Tip element and sends collision avoidance alarm sounds to this automobile driver.
Further, described treater carries out including following control suddenly after judging that this automobile has done brake collision avoidance measure according to brake signal:
C1. treater controls the green stoplight stop lamp in front in Tip element and rear red stoplight stop lamp is bright opens;
C2. rearview camera Real-time Collection rear automobile image information;
C3. treater carries out Treatment Analysis to rear automobile image information;
C4. according to Treatment Analysis result, treater judges whether front vehicle takes the behavior of brake or lane change;
C5. treater controls voice announcer and sends collision avoidance alarm sounds to rear automobile driver.
Further, according to Treatment Analysis result, described treater judges that front vehicle has taked the behavior of lane change after, control voice announcer and rear automobile lane change safety instruction is sent to this automobile driver.
Beneficial effect of the present invention is as follows:
(1) child and old man etc. are to the responsive not people of the speed of a motor vehicle when jaywalk, and only need pay close attention to the green stoplight stop lamp in the front being arranged on automobile, no longer worry is gone across the road by the danger of hitting.
(2) this automobile can the brake signal of perception front automobile, and when chaufeur causes not prompt enough to the reaction of front automobile brake signal due to reasons such as fatigue drivings, system sends collision avoidance measure alarm sounds to chaufeur, and then reduces the generation of traffic accident.
(3) brake measure taked by this automobile, and corresponding measure do not taked by rear automobile, by except also informing rear automobile driver in modes such as language report devices so that the red stoplight stop lamp in rear is outer, in order to avoid rear fatigue of automobile driver is driven cause seriously knocking into the back traffic accident, the generation of even a chain of traffic accident of knocking into the back.
[accompanying drawing explanation]
Fig. 1 is the structural principle schematic block diagram of a kind of braking automobile safety instruction control system embodiment of the present invention;
Fig. 2 is the structural principle schematic block diagram of Tip element in a kind of braking automobile safety instruction control system embodiment of the present invention;
Fig. 3 is the structural principle schematic block diagram of vibration module in a kind of braking automobile safety instruction control system embodiment of the present invention;
Fig. 4 is the schematic flow sheet of a kind of braking automobile safety instruction control method of the present invention;
Fig. 5 is the schematic flow sheet of a kind of braking automobile safety instruction control method embodiment one of the present invention;
Fig. 6 is the schematic flow sheet of a kind of braking automobile safety instruction control method embodiment two of the present invention.
[detailed description of the invention]
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1 to Figure 3:
A kind of braking automobile safety instruction control system described in the embodiment of the present invention, include brake sensor 1, rotation direction sensor 2, forward sight camera 3, rearview camera 4, Tip element 5 and treater 6, and described brake sensor 1, rotation direction sensor 2, forward sight camera 3 are all connected with the input end conducting of treater 6 with the mouth of rearview camera 4, the mouth of described treater 6 is connected with Tip element 5 conducting.Wherein, described brake sensor 1 is arranged on automobile brake pedal, is mainly used in this braking automobile of Real-time Collection signal, described rotation direction sensor 2 is arranged on the transmission shaft of car steering wheel, is mainly used in this motor turning of Real-time Collection signal, described forward sight camera 3 and rearview camera 4 are arranged on automotive front and rear portion respectively, namely forward sight camera 3 is arranged on vehicle front Windshield or on inside-automobile rear mirror, rearview camera 4 is arranged on the Windshield of automobile rear, described forward sight camera 3 is mainly used in Real-time Collection front automobile graphicinformation, and described rearview camera 4 is mainly used in Real-time Collection rear automobile image information, described Tip element 5 is mainly used in forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send corresponding safety instruction and collision avoidance alarm sounds, primarily of the front green stoplight stop lamp 51 for pointing out this braking automobile signal to front automobile chaufeur and pedestrian, for pointing out the rear of this braking automobile signal red stoplight stop lamp 52 to rear automobile driver and pedestrian, for in case of emergency pointing out rear automobile driver to take the voice announcer 53 of corresponding collision avoidance measure in voice alarm mode, for in case of emergency pointing out this automobile driver to take the vibration module 54 of corresponding collision avoidance measure to form with mode of vibration, described vibration module 54 include in an emergency situation in the mode of direction of vibration dish to the steering wheel vibration module 541 of reminding chaufeur to take corresponding collision avoidance measure, and/or for reminding chaufeur to take the driver's seat vibration module 542 of corresponding collision avoidance measure in the mode vibrating driver's seat in an emergency situation, described treater 6 is vision processors, be mainly used in the front automobile graphicinformation to Real-time Collection, rear automobile image information, this braking automobile signal, turn sign process, and make corresponding safety instruction and/or collision avoidance alarm sounds according to this result trigger prompts unit 5.
The principle of work of braking automobile safety instruction control system of the present invention is:
When this automobile driver steps on brake pedal, brake sensor 1 detects the brake signal of this automobile, and send treater 6 to, then treater 6 is to controlling the red stoplight stop lamp 52 of the green stoplight stop lamp 51 in front and rear of Tip element 5 after this brake signal process; Meanwhile, rear camera 4 Real-time Collection rear automobile image information, and be transferred to treater 6, then treater 6 pairs of rear automobile image information carry out Treatment Analysis, if judge, collision avoidance measure do not taked by rear automobile, then control Tip element 5 voice announcer 53 rearward automobile driver send the alarm taking corresponding collision avoidance measure.
When front camera 3 Real-time Collection front automobile graphicinformation, and be transferred to treater 6 Treatment Analysis, after judging that front automobile has brake behavior, treater 6 reads the signal of brake sensor 1 and rotation direction sensor 2, judges whether this automobile takes the collision avoidance measure of corresponding brake or lane change; If judge, this automobile is not still taked brake collision avoidance measure or turns to collision avoidance measure, and voice announcer 53 and/or the vibration module 54 of treater 6 control Tip element 5 will send the alarm taking corresponding measure to this automobile driver; If judge, brake collision avoidance measure taked by this automobile, then repeat the above-mentioned treating process stepping on brake pedal, do not repeating at this.
Like this, namely braking automobile safety instruction control system of the present invention possesses following beneficial effect:
(1) child and old man etc. are to the responsive not people of the speed of a motor vehicle when jaywalk, and only need pay close attention to the green stoplight stop lamp 51 in the front being arranged on automobile, no longer worry is gone across the road by the danger of hitting.
(2) this automobile can the brake signal of perception front automobile, and when chaufeur causes not prompt enough to the reaction of front automobile brake signal due to reasons such as fatigue drivings, system sends collision avoidance measure alarm sounds to chaufeur, and then reduces the generation of traffic accident.
(3) brake measure taked by this automobile, and corresponding measure do not taked by rear automobile, by except also informing rear automobile driver in modes such as language report devices 53 so that the red stoplight stop lamp 52 in rear is outer, in order to avoid rear fatigue of automobile driver is driven cause seriously knocking into the back traffic accident, the generation of even a chain of traffic accident of knocking into the back.
As shown in Fig. 4 to Fig. 6:
As Fig. 4, a kind of braking automobile safety instruction control method of the present invention, first Real-time Collection front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign, then this front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign are processed, are analyzed, finally according to process, forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send corresponding safety instruction and collision avoidance alarm sounds to analysis result.
The embodiment one of braking automobile safety instruction control method:
As Fig. 5, a kind of braking automobile safety instruction control method specifically can include following steps:
The brake signal of this automobile of steps A 1. brake sensor 1 Real-time Collection;
According to this brake signal, steps A 2. treater 6 judges whether this automobile brakes;
Steps A 3. treater 6 controls the green stoplight stop lamp 51 in front in Tip element 5 and rear, and red stoplight stop lamp 52 is bright opens;
Steps A 4. rearview camera 4 Real-time Collection rear automobile image information;
Steps A 5. treater 6 pairs of rear automobile image information carry out Treatment Analysis;
According to Treatment Analysis result, steps A 6. treater 6 judges whether front vehicle takes the behavior of brake or lane change;
Steps A 7. treater 6 controls voice announcer 53 pairs of rear automobile drivers and sends collision avoidance alarm sounds.
Wherein, after according to Treatment Analysis result, described treater judges that front vehicle has taked the behavior of lane change, also comprise steps A 8 and control voice announcer 53 rear automobile lane change safety instruction is sent to this automobile driver.
The embodiment two of braking automobile safety instruction control method:
As Fig. 6, a kind of braking automobile safety instruction control method specifically can include following steps:
Step B1. front camera 3 Real-time Collection front automobile image;
According to front automobile image, step B2. treater 6 judges whether front automobile brakes;
Step B3. treater 6 reads this braking automobile of brake sensor 1 Real-time Collection signal, and judges whether this automobile has done brake collision avoidance measure according to brake signal;
Step B4. treater 6 reads this motor turning of rotation direction sensor 2 Real-time Collection signal, and judges whether this automobile has turned to collision avoidance measure according to turn sign;
Step B5. treater 6 controls Tip element 5 and sends collision avoidance alarm sounds to this automobile driver, can be that the voice collision avoidance measure alarm sounds that sends of voice announcer 53 and/or vibration module 54 produce vibration collision avoidance measure alarm sounds.
Wherein, in step B3 after according to brake signal, described treater 6 judges that this automobile has done brake collision avoidance measure, carry out including following control suddenly:
B31. treater 6 controls the green stoplight stop lamp 51 in front in Tip element 5 and rear red stoplight stop lamp 52 is bright opens;
B32. rearview camera 4 Real-time Collection rear automobile image information;
B33. treater 6 pairs of rear automobile image information carry out Treatment Analysis;
B34. according to Treatment Analysis result, treater 6 judges whether front vehicle takes the behavior of brake or lane change;
B35. treater 6 controls voice announcer 53 pairs of rear automobile drivers and sends collision avoidance alarm sounds.
Similarly, after according to Treatment Analysis result, described treater judges that front vehicle has taked the behavior of lane change, control voice announcer 53 and rear automobile lane change safety instruction is sent to this automobile driver.
Like this, braking automobile safety instruction control method of the present invention, the brake behavior of chaufeur is obtained by brake sensor 1, outwardly show the green stoplight stop lamp 51 in front, the red stoplight stop lamp 52 in rear in real time, child and old man etc. to the responsive not people of the speed of a motor vehicle when jaywalk, only need pay close attention to the green stoplight stop lamp 51 in the front being arranged on automobile, no longer worry to go across the road by the danger of hitting, thus the safety that lifting pedestrian goes across the road; Simultaneously by rear camera 4 pairs of rear automobile image Real-time Collections, and the Treatment Analysis of treater 6, control voice announcer 53 rearward automobile driver sends collision avoidance alarm, avoids the rear-end collision of rear automobile; In addition, by front camera 3 pairs of front automobile image real-time acquisitions, and the Treatment Analysis of treater 6, control voice announcer 53 and send collision avoidance alarm to this automobile driver, avoid rear-end collision; In a word, improve drive safety and intelligent by braking automobile safety instruction control method of the present invention, decrease the generation of the generation of rear-end collision, particularly rear-end collision accident.
In addition, after front vehicle has taked the behavior of lane change, voice announcer 53 sends rear automobile lane change safety instruction to this automobile driver, this automobile driver is allowed attentively to pay close attention to the situation of this vehicle front and side, do not need to worry that this automobile is by rear rear-end collision, drive lighter, safer.
Above content is in conjunction with concrete optimal technical scheme further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (5)
1. a braking automobile safety instruction control system, is characterized in that, includes:
One for the brake sensor (1) of this braking automobile of Real-time Collection signal;
One for the rotation direction sensor (2) of this motor turning of Real-time Collection signal;
One for the forward sight camera (3) of Real-time Collection front automobile graphicinformation;
One for the rearview camera (4) of Real-time Collection rear automobile image information;
One for forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send the Tip element (5) of corresponding safety instruction and collision avoidance alarm sounds, described Tip element (5) is primarily of front green stoplight stop lamp (51) for pointing out this braking automobile signal to front automobile chaufeur and pedestrian, for pointing out the rear of this braking automobile signal red stoplight stop lamp (52) to rear automobile driver and pedestrian, for in case of emergency with the voice announcer (53) that voice alarm mode points out rear automobile driver to take corresponding collision avoidance measure, vibration module (54) in case of emergency pointing out this automobile driver to take corresponding collision avoidance measure with mode of vibration forms,
One processes for the front automobile graphicinformation to Real-time Collection, rear automobile image information, this braking automobile signal, turn sign, and makes the treater (6) of corresponding safety instruction and/or collision avoidance alarm sounds according to this result trigger prompts unit (5);
And, described brake sensor (1), rotation direction sensor (2), forward sight camera (3) are all connected with the input end conducting of described treater (6) with the mouth of rearview camera (4), and the mouth of described treater (6) is connected with described Tip element (5) conducting; Described brake sensor (1) is arranged on automobile brake pedal; Described rotation direction sensor (2) is arranged on the transmission shaft of car steering wheel; Described forward sight camera (3) is arranged on vehicle front Windshield or on inside-automobile rear mirror; Described rearview camera (4) is arranged on the Windshield of automobile rear.
2. braking automobile safety instruction control system according to claim 1, it is characterized in that, described vibration module (54) include in an emergency situation in the mode of direction of vibration dish to the steering wheel vibration module (541) of reminding chaufeur to take corresponding collision avoidance measure, and/or for reminding chaufeur to take the driver's seat vibration module (542) of corresponding collision avoidance measure in the mode vibrating driver's seat in an emergency situation.
3. a braking automobile safety instruction control method, it is characterized in that, first Real-time Collection front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign, then this front automobile graphicinformation, rear automobile image information, this braking automobile signal and/or turn sign are processed, are analyzed, finally according to process, forwards automobile driver, rear automobile driver, pedestrian and/or this automobile driver send corresponding safety instruction and collision avoidance alarm sounds to analysis result; Specifically include following steps:
A1. the brake signal of brake sensor (1) this automobile of Real-time Collection;
A2. according to this brake signal, treater (6) judges whether this automobile brakes;
A3. the red stoplight stop lamp (52) of the green stoplight stop lamp (51) in the front in treater (6) control Tip element (5) and rear is bright opens;
A4. rearview camera (4) Real-time Collection rear automobile image information;
A5. treater (6) carries out Treatment Analysis to rear automobile image information;
A6. according to Treatment Analysis result, treater (6) judges whether front vehicle takes the behavior of brake or lane change;
A7. treater (6) controls voice announcer (53) and sends collision avoidance alarm sounds to rear automobile driver;
Or, specifically include following steps:
B1. front camera (3) Real-time Collection front automobile image;
B2. according to front automobile image, treater (6) judges whether front automobile brakes;
B3. treater (6) reads brake sensor (1) this braking automobile of Real-time Collection signal, and judges whether this automobile has done brake collision avoidance measure according to brake signal;
B4. treater (6) reads rotation direction sensor (2) this motor turning of Real-time Collection signal, and judges whether this automobile has turned to collision avoidance measure according to turn sign;
B5. treater (6) controls Tip element (5) and sends collision avoidance alarm sounds to this automobile driver.
4. braking automobile safety instruction control method according to claim 3, is characterized in that, described treater (6) carries out including following control suddenly after judging that this automobile has done brake collision avoidance measure according to brake signal:
C1. the red stoplight stop lamp (52) of the green stoplight stop lamp (51) in the front in treater (6) control Tip element (5) and rear is bright opens;
C2. rearview camera (4) Real-time Collection rear automobile image information;
C3. treater (6) carries out Treatment Analysis to rear automobile image information;
C4. according to Treatment Analysis result, treater (6) judges whether front vehicle takes the behavior of brake or lane change;
C5. treater (6) controls voice announcer (53) and sends collision avoidance alarm sounds to rear automobile driver.
5. braking automobile safety instruction control method according to claim 4, it is characterized in that, according to Treatment Analysis result, described treater (6) judges that front vehicle has taked the behavior of lane change after, control voice announcer (53) and rear automobile lane change safety instruction is sent to this automobile driver.
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| CN201310163955.4A CN103213550B (en) | 2013-05-07 | 2013-05-07 | A kind of braking automobile safety instruction control system and safety instruction control method |
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| CN201310163955.4A CN103213550B (en) | 2013-05-07 | 2013-05-07 | A kind of braking automobile safety instruction control system and safety instruction control method |
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| CN105835770A (en) * | 2015-01-15 | 2016-08-10 | 上海通用汽车有限公司 | Staged early warning system for vehicle |
| CN105946710A (en) * | 2016-04-29 | 2016-09-21 | 孙继勇 | Traveling auxiliary device |
| CN106080381A (en) * | 2016-07-22 | 2016-11-09 | 纳瓦电子（上海）有限公司 | A kind of early warning system of automobile anti-rear end collision based on image recognition detection |
| CN106297409A (en) * | 2016-08-16 | 2017-01-04 | 广州小鹏汽车科技有限公司 | A kind of Intelligent traffic safety device and its implementation |
| CN106627350A (en) * | 2016-12-07 | 2017-05-10 | 浙江吉利控股集团有限公司 | System for warning preceding vehicle of too much braking |
| CN108068804A (en) * | 2017-12-14 | 2018-05-25 | 南京航空航天大学 | A kind of vehicle prevents knock into the back early warning and avoiding system in case of the high-speed travel state |
| CN109466447A (en) * | 2018-11-30 | 2019-03-15 | 南昌与德软件技术有限公司 | A kind of driving reminding method, device, automobile and storage medium |
| CN114056235A (en) * | 2021-12-24 | 2022-02-18 | 大连工业大学 | Ghost probe early warning system and method based on brake lamp identification |
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| C06 | Publication | ||
| PB01 | Publication | ||
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