CN103770781A - Collision prevention system for car and control method thereof - Google Patents
Collision prevention system for car and control method thereof Download PDFInfo
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- CN103770781A CN103770781A CN201310338009.9A CN201310338009A CN103770781A CN 103770781 A CN103770781 A CN 103770781A CN 201310338009 A CN201310338009 A CN 201310338009A CN 103770781 A CN103770781 A CN 103770781A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000002265 prevention Effects 0.000 title abstract 3
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 238000010586 diagram Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to a collision prevention system for cars and a control method thereof, which can detect the distance from a car behind and the speed when a car is backed and thus can automatically control the acceleration constraint and the brake of the car. The collision prevention system comprises a rear sensing part for sensing the distance between the first car and the second car running behind the first car and the speed of the second car; a speed sensing part for sensing the backing speed of the first car; a control part for calculating a collision hazard index according to the distance between the first car and the second car running behind the first car, the speed of the second car and the backing speed of the first car; and a brake control part for reducing the backing speed of the first car according to the collision hazard index.
Description
Technical field
The present invention relates to vehicle collision avoidance system and control method thereof.Relate in particular to a kind of in the time of vehicle backing, survey and front vehicle between distance and the speed of front vehicle, and then can automatically control collision avoidance system and the control method thereof of acceleration restriction and the braking of vehicle.
Background technology
The collision warning equipment of existing vehicle, when its object is in motion or traveling lane changes, make in advance warning for the contingent collision case in the blind area at chaufeur, its utilize the sensing such as ultrasonic transduter or infrared radar whether to exist may to cause collision obstacle.Especially in the time of vehicle backing, because chaufeur is difficult for grasping rear situation, therefore this collision warning equipment is more useful.
But the collision warning equipment of existing vehicle calculates distance between obstacle and the speed of obstacle, so judgement think have collision may time, only give the alarm, if therefore chaufeur is because alarm is not recognized in error, or chaufeur has little time to step on brake, cannot avoid collision case.Therefore carried out the research that collision warning equipment is combined with the automatic control of vehicle.
Summary of the invention
Technical matters
The object of the present invention is to provide a kind of alarm of sending vehicle approach to chaufeur, and automatically control the acceleration restriction of vehicle and collision avoidance system and the control method thereof of braking in order to prevent collision.
Technical scheme
Vehicle according to a preferred embodiment of the invention comprises with collision avoidance system: rear detecting part, the distance between its sensing first vehicle and the second vehicle of travelling at the rear of described the first vehicle and the speed of described the second vehicle; Speed sensitive portion, the back-up speed of the first vehicle described in its sensing; Control part, it calculates collision risk index according to the distance between described the first vehicle and described the second vehicle, the speed of described the second vehicle and the back-up speed of described the first vehicle; And brake control section, it is according to the slow down back-up speed of described the first vehicle of described collision risk index.
The back-up speed of described collision risk index and described the first vehicle and the speed of described the second vehicle can be proportional, and and described the first vehicle and described the second vehicle between distance be inversely proportional to.
Described vehicle can also comprise with collision avoidance system: accelerate control part, it limits the acceleration of described the first vehicle according to described collision risk index.
Described vehicle can also comprise with collision avoidance system: alarm portion, it gives a warning to the chaufeur of described the first vehicle according to described collision risk index.
Described control part can more described collision risk exponential sum benchmark critical value.
The control method of collision avoidance system for vehicle according to another embodiment of the present invention, comprising: the step of the distance between rear detecting part sensing the first vehicle and the second vehicle of travelling at the rear of described the first vehicle and the speed of described the second vehicle; The step of the back-up speed of the first vehicle described in speed sensitive portion sensing; Control part utilizes the distance between speed and described the first vehicle and described second vehicle of the back-up speed of described the first vehicle, described the second vehicle to calculate the step of collision risk index; And brake control section is according to the slow down step of back-up speed of described the first vehicle of described collision risk index.
Described collision risk index can be proportional with the speed of the back-up speed of described the first vehicle and described the second vehicle, and and described the first vehicle and described the second vehicle between distance be inversely proportional to.
Described vehicle can also comprise by the control method of collision avoidance system: acceleration control part limits the step of the acceleration of described the first vehicle according to described collision risk index.
Described vehicle can also comprise by the control method of collision avoidance system: the step that alarm portion gives a warning to the chaufeur of described the first vehicle according to described collision risk index.
Described vehicle can also comprise by the control method of collision avoidance system: the step of the more described collision risk exponential sum of described control part benchmark critical value.
Technique effect
Collision avoidance system according to a preferred embodiment of the invention and control method thereof, in the time of the first vehicle backing, chaufeur can be received warning, can automatically control the first vehicle., also can limit travelling of the first vehicle even without the operation of the chaufeur of the first vehicle.The collision of the first vehicle and the second vehicle can be avoided thus, thereby the degree of safety of personnel and vehicle can be improved.In addition, on the collision warning equipment of parking assistance system, in conjunction with vehicle automatic control function, can improve commodity.
Accompanying drawing explanation
Fig. 1 is the block diagram that shows the formation of vehicle collision avoidance system according to a preferred embodiment of the invention;
Fig. 2 is the schematic diagram that shows the functioning example of vehicle collision avoidance system according to a preferred embodiment of the invention;
Fig. 3 is the diagram of circuit that shows the control method of vehicle collision avoidance system according to a preferred embodiment of the invention.
Description of reference numerals
110: rear detecting part 112: speed sensitive portion
120: control part 130: alarm portion
132: accelerate control part 133: brake control section
The specific embodiment
Below with reference to the accompanying drawings, illustrate the preferred embodiments of the present invention.First it should be noted that the inscape of each figure being given with reference to aspect Reference numeral, for identical inscape, even show, also give as far as possible identical Reference numeral on different figure.In addition, in the time that the present invention will be described, think while impairing main idea of the present invention for illustrating of the formation of related known or function, will omit illustrating it.In addition, below preferred embodiments of the present invention will be described, but technological thought of the present invention non-limiting or be limited to this can diversely be out of shape enforcement by person of ordinary skill in the field, and this is self-evident.
Fig. 1 is the block diagram of the formation of vehicle collision avoidance system according to a preferred embodiment of the invention.With reference to Fig. 1, vehicle comprises rear detecting part 110, speed sensitive portion 112, control part 120, alarm portion 130, accelerates control part 132 and brake control section 133 with collision avoidance system.
Distance between speed and the first vehicle and second vehicle of the second vehicle that detecting part 110 sensings in rear approach at the rear of the first vehicle.Rear detecting part 110 can be infradred sensor, ultrasonic transduter or radar sensor.Rear detecting part 110 can maintenance work state during the chaufeur of the first vehicle makes the first vehicle backing.Particularly, the chaufeur of the first vehicle hangs over the gear of the first vehicle in the situation of reverse gear, and the mode of operation of rear detecting part 110 can maintain.Rear detecting part 110 can be arranged on and comprise the rear side corner of vehicle or the optional position of trailing flank.Rear detecting part 110 can transmit distance between the first vehicle and the second vehicle and the velocity information of the second vehicle to control part 120.
The speed of speed sensitive portion 112 sensing the first vehicles.According to one embodiment of the invention, speed sensitive portion 112 can measure by measuring the speed of trailing wheel of the first vehicle the speed of the first vehicle.Speed sensitive portion 112 transmits the velocity information of the first vehicle of measuring to control part 120.
Control part 120 can be identified the reversing situation of the first vehicle and receive reverse gear and select signal.Control part 120 calculates collision risk index.
Fig. 2 is the schematic diagram of the functioning example of vehicle collision avoidance system according to a preferred embodiment of the invention.With reference to Fig. 2, in the time of the first vehicle backing, can calculate the collision risk index with the second vehicle.Collision risk index can be with contingent collision risk between the first vehicle in numerical value demonstration reversing and the second vehicle approaching at the rear of the first vehicle.Collision risk index can utilize inverse collision time (TTC
-1), speed (Vcross), the back-up speed (Vo) of the first vehicle and the side of the first vehicle and the second vehicle of the rear distance (dx) of the first vehicle and the second vehicle, the second vehicle apart from and safety distance (Safe Distance) calculate.The calculating formula of collision risk index is as shown in mathematical expression 1.
[mathematical expression 1]
Wherein, TTC
-1for the inverse collision time, Vo is the back-up speed of the first vehicle, and SafeDist. is safety distance, and dx is the rear distance of the first vehicle and the second vehicle.
Safety distance is proportional with the back-up speed of the first vehicle.Therefore the back-up speed of the first vehicle is faster, safety distance value larger.In the large situation of safety distance value, collision risk index also can be larger.The calculating formula of collision time (TTC:Time To Collision) is as shown in mathematical expression 2.
[mathematical expression 2]
Wherein, dcross is the side distance of the first vehicle and the second vehicle, and Vcross is the close velocity of the second vehicle.Collision time (TCC) is in the first vehicle stop and the second vehicle situation of not slowing down until the time of two cars while colliding, it is 0 o'clock at relative velocity, that is, when the first vehicle and the second vehicle stop, occur, therefore get its inverse and calculate inverse collision time (TTC
-1).Collision time (TTC) is inversely proportional to collision risk index, inverse collision time (TTC
-1) proportional with collision risk index.
Control part 120 can compare collision risk index and benchmark critical value.Benchmark critical value for guarantee vehicle safely, prevent collision, can set arbitrarily.
,, if will realize the anticollision object of tall vehicle, benchmark critical value setting can be obtained relatively high.And if to realize the anticollision object of lower vehicle, benchmark critical value setting can be obtained relatively low., benchmark critical value can be set according to the setting of user or chaufeur.
Control part 120, in the situation that collision risk index is higher than benchmark critical value, can send to the chaufeur of the first vehicle the warning that the second vehicle is approaching by alarm portion 130.Warning can be with warning light represent and voice warning at least one.
Ignore the warning of alarm portion 130, the chaufeur of the first vehicle continues in the situation of reversing, and collision risk index can continue to increase.In this case, control part 120 is automatically controlled and is got involved.In this case, alarm portion 130 can inform that the chaufeur of the first vehicle controls intervention automatically.
Carry out automatically controlling while intervention, control part 120 can be controlled and accelerate control part 132 and brake control section 133.Accelerate control part 132 and can control acceleration pedal.Particularly, acceleration control part 132 can be forced the input of the acceleration pedal that limits the first vehicle driver.
Can the slow down speed of the first vehicle of brake control section 133.Particularly, brake control section 133 can increase brake hydraulic.The increase of brake hydraulic can be proportional with the back-up speed of the first vehicle.Control by acceleration portion 132 and brake control section 133 can reduce collision risk index.
Control part 120 can more lowered collision risk index and benchmark critical value.Collision risk index is than in the low situation of benchmark critical value, and control part 120 can be removed automatic control and get involved.Alarm portion 130 can inform that the chaufeur of the first vehicle controls the releasing of intervention automatically.Accelerate control part 132 and can remove the duty limited import to acceleration pedal.Brake control section 133 can reduce brake hydraulic.
Fig. 3 is the diagram of circuit of the control method of vehicle collision avoidance system according to a preferred embodiment of the invention.With reference to Fig. 1 and Fig. 3, in step S301, collect the information of the first vehicle and the second vehicle and be delivered to control part by rear detecting part and the speed sensitive portion of the first vehicle simultaneously.The information being passed can comprise distance between speed, the first vehicle and second vehicle of the second vehicle and the speed of the first vehicle.
In step S302, control part 120 calculates collision risk index by the transmission of information receiving.The circular of collision risk index as hereinbefore.In step S303, the collision risk index relatively calculating and benchmark critical value.Through relatively, when not reaching benchmark critical value, collision risk index do not carry out automatically controlling and getting involved.On the contrary, collision risk index carries out automatically controlling and getting involved in the time that benchmark critical value is above.In step S304, alarm portion 130 transmits these information to the chaufeur of the first vehicle.
After alarm, in step S305, limit the incoming signal of acceleration pedal by accelerating the control of control part 132.Afterwards, in step S306, the control by brake control section 133 increases brake hydraulic.In step S307, by accelerating finally the slow down speed of the first vehicle of the control of control part 132 and brake control section 133.
In step S308, compare after the first car retardation the collision risk index of mensuration and benchmark critical value.Collision risk index during higher than benchmark critical value, makes the first car retardation by accelerating control part 132 and brake control section 133 again.
On the contrary, collision risk index is removed automatically and is controlled and get involved during lower than benchmark critical value, and in step S309, the releasing that automatic control gets involved is informed to the driver of the first vehicle by alarm portion 130.In step S310, accelerate the input of control part 132 its acceleration pedals of controlling of releasing, and in step S311, brake control section 133 reduces the brake hydraulic increasing.
Above embodiment is only in order to illustrate technical scheme of the present invention, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or some or all of technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.Therefore, disclosed embodiment and accompanying drawing in the present invention, is not for limiting technological thought of the present invention, but is not limited by these embodiment and accompanying drawing for the scope that technological thought of the present invention is described.Protection scope of the present invention should make an explanation according to above request scope, and all technological thoughts in equal scope with it, should be interpreted as being included in interest field of the present invention.
Claims (10)
1. a vehicle collision avoidance system, is characterized in that, comprising:
Rear detecting part, the distance between its sensing first vehicle and the second vehicle of travelling at the rear of described the first vehicle and the speed of described the second vehicle;
Speed sensitive portion, the back-up speed of the first vehicle described in its sensing;
Control part, it calculates collision risk index according to the distance between described the first vehicle and described the second vehicle, the speed of described the second vehicle and the back-up speed of described the first vehicle; And
Brake control section, it is according to the slow down back-up speed of described the first vehicle of described collision risk index.
2. vehicle collision avoidance system according to claim 1, is characterized in that:
The back-up speed of described collision risk index and described the first vehicle and the speed of described the second vehicle are proportional, and and described the first vehicle and described the second vehicle between distance be inversely proportional to.
3. vehicle collision avoidance system according to claim 1, is characterized in that, also comprises:
Accelerate control part, it limits the acceleration of described the first vehicle according to described collision risk index.
4. vehicle collision avoidance system according to claim 1, is characterized in that, also comprises:
Alarm portion, it gives a warning to the chaufeur of described the first vehicle according to described collision risk index.
5. vehicle collision avoidance system according to claim 1, is characterized in that:
The more described collision risk exponential sum of described control part benchmark critical value.
6. a control method for collision avoidance system for vehicle, comprising:
The step of the distance between rear detecting part sensing the first vehicle and the second vehicle of travelling at the rear of described the first vehicle and the speed of described the second vehicle;
The step of the back-up speed of the first vehicle described in speed sensitive portion sensing;
Control part utilizes the distance between speed and described the first vehicle and described second vehicle of the back-up speed of described the first vehicle, described the second vehicle to calculate the step of collision risk index; And
Brake control section is according to the slow down step of back-up speed of described the first vehicle of described collision risk index.
7. the control method of collision avoidance system for vehicle according to claim 6, is characterized in that:
The back-up speed of described collision risk index and described the first vehicle and the speed of described the second vehicle are proportional, and and described the first vehicle and described the second vehicle between distance be inversely proportional to.
8. the control method of collision avoidance system for vehicle according to claim 6, is characterized in that, also comprises:
Accelerate control part limits the acceleration of described the first vehicle step according to described collision risk index.
9. the control method of collision avoidance system for vehicle according to claim 6, is characterized in that, also comprises:
The step that alarm portion gives a warning to the chaufeur of described the first vehicle according to described collision risk index.
10. the control method of collision avoidance system for vehicle according to claim 6, is characterized in that, also comprises:
The step of the more described collision risk exponential sum of described control part benchmark critical value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2012-0119068 | 2012-10-25 | ||
| KR1020120119068A KR20140052678A (en) | 2012-10-25 | 2012-10-25 | Collision prevention system for car and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103770781A true CN103770781A (en) | 2014-05-07 |
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ID=50563677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310338009.9A Pending CN103770781A (en) | 2012-10-25 | 2013-08-06 | Collision prevention system for car and control method thereof |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20140052678A (en) |
| CN (1) | CN103770781A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564416A (en) * | 2014-10-09 | 2016-05-11 | 重庆宁来科贸有限公司 | Comprehensive segmental automobile anti-crash protection scheme |
| CN106114494A (en) * | 2016-07-21 | 2016-11-16 | 浙江吉利汽车研究院有限公司 | A kind of reversing for vehicle assists collision avoidance system and method |
| CN107031625A (en) * | 2016-01-26 | 2017-08-11 | 丰田自动车株式会社 | Vehicle anticollision accessory system |
| CN107738644A (en) * | 2017-09-30 | 2018-02-27 | 长安大学 | A kind of vehicle control of collision avoidance method |
| CN108116405A (en) * | 2016-11-30 | 2018-06-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
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2012
- 2012-10-25 KR KR1020120119068A patent/KR20140052678A/en not_active Application Discontinuation
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564416A (en) * | 2014-10-09 | 2016-05-11 | 重庆宁来科贸有限公司 | Comprehensive segmental automobile anti-crash protection scheme |
| CN105564416B (en) * | 2014-10-09 | 2018-10-23 | 重庆宁来科贸有限公司 | A kind of comprehensive segmented automobile anti-collision protective device |
| CN107031625A (en) * | 2016-01-26 | 2017-08-11 | 丰田自动车株式会社 | Vehicle anticollision accessory system |
| CN107031625B (en) * | 2016-01-26 | 2019-08-06 | 丰田自动车株式会社 | Vehicle anticollision auxiliary system |
| CN106114494A (en) * | 2016-07-21 | 2016-11-16 | 浙江吉利汽车研究院有限公司 | A kind of reversing for vehicle assists collision avoidance system and method |
| CN106114494B (en) * | 2016-07-21 | 2019-07-30 | 浙江吉利汽车研究院有限公司 | A kind of reversing auxiliary collision avoidance system and method for vehicle |
| CN108116405A (en) * | 2016-11-30 | 2018-06-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN107738644A (en) * | 2017-09-30 | 2018-02-27 | 长安大学 | A kind of vehicle control of collision avoidance method |
| CN107738644B (en) * | 2017-09-30 | 2019-06-21 | 长安大学 | A kind of vehicle control of collision avoidance method |
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| KR20140052678A (en) | 2014-05-07 |
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Application publication date: 20140507 |