CN103465887A - Vehicle rear-end collision preventing device and control method thereof - Google Patents
Vehicle rear-end collision preventing device and control method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of automobile safety running, in particular to a vehicle rear-end collision preventing device and a control method thereof. The device comprises a vehicle speed acquisition circuit and an ultrasonic ranging circuit. The vehicle speed acquisition circuit outputs the acquired current vehicle speed information to a first processing unit, the ultrasonic ranging circuit outputs ultrasonic echo time information or the information of distance to an obstacle ahead to a second processing unit, the first processing unit and the second processing unit respectively process the received information into voltage or current signals which are then output to a comparator, and the comparator outputs control signals to a brake unit to execute braking actions. Since judgments are made according to the two most important parameters, i.e. the current vehicle speed V and the distance L to the obstacle ahead or the echo time T, the judgment results are very accurate and the probability of rear-end collision of two vehicles is effectively reduced.
Description
Technical field
The present invention relates to the vehicle safety travel technical field, particularly a kind of vehicle rear-end collision prevention device and control method thereof.
Background technology
Along with the development of highway construction, vehicle is more and more, and the traffic accident of appearance also increases thereupon, wherein with the vehicle rear-end collision accident on express highway for the most seriously, ratio is the highest.The accident knocked into the back has very reason, mainly contains: 1, fatigue driving; 2, extreme weather; 3, unsighted.Which kind of reason no matter, be all due to vehicle in motion, obstacle appears in the place ahead, vehicle is not taked measure timely and effectively.
Existing have much about vehicle rear-end collision prevention, as Chinese patent " Vehicular rear collision preventing device " (application number: 201220672712.4; Date of declaration: on 06 12nd, 2013) a kind of technical scheme being disclosed: comprises acquisition sensor, GPS navigation, central process unit, road conditions telltale, auto mat, real-time traffic information is presented on the road conditions telltale, and chaufeur is processed according to these road conditions; Vehicle drive towards obstacle approach safety shut-down apart from the time, central process unit order auto mat is to the drg automatic operation, in time brake.This scheme exists following not enough: system complex, and many times chaufeur is not concentrated in fatigue state or attention, does not notice the information on the road conditions telltale; When the vehicle approach safety shut-down apart from the time, directly vehicle is taked to braking, when high speed uplink advances,, also there is certain danger in the shock that suddenly emergency braking easily suffers front vehicle.
In addition, Chinese patent " a kind of anti-monitoring system and method knocked into the back " (application number: 201110256530.9; Date of declaration: on 03 13rd, 2013) a kind of technical scheme is disclosed: a kind of anti-monitoring system that knocks into the back, comprise emitter, receiver, calculator, control system, this system is only judged two spacings and speed, when A, B spacing are less than predetermined value, if the A car is before the B car, the A vehicle speed is just automatically accelerated, if the A car after the B car, the A car will slow down.Obviously there is irrationality in such decision method: such as there is the B car A car back, there is obstacle A car front, the B vehicle speed is very fast, along with the close A car of B car, A car and B spacing are more and more less, and when two spacings are less than predetermined value, the A car accelerates, but the A front side has obstacle, according to convention, should slow down.How this scheme just consideration simply increases two following distances, is therefore irrational.
Summary of the invention
Primary and foremost purpose of the present invention is to provide a kind of vehicle rear-end collision prevention device, simple in structure, and accuracy of judgement can effectively prevent vehicle rear-end collision.
For realizing above purpose, the technical solution used in the present invention is: a kind of vehicle rear-end collision prevention device, comprise speed data collection circuit, ultrasonic ranging circuit, described speed data collection circuit is by current vehicle speed information output to the first processing unit collected, range information to the second processing unit of ultrasonic ranging circuit output ultrasonic wave echo time information or the place ahead obstacle, first and second processing unit exports comparator to after respectively the information processing received being become to voltage or current signal, and comparator outputs control signals to brake units and carries out brake.
Compared with prior art, there is following technique effect in the present invention: the first processing unit is monitored the real-time speed of this vehicle in real time, distance between the real-time monitoring vehicle of the second processing unit and front vehicles or obstacle, judge whether to need to carry out brake according to this distance and speed.What adopt here is ultrasonic ranging, and the parameter of its output may be the ultrasonic echo time, is likely also the range information after processing, and here can use.Ultrasonic ranging, be subject to the impact of weather, temperature, light less, the range finding of the rear car that is highly suitable for going forward at a high speed.Because being here is current vehicle speed V and the place ahead obstacle according to two parameters of paramount importance distance L or echo time T are judged, its result of determination is very accurate, effectively reduces by two cars and knocks into the back.
Another object of the present invention is to provide a kind of control method of vehicle rear-end collision prevention device, and accuracy of judgement can effectively prevent vehicle rear-end collision.
For realizing above purpose, the technical solution used in the present invention is: a kind of control method of adopting vehicle rear-end collision prevention device comprises the steps: (A) speed data collection circuit output current vehicle speed V to the first processing unit; (B) range information L to the second processing unit of ultrasonic ranging circuit output ultrasonic wave echo time T or the place ahead obstacle; (C) first and second processing unit exports comparator to after converting the information received to voltage signal; (D) if the voltage of the first processing unit output is greater than the output voltage of the second processing unit, comparator outputs control signals to brake units and carries out brake; If the voltage of the first processing unit output is less than or equal to the output voltage of the second processing unit, comparator no-output.
Compared with prior art, there is following technique effect in the present invention: ultrasonic ranging is subject to the impact of weather, temperature, light less, the range finding of the rear car that is highly suitable for going forward at a high speed.Because being here is current vehicle speed V and the place ahead obstacle according to two parameters of paramount importance distance L or echo time T are judged, its result of determination is very accurate, effectively reduces by two cars and knocks into the back.
The accompanying drawing explanation
Fig. 1 is functional block diagram of the present invention;
The upper figure of Fig. 2 is ultrasonic transmitting element emission super sonic schematic diagram, high level means to launch super sonic, and low level means not launch, and figure below of Fig. 2 is that the super sonic receiving element receives the super sonic schematic diagram, high level means to receive super sonic, and low level means without receiving;
Fig. 3 is corresponding dolly and obstacle schematic diagram in the same time not in Fig. 2.
The specific embodiment
Below in conjunction with Fig. 1 to Fig. 3, the present invention is done and is described in further detail.
Consult Fig. 1, a kind of vehicle rear-end collision prevention device, comprise speed data collection circuit 10, ultrasonic ranging circuit 20, described speed data collection circuit 10 is by current vehicle speed information output to the first processing unit 30 collected, range information to the second processing unit 40 of 20 output ultrasonic wave echo time of ultrasonic ranging circuit information or the place ahead obstacle, first and second processing unit 30,40 exports comparator 50 to after respectively the information processing received being become to voltage or current signal, and comparator 50 outputs control signals to brake units 60 and carries out brake.Here judged by the relation between the most original speed and two important parameters of safety distance, under present speed, if the distance between the vehicle in vehicle and the place ahead or obstacle is less than safety distance, carried out brake.After this car is carried out brake, the speed of a motor vehicle can lower, here constantly compare the relation of the corresponding safety distance of vehicle present speed with current vehicle speed, if still be less than safety distance, continue brake deceleration, if by after slowing down, the vehicle distances in vehicle and the place ahead has increased, meet safety distance, do not need to be braked.Although this resolution principle is simple, avoided the phenomenon of emergency braking in the present invention by the method for real-time monitoring.
Ultrasonic ranging circuit 20 can the output ultrasonic wave echo time or output the place ahead obstacle distance, but need to be calculated by current vehicle speed when calculating distance, therefore, preferably adopt described 20 output ultrasonic wave echo time of ultrasonic ranging circuit information to the second processing unit 40 in the present invention, by speed and safety distance relationship conversion become the relation of speed and echo time.In order to compare speed and echo time, first and second processing unit 30,40 becomes voltage signal by the information processing received respectively, the input end 1,2 of comparator 50 receives respectively the voltage signal of first and second processing unit 30,40 outputs, and when the voltage of pin 2 is less than the voltage of pin 1, comparator 50 outputs control signals to brake units 60 and carries out brakes.
In the time of obstacle being arranged forwardly and is less than safety distance with this spacing, only make brake and can avoid dangerous generation, in order to make chaufeur to the perception to some extent of this danger signal, this device also comprises voice unit 70, described comparator 50 outputs signal to voice unit 70, voice unit 70 is the output voice reminder when brake is carried out, informs in the safety distance of chaufeur the place ahead the obstacle existence is arranged.Described ultrasonic ranging circuit 20 comprises ultrasonic transmitting element 21, super sonic receiving element 22 and time meter 23, ultrasonic transmitting element 21, super sonic receiving element 22 output control signals to respectively time meter 23 control time meters 23 and start/stop timing, and super sonic receiving element 22 outputs control signals to the start/stop that ultrasonic transmitting element 21 is controlled ultrasonic transmitting elements 21.The ultrasonic ranging circuit 20 does not here carry out the collection of the speed of a motor vehicle, and it directly exports the echo time parameter, reduces once-through operation, minimizing is from judging the operation time of braking, guarantee that brake is more timely, only need, in the second follow-up processing unit 40, this time be processed and be got final product.
A kind of control method that adopts above-mentioned vehicle rear-end collision prevention device, comprise the steps: (A) speed data collection circuit 10 output current vehicle speed V to the first processing units 30; (B) range information L to the second processing unit 40 of 20 output ultrasonic wave echo time of ultrasonic ranging circuit T or the place ahead obstacle; (C) first and second processing unit 30,40 exports comparator 50 to after converting the information received to voltage signal; (D) if the voltage of the first processing unit 30 outputs is greater than the output voltage of the second processing unit 40, comparator 50 outputs control signals to brake units 60 and carries out brake; If the voltage of the first processing unit 30 outputs is less than or equal to the output voltage of the second processing unit 40, comparator 50 no-outputs.
Described 20 output ultrasonic wave echo time of ultrasonic ranging circuit information to the second processing unit 40, first and second processing unit 30,40 becomes voltage signal by the information processing received respectively, the input end 1,2 of comparator 50 receives respectively the voltage signal of first and second processing unit 30,40 outputs, and when the voltage of pin 2 is less than the voltage of pin 1, comparator 50 outputs control signals to brake units 60 and carries out brakes; This device also comprises voice unit 70, and described comparator 50 outputs signal to voice unit 70.
In the present embodiment, take speed of a motor vehicle 10km/h≤V≤120km/h as example, when the speed of a motor vehicle is less than 10km/h, speed is lower, and the low speed driving general security is higher; The situation when speed of a motor vehicle is greater than 120km/h is less, all is considered as 120km/h and considers.When vehicle travels with the speed of 120km/h, its safety distance should not be less than 55 meters, and therefore described ultrasonic transmitting element 21 detection ranges are more than or equal to 55 meters.We also know, the hypracoustic frequency is lower, and its detection range is longer, and the ultrasonic frequency of ultrasonic transmitting element 21 emissions here can be selected 25KHz.
Below to the processing method of first and second processing unit 30,40, provide a kind of reference: described the first processing unit 30 is processed as follows:
When vehicle velocity V>=120km/h, the first processing unit 30 output voltages are U
0;
Work as vehicle velocity V
1during≤V<120km/h, the first processing unit 30 output voltages are U
1;
Work as vehicle velocity V
2≤ V<V
1the time, the first processing unit 30 output voltages are U
2;
……
Work as vehicle velocity V
n≤ V<V
n-1the time, the first processing unit 30 output voltages are U
n;
As speed of a motor vehicle 30km/h≤V<V
nthe time, the first processing unit 30 output voltages are U
n+1;
When speed of a motor vehicle 10km/h≤V<30km/h, the first processing unit 30 output voltages are U
n+2;
Described the second processing unit 40 is processed as follows:
Work as T
0<T≤T
mAXthe time, the second processing unit 40 output voltages are U
0;
Work as T
1<T≤T
0the time, the second processing unit 40 output voltages are U
1;
……
Work as T
n<T≤T
n-1the time, the second processing unit 40 output voltages are U
n;
Work as T
n+1<T≤T
nthe time, the second processing unit 40 output voltages are U
n+1;
As T≤T
n+1the time, the second processing unit 40 output voltages are U
n+2;
Described T
x=2[V
x/ (2km/h)-5] m/ (V
x+ V
c), X=0,1 ..., N, N+1; V wherein
cfor hypracoustic speed, hypracoustic speed V
ccan directly with 340m/s, be calculated, under different temperatures, its speed is more or less the same, V
1=120km/h, V
n+1=30km/h;
Described T
mAX>T
0; Described U
0>U
1>U
2>...>U
n+1>U
n+2; Here be provided with T
mAXbe to prevent from obstacle not occurring in the vehicle front safety distance, time T is ceaselessly cumulative, occurs overflowing always.
Due to this device, surveyed on being mainly used at a high speed, and at a high speed upper car speed is generally between 60km/h to 120km/h, therefore when speed of a motor vehicle 60km/h≤V≤120km/h, V
x=V
x-1+ 2km/h, arrange than multinode; When speed of a motor vehicle 30km/h≤V≤60km/h, V
y=V
y-1+ 5km/h, arrange less node.The meaning of setting is like this, and when the speed of a motor vehicle is in a scope, the safety distance of its judgement is all the same, such as output voltage corresponding to 102km/h to 104km/h is all U
9.And needn't be changed each speed and time, optimize the treating process of first and second processing unit, accelerate its processing speed.
For this treatment step of clearer explanation, below provide a form, list friction speed V(km/h) the corresponding output voltage U of scope, safety distance L(m), the corresponding echo time T(s of safety distance):
Below in conjunction with the processing method of upper figure and described first and second processing unit 30,40, take two speed as example describes in detail principle of work of the present invention:
When the speed of a motor vehicle is 95km/h, the first processing unit 30 output voltages are U
13, comparator 50 judges that the output voltage of the second processing unit 40 is less than U
13the time, just output control signals to brake units 60 and carry out brake.Only having the voltage of the second processing unit 40 outputs is U
14to U
37in any one the time, carry out brake, and known according to the treatment step of the second processing unit 40, as T≤T
13the time, the voltage of the second processing unit 40 outputs just is less than U
13.T13 is just in time the speed of a motor vehicle corresponding ultrasonic echo time of safety distance 42m while being 95km/h, and the ultrasonic echo time is less than or equal to T
13, illustrate that vehicle and the place ahead obstacle have reached minimum safe distance, need to carry out brake.
When the speed of a motor vehicle is 63km/h, the first processing unit 30 output voltages are U
29, change has occurred in the input voltage of comparator 50 pins 1 here, and therefore change has also occurred in the judgement for the time.Just do not repeated afterwards, the time of its judgement is also just in time corresponding to the corresponding time T of speed 63km/h
29.
When speed is different, safety distance has a little discrepancy according to the performance of vehicle, formula T
x=2[V
x/ (2km/h)-5] m/ (V
x+ V
c) be exactly to list according to the speed in form and safety distance respective value.After speed and corresponding safety distance are determined, the time in form all can calculate, and in order to narrate conveniently, the above has only provided signal, does not provide occurrence.
Described ultrasonic ranging circuit 20 comprises ultrasonic transmitting element 21, super sonic receiving element 22 and time meter 23, ultrasonic transmitting element 21, super sonic receiving element 22 output control signals to respectively time meter 23 control time meters 23 and start/stop timing, and super sonic receiving element 22 outputs control signals to the start/stop that ultrasonic transmitting element 21 is controlled ultrasonic transmitting elements 21.Described ultrasonic ranging circuit 20 is the output ultrasonic wave echo time as follows: (B1) ultrasonic ranging circuit 20 is started working; (B2) ultrasonic transmitting element 21 is to vehicle front emission super sonic, and a signal of ultrasonic transmitting element 21 outputs simultaneously is to time meter 23, and time meter 23 starts timing; (B3) super sonic receiving element 22 never receives ultrasonic signal when receiving ultrasonic signal, send two path control signal simultaneously, wherein a road signal is to time meter 23, time meter 23 stops timing output time T to the second processing unit 40, another road signal, to ultrasonic transmitting element 21, is controlled ultrasonic transmitting element 21 and is stopped launching super sonic; (B4) elapsed time T
zafter, ultrasonic transmitting element 21 continues the emission super sonic, then enters step B2.
Consult Fig. 2, Fig. 3, the specific works principle of ultrasonic ranging circuit 20 is as follows:
Vehicle is after startup, and ultrasonic transmitting element 21 starts to send super sonic, and time meter 23 starts timing.If now in the detection range of the place ahead, obstacle is arranged,, after elapsed time T, the ultrasonic echo signal is just received by super sonic receiving element 22, and now time meter 23 stops timing, and output time, and this time is exactly the distance of the place ahead obstacle.If all is clear ahead, as the T in Fig. 3
ashown in, due to the place ahead clear always in the hypracoustic detection range, so never super sonic clawback information is returned.For avoiding vehicle front clear always, time meter 23 continues timing and occurs overflowing, when maximum of T is arrived in time meter 23 timing
mAXthe time, just no longer increase, but maintain on this numerical value.
While below starting to launch with super sonic, the vehicle front clear, at T
bconstantly, when vehicle front just obstacle occurs, super sonic is emitted as example and describes.
At T
cconstantly, the super sonic reflected is received by super sonic receiving element 22, now, and time meter 23 output time T
mAX, ultrasonic transmitting element 21 suspends T
zcontinue emission, T after second
zmore short better.Time meter 23 reclocking again when super sonic continues emission.Here have a bit very important: now super sonic receiving element 22 is also in receiving super sonic, must originally not receive super sonic at super sonic receiving element 22 becomes can receive super sonic the time, time meter just stops timing, and super sonic receiving element 22 only just triggers and stops timing signal and time-out transmits in positive rise.Can know and find out from Fig. 2, Fig. 3, T
esuper sonic receiving element 22 received signals are exactly T constantly
dthe signal that ultrasonic transmitting element 21 emits constantly, this time has also just been reacted T in Fig. 3
dthe range information of moment vehicle and the place ahead obstacle, and from T
dto T
e, the time is very short, generally all is less than 0.3s, within the so short time, can think that two moment speed of a motor vehicle equate.Therefore, T
dthe speed of a motor vehicle constantly and corresponding safety distance information are to pass through T
ethe speed of a motor vehicle constantly and temporal information obtain.
What suppose vehicle front is obstacle, and so by Fig. 2, we can learn, the time of time meter 23 outputs is more and more less, and the interval between each signal is also more and more less, and the frequency that comparator compares is also more and more higher, further increases safety.
Claims (10)
1. a vehicle rear-end collision prevention device, it is characterized in that: comprise speed data collection circuit (10), ultrasonic ranging circuit (20), described speed data collection circuit (10) is by current vehicle speed information output to the first processing unit (30) collected, range information to the second processing unit (40) of ultrasonic ranging circuit (20) output ultrasonic wave echo time information or the place ahead obstacle, first, two processing units (30, 40) export comparator (50) to after the information processing received being become to voltage or current signal respectively, comparator (50) outputs control signals to brake units (60) and carries out brake.
2. vehicle rear-end collision prevention device as claimed in claim 1, it is characterized in that: described ultrasonic ranging circuit (20) output ultrasonic wave echo time information to the second processing unit (40), first and second processing unit (30,40) becomes voltage signal by the information processing received respectively, the input end 1,2 of comparator (50) receives respectively the voltage signal of first and second processing unit (30,40) output, and when the voltage of pin 2 is less than the voltage of pin 1, comparator (50) outputs control signals to brake units (60) and carries out brake.
3. vehicle rear-end collision prevention device as claimed in claim 1 or 2, it is characterized in that: this device also comprises voice unit (70), described comparator (50) outputs signal to voice unit (70); Described ultrasonic ranging circuit (20) comprises ultrasonic transmitting element (21), super sonic receiving element (22) and time meter (23), ultrasonic transmitting element (21), super sonic receiving element (22) output control signals to respectively time meter (23) control time meter (23) and start/stop timing, and super sonic receiving element (22) outputs control signals to the start/stop that ultrasonic transmitting element (21) is controlled ultrasonic transmitting element (21).
4. a control method that adopts vehicle rear-end collision prevention device as claimed in claim 1, comprise the steps:
(A) speed data collection circuit (10) output current vehicle speed V to the first processing unit (30);
(B) range information L to the second processing unit (40) of ultrasonic ranging circuit (20) output ultrasonic wave echo time T or the place ahead obstacle;
(C) first and second processing unit (30,40) exports comparator (50) to after converting the information received to voltage signal;
(D) if the voltage of the first processing unit (30) output is greater than the output voltage of the second processing unit (40), comparator (50) outputs control signals to brake units (60) and carries out brake; If the voltage of the first processing unit (30) output is less than or equal to the output voltage of the second processing unit (40), comparator (50) no-output.
5. the control method of vehicle rear-end collision prevention device as claimed in claim 4, it is characterized in that: described ultrasonic ranging circuit (20) output ultrasonic wave echo time information to the second processing unit (40), first and second processing unit (30,40) becomes voltage signal by the information processing received respectively, the input end 1,2 of comparator (50) receives respectively the voltage signal of first and second processing unit (30,40) output, and when the voltage of pin 2 is less than the voltage of pin 1, comparator (50) outputs control signals to brake units (60) and carries out brake; This device also comprises voice unit (70), and described comparator (50) outputs signal to voice unit (70).
6. the control method of vehicle rear-end collision prevention device as claimed in claim 5, it is characterized in that: described ultrasonic transmitting element (21) detection range is more than or equal to 55 meters, and the ultrasonic frequency of ultrasonic transmitting element (21) emission is 25KHz.
7. the control method of vehicle rear-end collision prevention device as claimed in claim 5, it is characterized in that: described the first processing unit (30) is processed as follows:
When vehicle velocity V>=120km/h, the first processing unit (30) output voltage is U
0;
Work as vehicle velocity V
1during≤V<120km/h, the first processing unit (30) output voltage is U
1;
Work as vehicle velocity V
2≤ V<V
1the time, the first processing unit (30) output voltage is U
2;
Work as vehicle velocity V
n≤ V<V
n-1the time, the first processing unit (30) output voltage is U
n;
As speed of a motor vehicle 30km/h≤V<V
nthe time, the first processing unit (30) output voltage is U
n+1;
When speed of a motor vehicle 10km/h≤V<30km/h, the first processing unit (30) output voltage is U
n+2;
Described the second processing unit (40) is processed as follows:
Work as T
0<T≤T
mAXthe time, the second processing unit (40) output voltage is U
0;
Work as T
1<T≤T
0the time, the second processing unit (40) output voltage is U
1;
Work as T
n<T≤T
n-1the time, the second processing unit (40) output voltage is U
n;
Work as T
n+1<T≤T
nthe time, the second processing unit (40) output voltage is U
n+1;
As T≤T
n+1the time, the second processing unit (40) output voltage is U
n+2;
Described T
x=[V
x/ (2km/h)-5] m/ (V
x+ V
c), X=0,1 ..., N, N+1; V wherein
cfor hypracoustic speed, V
1=120km/h, V
n+1=30km/h;
Described T
mAX>T
0; Described U
0>U
1>U
2>...>U
n+1>U
n+2;
8. the control method of vehicle rear-end collision prevention device as claimed in claim 5, it is characterized in that: described ultrasonic ranging circuit (20) comprises ultrasonic transmitting element (21), super sonic receiving element (22) and time meter (23), ultrasonic transmitting element (21), super sonic receiving element (22) output control signals to respectively time meter (23) control time meter (23) and start/stop timing, and super sonic receiving element (22) outputs control signals to the start/stop that ultrasonic transmitting element (21) is controlled ultrasonic transmitting element (21).
9. the control method of vehicle rear-end collision prevention device as claimed in claim 7 is characterized in that: when speed of a motor vehicle 60km/h≤V≤120km/h, and V
x=V
x-1+ 2km/h; When speed of a motor vehicle 30km/h≤V≤60km/h, V
y=V
y-1+ 5km/h.
10. the control method of vehicle rear-end collision prevention device as claimed in claim 8, it is characterized in that: described ultrasonic ranging circuit (20) is the output ultrasonic wave echo time as follows:
(B1) ultrasonic ranging circuit (20) is started working;
(B2) ultrasonic transmitting element (21) is to vehicle front emission super sonic, and ultrasonic transmitting element (21) is exported a signal to time meter (23) simultaneously, and time meter (23) starts timing;
(B3) super sonic receiving element (22) never receives ultrasonic signal when receiving ultrasonic signal, send two path control signal simultaneously, wherein a road signal is to time meter (23), time meter (23) stops timing output time T to the second processing unit (40), another road signal, to ultrasonic transmitting element (21), is controlled ultrasonic transmitting element (21) and is stopped launching super sonic;
(B4) elapsed time T
zafter, ultrasonic transmitting element (21) continues the emission super sonic, then enters step B2.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461779A (en) * | 2014-04-22 | 2017-02-22 | 法雷奥开关和传感器有限责任公司 | Method for recognizing a blocked state of an ultrasonic sensor of a motor vehicle, ultrasonic sensor device, and motor vehicle |
| CN107351822A (en) * | 2017-07-11 | 2017-11-17 | 浙江大学常州工业技术研究院 | A kind of method for protecting of four-wheel electric motor car |
| CN108928330A (en) * | 2018-09-21 | 2018-12-04 | 张殿英 | A kind of motor vehicle brake logic circuit and brake and braking method |
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Application publication date: 20131225 |