CN103434505B - Automobile braking safety reminding method and system - Google Patents
Automobile braking safety reminding method and system Download PDFInfo
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Abstract
The present invention relates to field of automobile safety, particularly relate to automobile braking safety reminding method and system.This automobile braking safety reminding method comprises the steps: the braking information monitoring in Motor Vehicle Braking Procedure in real time；Braking information is contrasted with the braking information threshold value preset, if braking information reaches braking information threshold value, then obtains alarm signal；Alarm signal is sent to the hazard warning lamp (automobile double flashing light the most typically) of automobile.This automobile braking safety prompt system includes that braking information monitoring means, processor and hazard warning lamp realize each step of automobile braking safety reminding method.Use this automobile braking safety reminding method and system can in Motor Vehicle Braking Procedure automatic warning rear car and surrounding vehicles, it is not necessary to artificially opening hazard warning lamp, save driver's reaction and the time of manual operation, safety is high.
Description
Technical field
The present invention relates to field of automobile safety, particularly relate to automobile braking safety reminding method and
System.
Background technology
Along with society development, the sustainable growth of vehicle fleet size, automobile in the process of moving,
Rear-end collision takes place frequently.
There is rear-end collision, it is common that bring to a halt suddenly due to front truck and cause speed dramatic decrease,
Although and the brake lamp that the driver of rear car can see front truck lights, but this brake lamp is only only capable of
The driver's front truck reminding rear car is braked, it is impossible to driver's front truck of warning rear car is
Bring to a halt, the speed of front truck is just at dramatic decrease.
And automobile is in braking procedure at present, there is no a kind of safe reminding method automatic warning
Rear car and surrounding vehicles, to avoid vehicle accident.
Summary of the invention
It is an object of the invention to provide a kind of automobile braking safety reminding method and system, with
Solve the problems referred to above.
A kind of automobile braking safety reminding method, comprises the steps:
Braking information in monitoring Motor Vehicle Braking Procedure in real time；
Described braking information is contrasted with the braking information threshold value preset, if described braking
Information reaches described braking information threshold value, then obtain alarm signal；
Described alarm signal is sent to the hazard warning lamp of automobile.
The embodiment of the present invention also provides for a kind of automobile braking safety prompt system, including braking letter
Breath monitoring means, processor and hazard warning lamp；
Described braking information monitoring means braking letter in monitoring Motor Vehicle Braking Procedure in real time
Breath；
Described processor is right for described braking information and the braking information threshold value preset being carried out
Ratio, if described braking information reaches described braking information threshold value, then obtains alarm signal；
Described hazard warning lamp for receiving the alarm signal of described processor, and according to
Described alarm signal sends danger warning flash of light.
Compared with prior art, this have the advantage that: this automobile braking safety
Reminding method and system, in Motor Vehicle Braking Procedure, monitor the system in Motor Vehicle Braking Procedure in real time
Dynamic information, such as instantaneous acceleration, instantaneous velocity etc., then by the braking information of monitoring with
The braking information threshold value preset contrasts, if braking information reaches braking information threshold value, then
Obtain alarm signal, this alarm signal is sent to the hazard warning lamp of automobile the most again.
Owing to the hazard warning lamp of automobile is the general information warning of driving, when the danger of vehicle
During hazard warning flasher flicker, rear car and surrounding vehicles can be braked at once or dodge, it is to avoid
Rear car and surrounding vehicles and this vehicle generation vehicle accident.This automobile braking safety prompting side i.e.
Method and system be energy automatic warning rear car and surrounding vehicles in Motor Vehicle Braking Procedure, and safety is high.
Accompanying drawing explanation
Fig. 1 is the block diagram of the automobile braking safety reminding method of the embodiment of the present invention；
Fig. 2 is that the instantaneous acceleration that utilizes of the embodiment of the present invention realizes automobile braking safety prompting
The block diagram of method；
Fig. 3 is that the instantaneous velocity that utilizes of the embodiment of the present invention obtains the step of instantaneous acceleration
Figure；
Fig. 4 is the block diagram obtaining acceleration rate threshold of the embodiment of the present invention；
Fig. 5 is that the instantaneous velocity that utilizes of the embodiment of the present invention realizes automobile braking safety prompting side
The block diagram of method；
Fig. 6 is that the anti-lock braking system that utilizes of the embodiment of the present invention realizes automobile braking safety
The block diagram of reminding method；
Fig. 7 is the system diagram of the automobile braking safety prompt system of the embodiment of the present invention；
Fig. 8 is instantaneous velocity and the braking distance curve of the popular POLO of the embodiment of the present invention
Figure；
Fig. 9 is instantaneous velocity and the braking distance curve of the popular golf of the embodiment of the present invention
Figure；
Figure 10 is instantaneous velocity and the braking distance curve of the popular Magotan of the embodiment of the present invention
Figure；
Figure 11 is instantaneous velocity and the braking distance curve of the Audi Q7 of the embodiment of the present invention
Figure；
Figure 12 is the differentiation schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing and the present invention is done further in detail
Describe.
Embodiment 1
It is illustrated in figure 1 a kind of automobile braking safety reminding method that the present embodiment provides, bag
Include following steps:
101, the braking information in monitoring Motor Vehicle Braking Procedure in real time；
102, braking information is contrasted with the braking information threshold value preset, if braking information
Reach braking information threshold value, then obtain alarm signal；
103, alarm signal is sent to the hazard warning lamp of automobile.The wherein danger of automobile
Danger hazard warning flasher is automobile double flashing light typically.
This automobile braking safety reminding method, in Motor Vehicle Braking Procedure, monitors automobile system in real time
Braking information during Dong, such as instantaneous acceleration, instantaneous velocity etc., then will monitoring
Braking information with preset braking information threshold value contrast, if braking information reach braking
Information threshold, then obtain alarm signal, this alarm signal be sent to the danger of automobile the most again
Danger hazard warning flasher.Owing to the hazard warning lamp of automobile is the general information warning of driving,
When the hazard warning lamp of vehicle flashes, rear car and surrounding vehicles can be braked at once
Or dodge, it is to avoid rear car and surrounding vehicles and this vehicle generation vehicle accident.This automobile system i.e.
Dynamic safety instruction method energy automatic warning rear car and surrounding vehicles in Motor Vehicle Braking Procedure, peace
Quan Xinggao.
It addition, in the automobile braking safety reminding method of the present embodiment, monitor automobile in real time
Braking information, if braking information reaches default braking information threshold value, triggers danger automatically
Hazard warning flasher flashes, and automaticity is high, it is not necessary to labor costs's response time and operation
Time goes to open hazard warning lamp, eliminates anthropic factor, improves the speed of early warning.
Specifically, as in figure 2 it is shown, braking information includes instantaneous acceleration；Braking information threshold
Value includes acceleration rate threshold；Obtain alarm signal to comprise the steps:
201, the instantaneous acceleration in monitoring Motor Vehicle Braking Procedure in real time；
202, the absolute value of instantaneous acceleration is contrasted with the acceleration rate threshold preset, if
The absolute value of instantaneous acceleration is more than acceleration rate threshold, then obtain alarm signal.
Wherein, monitoring instantaneous acceleration includes in real time: monitored in real time by acceleration transducer
Instantaneous acceleration in Motor Vehicle Braking Procedure.Digital acceleration sensing can be installed on automobile
Device, the directly acceleration information in monitoring Motor Vehicle Braking Procedure.Or, otherwise
Obtain instantaneous acceleration, such as, instantaneous velocity and time graph are carried out differential.Specifically,
As it is shown on figure 3,
301, the instantaneous velocity in Motor Vehicle Braking Procedure monitored in real time by Negotiation speed sensor, or
Person directly transfers instantaneous velocity from car running computer；
302, instantaneous velocity and time according to monitoring draw instantaneous velocity and time graph；
303, instantaneous velocity and time graph are carried out differential, obtains Motor Vehicle Braking Procedure is appointed
The instantaneous acceleration of meaning time.Wherein the differential equation of instantaneous acceleration is:I.e. a (t)=dv/dt, v (t) are the wink in a certain moment in curve
Shi Sudu, the v (instantaneous velocity in the moment after the Δ t time that t+ Δ t) is this moment.
It addition, as shown in Figure 4, predetermined acceleration threshold value comprises the steps:
401, accounting automobile implements braking distance and the instantaneous velocity of braking under any initial velocity
And draw instantaneous velocity and braking distance curve.Braking distance under hundred kilometers of speed per hours of vehicle is
Through becoming the important parameter evaluating automobile brake perfrmance, each vehicle has disclosed brake
The data of distance and speed.Certainly, the braking distance that vehicle is brought to a halt under any speed per hour with
The data of speed can use identical test method to obtain.
402, according to instantaneous velocity and braking distance curve obtain instantaneous velocity square with braking
Distance Curve；I.e. instantaneous velocity is carried out square, then by the instantaneous velocity that obtains square
Curve is drawn with braking distance.
403, square intercept the interval of braking distance with braking distance curve from instantaneous velocity
For the curved section from 0 to 1/2nd of maximum braking distance.For triggering automobile earlier
Hazard warning lamp, improves safety, before curve is carried out differential, intercepts first half
Before section curve, i.e. braking distance reach 1/2nd of maximum braking distance, to this Duan Qu
Line carries out differential, can early trigger hazard warning lamp.
404, curved section is carried out differential averaged, obtains reference acceleration；
405, reference acceleration is modified according to the load factor preset and takes absolute value,
Obtain acceleration rate threshold.Owing to the load-carrying of vehicle is different, can be to the braking distance of vehicle and wink
Brief acceleration impacts difference, such as, when vehicle load is big, instantaneous acceleration becomes little, system
Dynamic distance, when vehicle load is light, instantaneous acceleration becomes big, and braking distance is short.Due to
Under conditions of external force condition is constant, acceleration and quality are inverse relation, can use load-carrying system
Several reference acceleration is modified, thus reduces load-carrying to this automobile braking safety prompting side
The impact of formula reliability.It should be noted that owing to automobile is in braking procedure, can adopt
Experimentally utilize sensor to obtain acceleration rate threshold, it is also possible to use differentiation simultaneously
Obtain acceleration rate threshold, in order to improve safety further, can be to using above two side
The acceleration rate threshold that method obtains contrasts, and the numerical value choosing the person less than normal of absolute value in both is made
For acceleration rate threshold.
Embodiment 2
In the present embodiment, braking information is except the instantaneous acceleration included in embodiment 1
Outward, this braking information can also include the instantaneous velocity of running car.Correspondingly, braking letter
Breath threshold value includes triggering threshold speed；Include walking as follows as it is shown in figure 5, obtain alarm signal
Rapid:
501, the instantaneous velocity in monitoring Motor Vehicle Braking Procedure in real time；The monitoring of this instantaneous velocity
The velocity sensor on vehicle can be used to be monitored, it is also possible to extract car running computer and generate
Instantaneous velocity data.
502, instantaneous velocity is contrasted with the threshold speed pending preset, if instantaneous velocity
More than threshold speed pending, then obtain timing signal.Will instantaneous velocity and speed threshold pending
Value contrasts, if instantaneous velocity is more than threshold speed pending, then vehicle is likely to be at a high speed
Travelling on highway, system can record and enter the time that expressway travels, if instantaneous velocity is less than
Threshold speed pending, then vehicle is likely to be on general urban road traveling, it is not necessary to trigger
System timing.
503, according to timing signal record automobile when instantaneous velocity is more than threshold speed pending
Long.
504, if duration is more than the duration threshold value preset, then obtain waiting to signal.Obtain pending
After signal, the hazard warning lamp of vehicle is in arm-to-arm.
505, signal according to waiting, it is right instantaneous velocity and the triggering threshold speed preset to be carried out
Ratio, if instantaneous velocity is more than triggering threshold speed, then obtains alarm signal.
Preferably, threshold speed pending is 95 kilometer per hours；Duration threshold value is 10 seconds.
Maximum speed limit in view of China's urban district interconnection highway is 90 kilometer per hours, then by pending
Threshold speed is set to 95 kilometer per hours, and duration threshold value is 10 seconds, reaches the two bar
After part, the hazard warning lamp of vehicle is in arm-to-arm, it is to avoid vehicle is at lower-speed state
Time open by mistake hazard warning lamp, avoid the vehicle short time to overtake other vehicles and cause arm-to-arm simultaneously.
Under arm-to-arm, the instantaneous velocity in monitoring Motor Vehicle Braking Procedure in real time；Wherein should
The monitoring of instantaneous velocity can use the velocity sensor on vehicle to be monitored, it is also possible to carries
Take the instantaneous velocity data that car running computer generates.Then by instantaneous velocity and the triggering speed preset
Degree threshold value contrasts, if instantaneous velocity is less than triggering threshold speed, then obtains alarm signal.
Pass through the present embodiment, it can be determined that whether automobile reaches highway, and judges
Parking queuing under non-emergent brake condition or low-speed forward queuing situation, and then trigger automobile
Hazard warning lamp, evades highway automobile parking and queues up or low speed queuing (target carriage
Be in queuing tail of the queue) the risk that knocks into the back.
Embodiment 3
In embodiment 1, braking information therein can also include that anti-lock braking system is believed
Number persistent period；Braking information threshold value includes the persistent period of anti-lock braking system signal
Threshold value；As shown in Figure 6, obtain alarm signal to comprise the steps:
701, during the real-time anti-lock braking system signal in monitoring Motor Vehicle Braking Procedure lasting
Between；
702, by the persistent period of anti-lock braking system signal and the anti-lock brake system preset
The duration threshold of system signal contrasts, if during anti-lock braking system signal lasting
Between more than duration threshold, then obtain alarm signal.Wherein anti-lock braking system signal
Duration threshold can be 1 second or 1.5 seconds or At All Other Times, time threshold is also
Can be obtained by lot of experiments.
Certainly, in addition to the instantaneous velocity of car running computer output can trigger double sudden strain of a muscle warning lamp,
Other signal of car running computer output can also trigger double warning lamp that dodges, such as brake weight,
Brake pedal speed of action etc., the most any car running computer letter relevant to brake hard
Number, can serve as the basis judging to bring to a halt.
Embodiment 4
As it is shown in fig. 7, a kind of automobile braking safety prompt system, monitor including braking information
Unit, processor 805 and hazard warning lamp 804；Braking information monitoring means is used for
Braking information in monitoring Motor Vehicle Braking Procedure in real time；Processor 805 is for by braking information
Contrast with default braking information threshold value, if braking information reaches braking information threshold value,
Then obtain alarm signal；Hazard warning lamp 804 is for receiving the warning of processor 805
Signal, and send danger warning flash of light according to alarm signal.
Specifically, braking information monitoring means includes acceleration transducer 802 or velocity pick-up
Device 803 or anti-lock braking system signal or other exported by car running computer relevant to braking
Signal monitoring module 801.By acceleration transducer 802 or velocity sensor 803 or letter
The information of number monitoring modular 801 monitoring is sent to processor 805, and processor 805 is according in advance
The braking information threshold value first arranged contrasts, and the alarm signal obtained is sent to dangerous report
Alert flash lamp 804.
In order to warn rear car and surrounding vehicles further, this automobile braking safety prompt system is also
Including wireless launcher 806, radio receiver 807 and auxiliary heads-up display 808；
Wireless launcher 806 electrically connects with processor 805, for receiving the report of processor 805
Alert signal；Radio receiver 807 and wireless launcher 806 wireless connections；Auxiliary is alert
Show that display 808 electrically connects with radio receiver 807, be used for receiving radio receiver
807 alarm signals sent also assist information warning according to alarm signal display.Wherein assist
Heads-up display 808 can be two pieces, lays respectively at the both sides of vehicle rear window glass.This
The automobile braking safety prompt system of bright embodiment, after opening hazard warning lamp, is closing
When closing hazard warning lamp, need driver's manual-lock.
Embodiment 5
Embodiment above is made concrete data and is described by the present embodiment.Determining acceleration threshold
During value, the braking distance of braking and instantaneous speed can be implemented under any initial velocity with accounting automobile
Spend and draw instantaneous velocity and braking distance curve.Due to the brake under hundred kilometers of speed per hours of vehicle
Distance have become as evaluate automobile brake perfrmance important parameter, the present embodiment for compact car,
The popular POLO of compact sedan, in-between car, the automobile of tetra-kinds of ranks of SUV, preferably selection,
The brake of hundred kilometers of speed per hours of popular golf, popular Magotan and tetra-sections of vehicles of Audi Q7 away from
From data, draw corresponding instantaneous velocity and braking distance curve, concrete instantaneous velocity with
Braking distance curve is as shown in Figure 8, Figure 9, Figure 10 and Figure 11.By instantaneous velocity and system
Dynamic distance Curve, it can be seen that each curve existsThere is local linear special in interval
Levy, wherein S0It is the braking distance of hundred kilometers of speed per hours, can chooseInterval as grinding
Study carefully object, when all one's effort auto in Braking is before arriving 1/2nd braking distances, can pass through
Relatively instantaneous acceleration and acceleration rate threshold judges emergency, thus triggers danger earlier
Danger hazard warning flasher.
Square bent with braking distance by instantaneous velocity and braking distance curve plotting instantaneous velocity
Line, carries out differential to this curve and obtains instantaneous acceleration.According to Differential Principle, such as Figure 12
Shown in, instantaneous velocity square can be considered as being made up of countless sections of straight lines with braking distance curve,
When △ S tends to infinitely small, each section all can be considered as uniformly accelrated rectilinear motion, according to adding
Velocity inferencesCan obtain the differential equation of acceleration:
I.e. a (s)=0.5dv2/ds。
By the braking distance data under hundred kilometers of speed per hours, it is obtained by the acceleration that differentiation calculates
Degrees of data is:
From difference ratio,In interval, the acceleration that differentiation calculates is average
It is worth less with the meansigma methods difference of the acceleration measurement of acceleration transducer actual monitoring, goes out
In security consideration, choose absolute value smaller between the two as reference acceleration.
Approx, it is assumed that the external force suffered by automobile is constant, it is considered to vehicle load is to acceleration
Impact, acceleration is inversely proportional to car mass.Vehicle, in addition to kerb weight, also to be examined
Worry personnel take and the factor of loading, and therefore, choosing of acceleration rate threshold also needs in reference
Consider the load-carrying of vehicle in the case of acceleration, revise further.
Aforementioned instantaneous velocity is that single driver drives with the test load condition of braking distance curve
Sail vehicle.At the bar assuming that outside vehicle resistance (frictional ground force and air drag) is constant
Under part, if considering passenger-cargo quality further, the value of acceleration will be more partial to conservative,
Be conducive to the realization of Security Target.
This case is all with 5 seat coach for investigating object, and member is divided into 1 people-5 people, everyone
Weight is counted according to 75kg, and rear-box payload mass is assumed according to 100kg.
For simplicity, it is assumed that take 1 people identical to the probability taking 5 people, then people's goods matter
Meansigma methods=the 75+(1+2+3+4+5 of amount)/5+100=325kg
Certainly, can also carry out statistical investigation work future further, people taken by investigation automobile
Member is from the full corresponding actual probabilities of 1 driver to 5 people, and various pay load
Probability under level, thus obtain the mathematical expectation of automobile manned cargo-carrying quality, then bring into
Upper table calculates.
The form being modified reference acceleration is:
The correction reference acceleration arr obtained based on said method is to have envelope and guard
Property, on the premise of overriding concern safety, acceleration rate threshold can revise reference acceleration
Certain interval interior value near arr.
Embodiment 6
Above example can serve as triggering the mode of vehicle hazard hazard warning flasher, to this end,
Above-described embodiment can be integrated formation system, each passage be or logical relation.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
For a person skilled in the art, the present invention can have various modifications and variations.All
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made,
Should be included within the scope of the present invention.
Claims (5)
1. an automobile braking safety reminding method, it is characterised in that comprise the steps:
Braking information in monitoring Motor Vehicle Braking Procedure in real time；
Described braking information is contrasted with the braking information threshold value preset, if described
Braking information reaches described braking information threshold value, then obtain alarm signal；
Described alarm signal is sent to the hazard warning lamp of automobile；
Described braking information includes instantaneous acceleration；Described braking information threshold value includes adding
Threshold speed；Obtain described alarm signal to comprise the steps:
Instantaneous acceleration in monitoring Motor Vehicle Braking Procedure in real time；
It is right the absolute value of described instantaneous acceleration and the acceleration rate threshold preset to be carried out
Ratio, if the absolute value of described instantaneous acceleration is more than described acceleration rate threshold, then obtains
Alarm signal；
Preset described acceleration rate threshold to comprise the steps:
Accounting automobile implements the braking distance of braking and instantaneous speed under any initial velocity
Spend and draw instantaneous velocity and braking distance curve；
According to described instantaneous velocity and braking distance curve obtain instantaneous velocity square
With braking distance curve；
From described instantaneous velocity square with braking distance curve intercept braking distance
Interval be the curved section from 0 to 1/2nd of maximum braking distance；
Described curved section is carried out differential averaged, obtains reference acceleration；
Described reference acceleration is modified according to the load factor preset and takes absolutely
To value, obtain described acceleration rate threshold.
2. automobile braking safety reminding method as claimed in claim 1, it is characterised in that real
Time monitor described instantaneous acceleration and include:
The instantaneous acceleration in Motor Vehicle Braking Procedure is monitored in real time by acceleration transducer
Degree；Or,
The instantaneous velocity in Motor Vehicle Braking Procedure monitored in real time by Negotiation speed sensor；
Instantaneous velocity and time according to monitoring draw instantaneous velocity and time graph；
Described instantaneous velocity and time graph are carried out differential, obtains Motor Vehicle Braking Procedure
The instantaneous acceleration of middle random time.
3. automobile braking safety reminding method as claimed in claim 1, it is characterised in that institute
State braking information and include the instantaneous velocity of running car；Described braking information threshold value includes
Trigger threshold speed；Obtain described alarm signal to comprise the steps:
Instantaneous velocity in monitoring vehicle traveling process in real time；
Described instantaneous velocity is contrasted with the threshold speed pending preset, if described
Instantaneous velocity is more than described threshold speed pending, then obtain timing signal；
According to described timing signal record automobile at instantaneous velocity more than described speed pending
The duration of degree threshold value；
If described duration is more than the duration threshold value preset, then obtain waiting to signal；
Signal according to described waiting, by described instantaneous velocity and the triggering speed threshold preset
Value contrasts, if described instantaneous velocity is less than described triggering threshold speed, then obtains
Alarm signal.
4. automobile braking safety reminding method as claimed in claim 3, it is characterised in that institute
Stating threshold speed pending is 95 kilometer per hours；Described duration threshold value is 10 seconds.
5. automobile braking safety reminding method as claimed in claim 1, it is characterised in that institute
State braking information and include the persistent period of anti-lock braking system signal；Described braking letter
Breath threshold value includes the duration threshold of anti-lock braking system signal；Obtain described report
Alert signal comprises the steps:
Monitor continuing of the anti-lock braking system signal in Motor Vehicle Braking Procedure in real time
Time；
By the persistent period of described anti-lock braking system signal and the anti-lock preset
The duration threshold of brake system signal contrasts, if described anti-lock brake system
The persistent period of system signal more than described duration threshold, then obtains alarm signal.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106004852A (en) * | 2016-07-21 | 2016-10-12 | 徐州重型机械有限公司 | Brake chamber and method for detecting braking action relief of brake chamber |
| CN106769095A (en) * | 2016-12-26 | 2017-05-31 | 天津七六四通信导航技术有限公司 | A kind of prompt terminal and its implementation for being applied to automobile brake perfrmance test |
| CN106828470B (en) * | 2017-02-28 | 2018-08-03 | 杭州衡源汽车科技有限公司 | A kind of auxiliary braking control method and system |
| CN107101838A (en) * | 2017-03-27 | 2017-08-29 | 中车青岛四方机车车辆股份有限公司 | Retardation test system and retardation test method |
| CN107845294A (en) * | 2017-11-24 | 2018-03-27 | 北京汽车集团有限公司 | Car accident method for early warning, equipment and vehicle |
| CN108583558B (en) * | 2018-04-03 | 2021-04-06 | 江西博能上饶客车有限公司 | Automobile braking method, system, mobile terminal and storage medium |
| CN109866711A (en) * | 2019-02-19 | 2019-06-11 | 百度在线网络技术（北京）有限公司 | Generation method, device and the storage medium of retro-speed track |
| CN113771823B (en) * | 2021-09-02 | 2022-08-30 | 东风华神汽车有限公司 | Automobile brake monitoring system and using method thereof |
| CN116061961B (en) * | 2022-11-29 | 2026-03-31 | 东风汽车集团股份有限公司 | A braking warning method, device, controller, storage medium, and automobile |
| CN119190236B (en) * | 2024-10-30 | 2025-08-22 | 赛奎鹰智能装备(威海)有限责任公司 | Electric scooter driving safety control system |
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