CN103971541A - Anti-collision safety warning method and device for vehicles - Google Patents
Anti-collision safety warning method and device for vehicles Download PDFInfo
- Publication number
- CN103971541A CN103971541A CN201410209898.3A CN201410209898A CN103971541A CN 103971541 A CN103971541 A CN 103971541A CN 201410209898 A CN201410209898 A CN 201410209898A CN 103971541 A CN103971541 A CN 103971541A
- Authority
- CN
- China
- Prior art keywords
- car
- velocity
- position vector
- vector
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides an anti-collision safety warning method and device for vehicles. The anti-collision safety warning method includes the steps of obtaining the velocity vector and position of an other vehicle, determining the velocity vector and position of the vehicle, obtaining the position vector of the other vehicle through calculation according to the position of the other vehicle, and obtaining the position vector of the vehicle through calculation according to the position of the vehicle, wherein the position vector of the other vehicle points to the position of the other vehicle from the original point, and the position vector of the vehicle points to the position of the vehicle from the original point; if (PB-PA)*VA, (PB-PA)*VB and VA*VB are of the same polarity, determining that the vehicle and the other vehicle approaching head-on, wherein PA is the position vector of the vehicle, VA is the velocity vector of the vehicle, PB is the position vector of the other vehicle, and VB is the velocity vector of the other vehicle. Whether the two vehicles will approach head-on or not is judged in a vectorization calculation mode, and an alarm can be given in advance so that collision can be avoided.
Description
Technical field
The present invention relates to automotive safety technical field, relate in particular to a kind of vehicle collision avoidance safety alarm method and device.
Background technology
Along with the continuous increase of automobile pollution, also increasing year by year of the quantity of motor-vehicle accident.In prior art, the detection of vehicle collision, the dangerous situation such as knock into the back and judging means are all to use radar or video analysis etc. by braking technique.But these technology often cannot be sent in advance warning against danger and avoid vehicle collision.
Dedicated Short Range Communications, (DSRC) can, for information sharing passage is provided between multiple vehicles, can offer the information of vehicle (such as position, speed, brake situation etc.) other vehicles of periphery by Dedicated Short Range Communications.Application for Dedicated Short Range Communications, in prior art is often integrated in the integrated of equipment, and does not have the Dedicated Short Range Communications, utilized to avoid the concrete grammar of vehicle collision.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of vehicle collision avoidance safety alarm method and device, can judge whether two cars can cross with the account form of vector quantization, is conducive to send in advance early warning to avoid collision.
For solving the problems of the technologies described above, the invention provides a kind of vehicle collision avoidance safety alarm method, comprising:
Obtain velocity and the position of its car, and confirm velocity and the position of this car;
Obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, and the position vector of this car is pointed to the position of this car by this initial point;
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, the velocity that VA is this car, PB is the position vector of its car, and VB is the velocity of its car.
According to one embodiment of present invention, the method also comprises:
If judge that this car and its car will cross forwardly, calculate and estimate collision time, this expectation collision time equals the poor business with the poor projection in the poor direction of this position vector of velocity of position vector, and wherein to discuss poor be PB-PA in this position, and this velocity is poor is VB-VA;
If described expectation collision time is less than default threshold value, send collision warning.
According to one embodiment of present invention, the method also comprises: in the time judging the crossing forwardly of this car and its car, if receive the emergency brake situation that its car sends, send emergency brake alarm.
According to one embodiment of present invention, the method also comprises: if any both different poles in (PB-PA) × VA, (PB-PA) × VB and VA × VB judge that this car and its car will not cross forwardly.
According to one embodiment of present invention, obtain velocity and the position of its car by Dedicated Short Range Communications.
The present invention also provides a kind of vehicle collision avoidance safety alarm device, comprising:
Acquisition of information module, for obtaining velocity and the position of its car, and confirms velocity and the position of this car;
Vector computing module, for obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, and the position vector of its car is pointed to the position of its car by initial point, and the position vector of this car is pointed to the position of this car by this initial point;
Judge module, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
According to one embodiment of present invention, this device also comprises:
Time Calculation module, for calculating and estimate collision time in the time judging the crossing forwardly of this car and its car, this expectation collision time equals the poor business with the poor projection in the poor direction of this position vector of velocity of position vector, wherein the poor PB-PA of being is discussed in this position, and this velocity is poor is VB-VA;
Collision warning module, if described expectation collision time is less than default threshold value, sends collision warning.
According to one embodiment of present invention, this device also comprises: emergency brake alarm modules, in the time judging the crossing forwardly of this car and its car, if receive the emergency brake situation that its car sends, send emergency brake alarm.
According to one embodiment of present invention, if any both different poles in (PB-PA) × VA, (PB-PA) × VB and VA × VB, described judge module judges that this car and its car will not cross forwardly.
According to one embodiment of present invention, described acquisition of information module is obtained its car by Dedicated Short Range Communications, velocity and position.
Compared with prior art, the present invention has the following advantages:
The vehicle collision avoidance safety alarm method of the embodiment of the present invention and device are according to position vector and the velocity of Ben Che and its car, adopt the computing method of vector quantization to judge whether two cars can cross, in the situation that judgement will cross, can send prompting to driver in advance, to avoid collision.
Furthermore, the vehicle collision avoidance safety alarm method of the embodiment of the present invention and device also adopt the computing method of vector quantization to calculate expectation collision time, if this expectation collision time is less than default threshold value, send collision warning, make driver can make in time evasive action, reduce accident rate.
In addition, the embodiment of the present invention, in the situation that two cars will cross, can also directly be sent emergency brake alarm according to the emergency brake situation of its car, so that driver can take workaround as early as possible.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the vehicle collision avoidance safety alarm method of the embodiment of the present invention;
Fig. 2 is the vector distribution schematic diagram of an application scenarios example of the vehicle collision avoidance safety alarm method of the embodiment of the present invention;
Fig. 3 is the structured flowchart of the vehicle collision avoidance safety alarm device of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
With reference to figure 1, the vehicle collision avoidance safety alarm method of the present embodiment comprises the steps:
Step S11, obtains velocity and the position of its car, and confirms velocity and the position of this car;
Step S12, obtains the position vector of its car according to the position calculation of its car, and obtains the position vector of this car according to the position calculation of this car, and the position vector of its car is pointed to the position of its car by initial point, and the position vector of this car is pointed to the position of this car by this initial point;
Step S13, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
In step S11, can obtain by Dedicated Short Range Communications, (DSRC) information such as velocity and position of its car of periphery.The position of its car and the position of Ben Che for example can adopt the mode of longitude, latitude to represent, but are not limited to this.The velocity of its car and Ben Che comprises velocity amplitude and velocity reversal.
Adopt DSRC can in less time delay (being generally Millisecond), obtain the information of nearby vehicle.While adopting DSRC, vehicle can adopt the information of the continuous peripherad vehicle broadcast of the frequency of 10Hz oneself, and such as position, velocity etc., also can receive the information that surrounding vehicles sends over.Certainly, Dedicated Short Range Communications, is only a kind of preferred mode, and the mode of obtaining the information of its car is not limited to this, also can adopt with other appropriate means.
Initial point in step S12 can be the initial point of the lat/longitude of GPS, or can be also the initial point of Chinese terrestrial coordinate, or can be also other suitable origin positions.
In step S13, it is equidirectional that (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity refer to three, and namely the direction of three vector products is identical.If three's homopolarity, so just can judge that two cars will cross forwardly, now can send prompting to driver, remind auditor to note enhancing your vigilance, can certainly not send prompting; If three's any two different poles wherein, so just can judge that this car and its car will can not cross forwardly.
In the time judging that two cars will cross forwardly, can continue to do and collide more accurately anticipation, specific as follows: first to calculate and estimate collision time, this expectation collision time=position vector is poor/the poor projection in the poor direction of this position vector of velocity, wherein, position vector is poor=position vector of the position vector-Ben Che of its car, and the velocity of the velocity-Ben Che of velocity=its car; For example, if the expectation collision time calculating is less than default threshold value (5s, 10s, 20s, but be not limited to this), send collision warning.
This collision warning can adopt the mode of voice, signal lamp to offer user, if remaining unchanged, the current state of alerting driver will cause collision, that is to say under the position and velocity conditions of current two cars, cause the most at last collision accident, remind driver to take in advance workaround, for example, brake or suitably turn to etc.
In addition, in the time judging that this car and its car will cross forwardly, this car can also receive the emergency brake situation that its car sends by modes such as DSRC.If received emergency brake situation, show that its car taked brake hard, so directly send emergency brake alarm, point out the driver of this car to take to evade action.It is real-time that the sending of emergency brake alarm is preferably, and just sends emergency brake alarm once namely receive the emergency brake situation of its car, makes this car driver the very first time to take workaround as far as possible.
Example below in conjunction with a crossing is elaborated to this vehicle collision avoidance safety alarm method.
With reference to figure 2, in intersection, this car A travels eastwards in west, and its car B travels from south orientation north, and two cars all will, through intersection, likely bump in intersection.
Correlation parameter mark is as follows:
The position vector of this car is designated as: PA;
The position vector of its car is designated as: PB;
The velocity of this car is designated as: VA;
The velocity of its car is designated as: VB.
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car A and its car B will cross forwardly; If any both different poles in (PB-PA) × VA, (PB-PA) × VB and VA × VB, judge that two cars do not cross forwardly.
Below calculating and deterministic process are elaborated.
The position of this car A can represent with longitude and latitude, and its longitude is designated as LLong, and its latitude is designated as LLat; The position of its car B also can represent with longitude and latitude, and its longitude is designated as RLong, and its latitude is designated as RLat.The velocity amplitude of this car A is designated as LSpeed, and the velocity reversal of this car A is designated as Lheading; The velocity amplitude of its car B is designated as RSpeed, and the velocity reversal of its car B is designated as Rheading.In addition, earth radius is designated as R.
According to above mark, corresponding computation process is as follows:
The position vector of this car A: PA=(LLong, LLat);
The position vector of its car B: PB=(RLong, RLat);
The position vector of its car B and this car A is poor: DP=PB-PA=(DPx, DPy);
Wherein, DPx=Cos (LLat) × Sin (RLong – LLong) × R, DPx is again two car East and West direction distances;
DPy=Sin (RLat – LLat) × R, Dpy is again two car north-south distances;
The velocity of its car B: VB=(VBx, VBy);
Wherein, VBx=Sin (Rheading) × RSpeed;
VBy＝Cos(Rheading)×RSpeed；
The velocity of this car A: VA=(VAx, VAy);
Wherein, VAx=Sin (Lheading) × LSpeed;
VAy＝Cos(Lheading)×LSpeed；
The velocity of its car B and this car A is poor: DV=VB-VA=(DVx, DVy);
Wherein, DVx=VBx-VAx;
DVy＝VBy-VAy；
For judging whether two cars are calculated as follows the variable crossing forwardly:
The vector product (or being called multiplication cross) of the velocity of the velocity of this car A and its car B:
VA×VB＝(VAx,VAy)×(VBx,VBy)＝(VAx×VBy)–(VAy×VBx)；
The vector product of the poor velocity with this car A of the position vector of two cars:
DP×VA＝(DPx,DPy)×(VAx,VAy)＝(DPx×VAy)-(DPy×VAx)；
The vector product of the poor velocity with its car B of the position vector of two cars:
DP×VB＝(DPx,DPy)×(VBx,VBy)＝(DPx×VBy)-(DPy×VBx)；
According to above calculating, corresponding deterministic process is as follows:
If VA × VB<0 and DP × VA<0 and DP × VB<0, or VA × VB>0 and DP × VA>0 and DP × VB>0, two cars will cross forwardly so; Otherwise two cars will can not cross forwardly, and two cars do not exist the possibility bumping.
If judge that two cars will cross forwardly, can continue so to calculate and estimate collision time, detailed process is as follows:
The vector length of two truck position phasor differences: DPValu=|DP|=Sqrt (DPx × DPx+DPy × DPy);
The vector length of two vehicle speed phasor differences: DVValu=|DV|=Sqrt (DVx × DVx+DVy × DVy);
The included angle cosine value of two truck position phasor differences and two vehicle speed phasor differences:
cosDAngle＝(DPx×DVx+DPy×DVy)/(DPValu×DVValu)；
Estimate collision time: tImpact=DPValu/ (cosDAngle × DVValu);
Wherein, (cosDAngle × DVValu) is the vector length of the projection of velocity on the direction vector of position.
If this expectation collision time tImpact is less than default threshold value, send collision warning to this car driver, remind driver to carry out in advance evasive action.
It should be noted that, although the example scenario of Fig. 2 is crossing of right-angled intersection, the method for the present embodiment can also be applicable to other scenes, and for example T-shaped road junction crosses, Y shape crossing crosses etc.But, the method for the present embodiment is in the time being applied to the anti-collision warning of right-angled intersection, and effect is better.
With reference to figure 3, the vehicle collision avoidance safety alarm device of the present embodiment comprises: acquisition of information module 31, vector computing module 32, judge module 33, Time Calculation module 34, collision warning module 35 and emergency brake alarm modules 36.
Wherein, acquisition of information module 31 is for obtaining velocity and the position of its car, and confirms velocity and the position of this car; Vector computing module 32 is for obtaining the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, the position vector of this car is pointed to the position of this car by this initial point; Judge module 33 is for judging whether two cars will cross forwardly, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car; Time Calculation module 34 is estimated collision time for calculating in the time judging that this car and its car will cross forwardly, this expectation collision time equals the poor business with the poor projection in the poor direction of this position vector of velocity of position vector, wherein the poor PB-PA of being is discussed in this position, and this velocity is poor is VB-VA; If described expectation collision time is less than default threshold value, collision warning module 35 is sent collision warning; In the time that judge module 33 judges that this car and its car will cross forwardly, if acquisition of information module 31 receives the emergency brake situation that its car sends, emergency brake alarm modules 36 is sent emergency brake alarm.
About more details of this vehicle collision avoidance safety alarm device, refer to the associated description of previous embodiment for vehicle collision avoidance safety alarm method, repeat no more here.
This vehicle collision avoidance safety alarm device can adopt the mode of software, hardware or software and hardware combining to realize.For example, this vehicle collision avoidance safety alarm device can be integrated in vehicle-mounted terminal equipment, as one of them hardware module or software module,
By upper, the vehicle collision avoidance safety alarm method of the embodiment of the present invention and device judge according to the dependent vector computing of the position vector of vehicle, velocity whether two cars will cross and whether can bump, can improve the accuracy of anti-collision warning, make driver can obtain more rapidly reliable alarm signal before accident occurs, and reserve the more time and allow driver take necessary workaround, thereby reduce traffic hazard ratio.The technical scheme that adopts the present embodiment, can very well realize the vehicle collision prewarning of intersection, and the conventional art means such as radar, video cannot complete this point.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and amendment, therefore protection scope of the present invention should be as the criterion with the scope that the claims in the present invention were defined.
Claims (10)
1. a vehicle collision avoidance safety alarm method, is characterized in that, comprising:
Obtain velocity and the position of its car, and confirm velocity and the position of this car;
Obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, the position vector of its car is pointed to the position of its car by initial point, and the position vector of this car is pointed to the position of this car by this initial point;
If (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, the velocity that VA is this car, PB is the position vector of its car, and VB is the velocity of its car.
2. vehicle collision avoidance safety alarm method according to claim 1, is characterized in that, the method also comprises:
If judge crossing forwardly of this car and its car, calculate and estimate collision time, this expectation collision time equals the poor business with the poor projection in the poor direction of this position vector of velocity of position vector, and wherein to discuss poor be PB-PA in this position, and this velocity is poor is VB-VA;
If described expectation collision time is less than default threshold value, send collision warning.
3. vehicle collision avoidance safety alarm method according to claim 1 and 2, is characterized in that, the method also comprises: in the time judging that this car and its car will cross forwardly, if receive the emergency brake situation that its car sends, send emergency brake alarm.
4. vehicle collision avoidance safety alarm method according to claim 1 and 2, it is characterized in that, the method also comprises: if any both different poles in (PB-PA) × VA, (PB-PA) × VB and VA × VB judge that this car and its car will not cross forwardly.
5. vehicle collision avoidance safety alarm method according to claim 1 and 2, is characterized in that, obtains velocity and the position of its car by Dedicated Short Range Communications.
6. a vehicle collision avoidance safety alarm device, is characterized in that, comprising:
Acquisition of information module, for obtaining velocity and the position of its car, and confirms velocity and the position of this car;
Vector computing module, for obtain the position vector of its car according to the position calculation of its car, and obtain the position vector of this car according to the position calculation of this car, and the position vector of its car is pointed to the position of its car by initial point, and the position vector of this car is pointed to the position of this car by this initial point;
Judge module, if (PB-PA) × VA, (PB-PA) × VB and VA × VB three homopolarity, judge that this car and its car will cross forwardly, the position vector that wherein PA is this car, VA is the velocity of this car, PB is the position vector of its car, and VB is the velocity of its car.
7. vehicle collision avoidance safety alarm device according to claim 6, is characterized in that, this device also comprises:
Time Calculation module, estimate collision time for calculating in the time judging that this car and its car will cross forwardly, this expectation collision time equals the poor business with the poor projection in the poor direction of this position vector of velocity of position vector, wherein the poor PB-PA of being is discussed in this position, and this velocity is poor is VB-VA;
Collision warning module, if described expectation collision time is less than default threshold value, sends collision warning.
8. according to the vehicle collision avoidance safety alarm device described in claim 6 or 7, it is characterized in that, this device also comprises:
Emergency brake alarm modules, in the time judging that this car and its car will cross forwardly, if receive the emergency brake situation that its car sends, sends emergency brake alarm.
9. according to the vehicle collision avoidance safety alarm device described in claim 6 or 7, it is characterized in that, if any both different poles in (PB-PA) × VA, (PB-PA) × VB and VA × VB, described judge module judges that this car and its car will not cross forwardly.
10. according to the vehicle collision avoidance safety alarm device described in claim 6 or 7, it is characterized in that, described acquisition of information module is obtained velocity and the position of its car by Dedicated Short Range Communications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410209898.3A CN103971541B (en) | 2014-05-19 | 2014-05-19 | Vehicle collision avoidance safety alarm method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410209898.3A CN103971541B (en) | 2014-05-19 | 2014-05-19 | Vehicle collision avoidance safety alarm method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103971541A true CN103971541A (en) | 2014-08-06 |
| CN103971541B CN103971541B (en) | 2016-02-24 |
Family
ID=51240973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410209898.3A Active CN103971541B (en) | 2014-05-19 | 2014-05-19 | Vehicle collision avoidance safety alarm method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103971541B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104732805A (en) * | 2015-03-18 | 2015-06-24 | 佛山市智海星空科技有限公司 | Dynamic warning method for preventing automobile rear-end collision |
| CN106548630A (en) * | 2017-01-11 | 2017-03-29 | 青岛海信移动通信技术股份有限公司 | A kind of detection method and device of driving behavior |
| CN106781692A (en) * | 2016-12-01 | 2017-05-31 | 东软集团股份有限公司 | The method of vehicle collision prewarning, apparatus and system |
| JP2017187863A (en) * | 2016-04-01 | 2017-10-12 | トヨタ自動車株式会社 | Approach vehicle report apparatus |
| CN107346612A (en) * | 2016-05-06 | 2017-11-14 | 中国科学院微电子研究所 | A kind of vehicle collision avoidance method and system based on car networking |
| CN108307295A (en) * | 2016-09-27 | 2018-07-20 | 通用汽车环球科技运作有限责任公司 | The method and apparatus for avoiding accident for vulnerable road user |
| CN109935108A (en) * | 2017-12-18 | 2019-06-25 | 姜鹏飞 | A kind of traffic security early warning method of traffic control and device based on accurate location |
| CN112258895A (en) * | 2020-10-22 | 2021-01-22 | 东风汽车集团有限公司 | T-shaped intersection collision judgment method based on V2X |
| CN114093187A (en) * | 2021-11-26 | 2022-02-25 | 交通运输部公路科学研究所 | Risk early warning control method for automatic driving vehicle and intelligent network system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799909A (en) * | 2005-01-02 | 2006-07-12 | 傅建中 | Passive automobile rear-collision prewarning anticollision technical scheme |
| CN1916991A (en) * | 2005-08-18 | 2007-02-21 | 通用汽车环球科技运作公司 | System for and method for detecting vehicle collision and determining a host vehicle lane change |
| DE102005062151A1 (en) * | 2005-12-22 | 2007-07-05 | Daimlerchrysler Ag | Head-up display and camera process to guide a vehicle driver through a road constriction |
| CN101625797A (en) * | 2009-08-05 | 2010-01-13 | 中国人民解放军国防科学技术大学 | Early warning method when automobile closes at high speed and early warning device |
| DE10029874B4 (en) * | 1999-06-16 | 2010-06-17 | Honda Giken Kogyo K.K. | Vehicle travel safety device |
-
2014
- 2014-05-19 CN CN201410209898.3A patent/CN103971541B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10029874B4 (en) * | 1999-06-16 | 2010-06-17 | Honda Giken Kogyo K.K. | Vehicle travel safety device |
| CN1799909A (en) * | 2005-01-02 | 2006-07-12 | 傅建中 | Passive automobile rear-collision prewarning anticollision technical scheme |
| CN1916991A (en) * | 2005-08-18 | 2007-02-21 | 通用汽车环球科技运作公司 | System for and method for detecting vehicle collision and determining a host vehicle lane change |
| DE102005062151A1 (en) * | 2005-12-22 | 2007-07-05 | Daimlerchrysler Ag | Head-up display and camera process to guide a vehicle driver through a road constriction |
| CN101625797A (en) * | 2009-08-05 | 2010-01-13 | 中国人民解放军国防科学技术大学 | Early warning method when automobile closes at high speed and early warning device |
Non-Patent Citations (1)
| Title |
|---|
| 吉德志: "基于蒙特卡洛方法的汽车防撞预警系统研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104732805A (en) * | 2015-03-18 | 2015-06-24 | 佛山市智海星空科技有限公司 | Dynamic warning method for preventing automobile rear-end collision |
| CN104732805B (en) * | 2015-03-18 | 2018-01-30 | 泰州市齐大涂料助剂有限公司 | A kind of dynamic early-warning method of automobile anti-rear end collision |
| JP2017187863A (en) * | 2016-04-01 | 2017-10-12 | トヨタ自動車株式会社 | Approach vehicle report apparatus |
| CN107346612A (en) * | 2016-05-06 | 2017-11-14 | 中国科学院微电子研究所 | A kind of vehicle collision avoidance method and system based on car networking |
| CN108307295A (en) * | 2016-09-27 | 2018-07-20 | 通用汽车环球科技运作有限责任公司 | The method and apparatus for avoiding accident for vulnerable road user |
| CN106781692A (en) * | 2016-12-01 | 2017-05-31 | 东软集团股份有限公司 | The method of vehicle collision prewarning, apparatus and system |
| CN106548630A (en) * | 2017-01-11 | 2017-03-29 | 青岛海信移动通信技术股份有限公司 | A kind of detection method and device of driving behavior |
| CN109935108A (en) * | 2017-12-18 | 2019-06-25 | 姜鹏飞 | A kind of traffic security early warning method of traffic control and device based on accurate location |
| CN112258895A (en) * | 2020-10-22 | 2021-01-22 | 东风汽车集团有限公司 | T-shaped intersection collision judgment method based on V2X |
| CN114093187A (en) * | 2021-11-26 | 2022-02-25 | 交通运输部公路科学研究所 | Risk early warning control method for automatic driving vehicle and intelligent network system |
| CN114093187B (en) * | 2021-11-26 | 2023-02-24 | 交通运输部公路科学研究所 | Risk early warning control method for automatic driving vehicle and intelligent network system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103971541B (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103971541B (en) | Vehicle collision avoidance safety alarm method and device | |
| CN103921791B (en) | Vehicle collision avoidance safety alarm method and device | |
| CN105739534B (en) | Multi-vehicle cooperative driving method and device for unmanned vehicle based on Internet of vehicles | |
| CN106781692B (en) | Vehicle collision early warning method, device and system | |
| Anaya et al. | Vehicle to pedestrian communications for protection of vulnerable road users | |
| CN205943100U (en) | HMI shows system for V2X scene | |
| CN106882143B (en) | Pedestrian protection system and method based on LTE-V communication | |
| CN101908283B (en) | Running instant anti-collision warning system and method | |
| Miller et al. | An adaptive peer-to-peer collision warning system | |
| CN104575068A (en) | Method and device for prompting drivers | |
| US10086830B2 (en) | Accident attenuation systems and methods | |
| US11059481B2 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
| KR20150029471A (en) | Apparatus for passing danger warning of vehicle and method thereof | |
| CN109147394A (en) | The vehicle collision prewarning method of intersection | |
| CN103578294A (en) | Method for curve synergy collision avoidance early warning based on dedicated short range communication | |
| JP7031471B2 (en) | Collision avoidance device | |
| CN103183027A (en) | Vehicle anti-collision method and device | |
| CN104143269A (en) | Vehicle quick braking warning apparatus and method | |
| Yang et al. | Research on forward collision warning system based on connected vehicle V2V communication | |
| Marefat et al. | An adaptive overtaking maneuver assistant system using VANET | |
| CN110738871A (en) | prompting method and system | |
| Cho et al. | Performance improvement of collision warning system on curved road based on intervehicle communication | |
| Uchiyama et al. | Vehicle location estimation based on 79GHz UWB radar employing road objects | |
| JP2019021120A (en) | Confluence support apparatus and confluence support method | |
| Wang et al. | A vru collision warning system with kalman-filter-based positioning accuracy improvement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170905 Address after: 200235 Shanghai City, Xuhui District Tianyaoqiao Road No. 30 Metro Building 19 floor Patentee after: Shanghai Botai Yuezhen Electrical Equipment Manufacturing Co., Ltd. Address before: 201821, room 3, building 1630, 1286 Yecheng Road, Jiading Industrial Zone, Shanghai, China Patentee before: Shanghai Yangzi Investment Management Co., Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 201821 room 208, building 4, No. 1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Patentee after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Address before: 200235 19th floor, Meiluo building, 30 Tianyaoqiao Road, Xuhui District, Shanghai Patentee before: SHANGHAI PATEO ELECTRONIC EQUIPMENT MANUFACTURING Co.,Ltd. |