CN104200705A - Warning method and system for vehicle tailgating - Google Patents
Warning method and system for vehicle tailgating Download PDFInfo
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- CN104200705A CN104200705A CN201410411767.3A CN201410411767A CN104200705A CN 104200705 A CN104200705 A CN 104200705A CN 201410411767 A CN201410411767 A CN 201410411767A CN 104200705 A CN104200705 A CN 104200705A
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Abstract
The invention discloses a warning method for vehicle tailgating, and the method comprises the following steps of: based on a predetermined time interval, collecting vehicle moving data in a continuous time sequence through a vehicle-mounted collecting device, wherein the vehicle containing the vehicle-mounted collecting device is the current one; calculating a front-vehicle operating speed in the current sequence time; based on the current-vehicle speed information and the pavement friction coefficient information, calculating the shortest current-vehicle brake time; based on the shortest current-vehicle brake time and the front-vehicle operating speed, calculating the interval among the current vehicle, the front vehicle and the shortest current-vehicle brake time; calculating the minimum current-vehicle braking distance under a locking condition; based on the calculated minimum current-vehicle braking distance, and the interval among the current vehicle, the front vehicle and the shortest current-vehicle brake time, judging whether tailgating risks are occurred, if not, returning the mentioned step, and continuing collection and judgment; if so, controlling to give warning signals. The invention further discloses a warning system for vehicle tailgating.
Description
Technical field
The present invention relates to intelligent transportation early warning technology field, in particular to a kind of vehicle rear-end collision method for early warning and early warning system.
Background technology
Traffic accidents form be take collision as main, and between 2013, the equivalent death toll causing due to vehicle rear-end collision collision accident form accounts for 42% of total ratio.Therefore, design a kind of high speed car follower's collision prevention early warning system and become exigence.
From 1970, Japan's Smartway starts at vehicle lane-changing in the works, crossroad is crashproof, pedestrian dodges conducts a research with the field such as spacing maintenance, and some mechanisms of Germany utilize optical principle to develop Mear system, object is in order to survey headstock dead ahead with the barrier of exterior domain, to guarantee vehicle driving safety.The collision warning system of a kind of being referred to as " vision control radar " has been studied by General Motors Overseas Corporation, utilizes the environmental information in radar monitoring vehicle operating process, and before and after keeping, the safe spacing of vehicle, prevents from knocking into the back.From 2000, domestic automobile collision avoidance system just had some scientific research institutions and universities and colleges to carry out research in this respect in succession afterwards, and closely and obtained certain achievement aspect static anti-collision warning, for example radar for backing car and spacing warning system oneself on vehicle, installs and uses.
But at present to vehicle dynamic farthest monitoring distance be 60 meters, range error is greater than 1 meter.Vehicle is more than on highway, travelling speed reaches 80Km/h, and average braking distance reaches 83 meters, and therefore existing anticollision technology still cannot solve the anti-problem that knocks into the back of vehicle on highway, and many gordian techniquies await further solution.
Summary of the invention
The object of the invention is to provide a kind of vehicle rear-end collision method for early warning and early warning system, can realize fast differentiation and the early warning of the risk that knocks into the back, and prevents the generation of the event of vehicle rear-end collision.
Above-mentioned purpose of the present invention realizes by the technical characterictic of independent claims, and dependent claims develops the technical characterictic of independent claims with alternative or favourable mode.
For reaching above-mentioned purpose, the technical solution adopted in the present invention is as follows:
A vehicle rear-end collision method for early warning, its realization comprises the following steps:
Step 1, based on predetermined time interval, by vehicle-mounted harvester, gather vehicle under continuous time series the advance pitch information between data: Ben Che and front truck, the friction factor information of this car velocity information, acceleration information and institute's track in the process of moving, wherein the vehicle at vehicle-mounted harvester place is described car;
Step 2, a certain sequence time t gathering based on step 1
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i: v1
i=v
i+ (Sq
i-Sq
i-1)/(t
i-t
i-1);
Step 3, based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
Step 4, the shortest braking time t of this car based on abovementioned steps gained
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
Step 5, calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2;
Step 6, contrast the minimum braking distance S of this car
min (i+min (i)), and Ben Che and front truck are at t
i+ t
min (i)interval Sq constantly
(i+min (i)), judge whether to exist the risk that knocks into the back:
If the minimum braking distance S of this car
min (i+min (i))be less than aforementioned interval Sq
(i+min (i)), judge and do not have risk, return to abovementioned steps 1;
If the minimum braking distance S of this car
min (i+min (i))be more than or equal to aforementioned interval Sq
(i+min (i)), judge and have risk, control and send early warning signal.
According to improvement of the present invention, another aspect of the present disclosure also proposes a kind of vehicle rear-end collision early warning system, is equipped on this car, and this early warning system comprises:
Data collector, at least comprises device for measuring surface friction coefficient, for measuring the device of this car vehicle wheel rotational speed and for measuring the device of the spacing data of advancing between this car and front truck;
One or more processors, for controlling the operation of described vehicle rear-end collision early warning system; And
At least one storer, for storing data and the programmed instruction being used by described one or more processors, described one or more processors are configured to carry out the programmed instruction of storing in described storer, for:
Control described data collector with predetermined time interval, gather vehicle under the continuous time series data of advancing;
Data based on gathered, carry out following computation process:
A) based on a certain sequence time t
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i:
v1
i＝v
i+(Sq
i-Sq
i-1)/(t
i-t
i-1)；
B) based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
C) based on the shortest braking time t of this car
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
D) calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2; And
Minimum braking distance S based on result of calculation
min (i+min (i)), Ben Che and front truck be at t
i+ t
min (i)interval Sq constantly
(i+min (i)), the risk judgment that knocks into the back, and at aforementioned minimum braking distance S
min (i+min (i))be more than or equal to aforementioned car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i))in time, is controlled and to send early warning signal.
From the above technical solution of the present invention shows that, beneficial effect of the present invention is:
1, in the solution of the present invention, designed brand-new warning algorithm, minimum braking time based on this car is calculated the minimum possibility brake distance between front truck and this car, and the spacing in the Vehicle Driving Cycle process obtaining with actual acquisition compares, according to comparative result, carry out early warning;
2, in the solution of the present invention, the calculated amount of warning algorithm is little, and each parameter, quantity of state continuous updating can carry out early warning incessantly, improves promptness and the continuity of early warning;
3, in the solution of the present invention, in the selection of mobile unit, can adopt sensor ripe in prior art and processor (microprocessor that for example Samsung produces), be easily installed in all types of automobiles, and conveniently debug, effectively reduce the cost of early warning system, (in the market with the price of the V2V system of equal accuracy of the present invention in 208 dollars (being roughly equal to 1580 yuans) left and right);
4, utilize early warning scheme of the present invention, expansibility is strong.Each embodiment of the present invention possesses the collection of vehicle spacing and speed information and analytic function, the vehicle early warning of knocking into the back that can be to device place.In preferred scheme, the communication that also can each car be collected by wireless transmit network, to Operation and Management of Expressway center, is realized the anti-rear end collision safety warning function to all vehicles of whole highway.
Accompanying drawing explanation
Fig. 1 is the realization flow schematic diagram of an embodiment of the present invention vehicle rear-end collision method for early warning.
Fig. 2 is the system architecture schematic diagram of an embodiment of the present invention vehicle anti-rear collision early warning system.
Fig. 3 is the system architecture schematic diagram of another embodiment vehicle anti-rear collision early warning system of the present invention.
Embodiment
In order more to understand technology contents of the present invention, especially exemplified by specific embodiment and coordinate appended graphic being described as follows.
As shown in Figure 1, according to preferred embodiment of the present invention, a kind of vehicle rear-end collision method for early warning, its realization comprises the following steps:
Step 1, based on predetermined time interval, by vehicle-mounted harvester, gather vehicle under continuous time series the advance pitch information between data: Ben Che and front truck, the friction factor information of this car velocity information, acceleration information and institute's track in the process of moving, wherein the vehicle at vehicle-mounted harvester place is described car;
Step 2, a certain sequence time t gathering based on step 1
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i: v1
i=v
i+ (Sq
i-Sq
i-1)/(t
i-t
i-1);
Step 3, based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
Step 4, the shortest braking time t of this car based on abovementioned steps gained
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
Step 5, calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2;
Step 6, contrast the minimum braking distance S of this car
min (i+min (i)), and Ben Che and front truck are at t
i+ t
min (i)interval Sq constantly
(i+min (i)), judge whether to exist the risk that knocks into the back:
If the minimum braking distance S of this car
min (i+min (i))be less than aforementioned interval Sq
(i+min (i)), judge and do not have risk, return to abovementioned steps 1;
If the minimum braking distance S of this car
min (i+min (i))be more than or equal to aforementioned interval Sq
(i+min (i)), judge and have risk, control and send early warning signal.
Shown in Fig. 1, the method for early warning adopting in the present embodiment, minimum braking time based on this car is calculated front truck and the possible brake distance of minimum between this car, and the spacing in the Vehicle Driving Cycle process obtaining with actual acquisition compares, and according to this comparative result, carries out early warning, calculated amount is little on the one hand, calculating and judgement speed are fast, can reach the object of promptness, on the other hand, by continuous acquisition and real-time judge, can reach the effect of continuous real-time early warning.
As optional embodiment, the data of advancing of the vehicle in abovementioned steps can gather by following manner:
By being arranged on the wheel speed sensors collection vehicle service data in vehicle axles, comprise velocity information, acceleration information in driving process;
By being arranged on the pavement friction information acquisition module of vehicle bottom, for example ground friction factor sensor, carrys out the ground friction coefficient of collection vehicle institute track;
For example, by being arranged on the distance measuring equipment of vehicle front (bumper bottom), laser range finder for example, gathers the therefrom pitch information of Ben Che and front truck of travelling.
In the present embodiment, the predetermined time interval that abovementioned steps 1 is alleged, can preset and adjust according to actual conditions and accuracy requirement, for example, can be set as 2s and gather once, or 5s collection once, certainly not as restriction.In the different time interval setting in the present embodiment, its result of bringing is the change of early warning precision, and value is less, and precision is higher.
The data that gather in abovementioned steps and the intermediate result of calculating, end product can be stored in storer, then by a processor in carrying out the process of aforementioned each step, call calculating and judgement that stored data are correlated with.
As optional embodiment, in preceding method, when judging at a certain sequence time t
i, between Ben Che and front truck, exist while knocking into the back risk, control is sent to early warning signal, for example sound and/or light signal, by being arranged on display screen and/or the loudspeaker in pilothouse, feed back to the people in car, for example driver.
In further embodiments, when judging at a certain sequence time t
ibetween this car and front truck, exist while knocking into the back risk, also can pass through a network, for example internet (Internet) sends early warning signal to long-range Surveillance center or Control Room, and then Ke Yougai Surveillance center or Control Room broadcast or issue pointedly early warning signal.
In further embodiments, when judging at a certain sequence time t
ibetween this car and front truck, exist while knocking into the back risk, also can pass through dedicated network, traffic police's dedicated network for example, to the special-purpose monitor supervision platform of traffic police, send early warning information, the risk that knocks into the back of vehicle in front is worked as in advance notice, thereby conveniently makes early warning timely and take urgent measure in advance, such as the interception prompting of the voice interactive system/road surface traffic police by road surface etc., reduce the risk that road surface accident occurs.
According to the disclosure, as shown in Figure 2, a kind of vehicle rear-end collision early warning system, is equipped on this car, and this early warning system comprises:
Data collector 10, at least comprises device 11 for measuring surface friction coefficient, for measuring the device 12 of this car vehicle wheel rotational speed and for measuring the device 13 of the spacing data of advancing between this car and front truck;
One or more processors 20, for controlling the operation of described vehicle rear-end collision early warning system; And
At least one storer 30, for storing data and the programmed instruction being used by described one or more processors 20, described one or more processors 30 are configured to carry out the programmed instruction of storing in described storer, for:
Control described data collector 10 with predetermined time interval, gather vehicle under the continuous time series data of advancing;
Data based on gathered, carry out following computation process:
A) based on a certain sequence time t
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i:
v1
i＝v
i+(Sq
i-Sq
i-1)/(t
i-t
i-1)；
B) based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
C) based on the shortest braking time t of this car
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
D) calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2; And
Minimum braking distance S based on result of calculation
min (i+min (i)), Ben Che and front truck be at t
i+ t
min (i)interval Sq constantly
(i+min (i)), the risk judgment that knocks into the back, and at aforementioned minimum braking distance S
min (i+min (i))be more than or equal to aforementioned car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i))in time, is controlled and to send early warning signal.
In the present embodiment, as preferred scheme, for measuring the device 11 of surface friction coefficient, comprise at least one ground friction factor sensor, be arranged on vehicle bottom, thereby facilitate the friction factor on road surface that collection vehicle is exercised.
For measuring the device 12 of this car vehicle wheel rotational speed, comprise at least one wheel speed sensors, be arranged in vehicle axles, collection vehicle service data, comprises velocity information, acceleration information in driving process.
For measuring the device 13 of the spacing data of advancing between this car and front truck, comprise at least one laser range finder, or ultrasonic range finder, be arranged on the front portion of vehicle, such as positions such as front bumper lower ends, to facilitate the real-time spacing detecting between this car and front truck in the process of moving.
As preferably, the distance measuring equipment 13 in the present embodiment, adopts ripe laser range finder to realize, and its precision is high, and stable performance.
As previously mentioned, under less acquisition time interval, the gait of march of this car regards as at the uniform velocity and travels, thus carry out above-mentioned a)-d) computation process approach actual conditions, thereby reflect more truly the risk that knocks into the back in vehicle traveling process.
One or more processors 20, as controlling and treating apparatus, for controlling data acquisition and the storage of aforementioned data harvester 10, for being preset according to gathered data call, the programmed instruction of storer 30 calculates and early warning judgement on the other hand on the one hand.Its computation process and early warning judgement, as previously mentioned.
In the present embodiment, preferably, one or more processors 20 adopt single-chip microcomputer to realize, and certainly in a further embodiment, also can adopt microprocessor to realize, for example
or
the microprocessor of producing.
Aforementioned memory 30, can adopt SD card, TF card, mmc card and other non-volatile data storage medium to realize.
One or more processors 20 are connected with aforementioned data harvester 10, storer 30 with data-interface by data line.
As preferred embodiment, as shown in Figure 2, this vehicle rear-end collision early warning system also comprises an indicating device 21, for example light-emitting diode display, or LED light, is connected to described one or more processor 20, for the knock into the back running status of early warning system of monitoring vehicle, for example whether the running status of data collector 10 occurs extremely, and whether data between each module connect smooth and easy etc., by text box or LED light, with suitable form, indicate.
In further embodiments, this vehicle rear-end collision early warning system can also setting operation face version, and contact type operation panel for example, or press input type guidance panel, in order to entering the operating instructions.
As preferred embodiment, as shown in Figure 2, this vehicle rear-end collision early warning system also comprises and also disposes a radio communication device 60 (for example 3G communication module), be connected to described one or more processor 20, for example, by accessing Internet (Internet) or dedicated network (traffic police dedicated network), to command centre, Surveillance center or Control Room, send early warning information, as previously mentioned, advance notice is when the risk that knocks into the back of vehicle in front, thereby conveniently make early warning timely and take urgent measure in advance, reducing the possibility that road traffic accident occurs.
As shown in Figure 2, as optional embodiment, this vehicle rear-end collision early warning system also comprises a loudspeaker 40, in described storer 300, also store preset alarm voice (for example dangerous, spacing is too small etc.), when described one or more processors 20 judge that risk is knocked into the back in current time existence, control the alarm voice that this loudspeaker 40 is reported aforementioned storage.
In another embodiment, as shown in Figure 3, in earlier figures 2, can also replace with a smooth feedback assembly 50, this light feedback assembly can be configured to a LED array, an or double-colored demonstration LED, an or LED lamp, be connected to described one or more processor 20, in described storer 300, also store optical control signal (for example flicker that preset expression is reported to the police, or change the color showing), when described one or more processors 20 judge that risk is knocked into the back in current time existence, control this light feedback assembly 50 with flicker, change the modes such as color demonstration and feed back early warning information.
In further embodiments, loudspeaker 40 and light feedback assembly 50 in earlier figures 2 and Fig. 3 can arrange simultaneously, feed back early warning information simultaneously.
Although the present invention discloses as above with preferred embodiment, so it is not in order to limit the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on claims person of defining.
Claims (9)
1. a vehicle rear-end collision method for early warning, is characterized in that, comprises the following steps:
Step 1, based on predetermined time interval, by vehicle-mounted harvester, gather vehicle under continuous time series the advance pitch information between data: Ben Che and front truck, the friction factor information of this car velocity information, acceleration information and institute's track in the process of moving, wherein, the vehicle at vehicle-mounted harvester place is described car;
Step 2, a certain sequence time t gathering based on step 1
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i: v1
i=v
i+ (Sq
i-Sq
i-1)/(t
i-t
i-1);
Step 3, based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
Step 4, the shortest braking time t of this car based on abovementioned steps gained
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
Step 5, calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2;
Step 6, the minimum braking distance S of this car calculating based on abovementioned steps
min (i+min (i)), and Ben Che and front truck are at t
i+ t
min (i)interval Sq constantly
(i+min (i)), judge whether to exist the risk that knocks into the back:
If the minimum braking distance S of this car
min (i+min (i))be less than aforementioned interval Sq
(i+min (i)), judge and do not have risk, return to abovementioned steps 1;
If the minimum braking distance S of this car
min (i+min (i))be more than or equal to aforementioned interval Sq
(i+min (i)), judge and have risk, control and send early warning signal.
2. vehicle rear-end collision method for early warning according to claim 1, is characterized in that, in preceding method, when judging at a certain sequence time t
i, between Ben Che and front truck, exist while knocking into the back risk, control and send sound and/or light signal, by being arranged on display screen and/or the loudspeaker in pilothouse, feed back.
3. vehicle rear-end collision method for early warning according to claim 1, is characterized in that, in preceding method, when judging at a certain sequence time t
i, between Ben Che and front truck, exist while knocking into the back risk, also by a network, to long-range transmission early warning signal.
4. a vehicle rear-end collision early warning system, is equipped on this car, it is characterized in that, this early warning system comprises:
Data collector (10), at least comprises device (11) for measuring surface friction coefficient, for measuring the device (12) of this car vehicle wheel rotational speed and for measuring the device (13) of the spacing data of advancing between this car and front truck;
One or more processors (20), for controlling the operation of described vehicle rear-end collision early warning system; And
At least one storer (30), the data and the programmed instruction that for storage, by described one or more processors (20), are used, described one or more processors (30) are configured to carry out the programmed instruction of storing in described storer, for:
Control described data collector with predetermined time interval, gather vehicle under the continuous time series data of advancing;
Data based on gathered, carry out following computation process:
A) based on a certain sequence time t
iwith last sequence time t
i-1spaces of vehicles information Sq
i, Sq
i-1, current sequence time t
itime inscribe the velocity information v of this car
i, calculate current sequence time t
ifront truck travelling speed v1 constantly
i:
v1
i＝v
i+(Sq
i-Sq
i-1)/(t
i-t
i-1)；
B) based on this car at current sequence time t
itime the velocity information v that inscribes
iand the friction factor information u of the current institute of this car track
i, calculate the shortest braking time t of this car
min (i): t
min (i)=v
i/ u
i;
C) based on the shortest braking time t of this car
min (i)and the travelling speed v1 of front truck
i, calculate this car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i)): Sq
(i+min (i))=Sq
i+ v1
i* t
min (i);
D) calculate the minimum braking distance S of this car in locking situation
min (i+min (i)): S
min (i+min (i))=v
i 2/ 2; And
Minimum braking distance S based on result of calculation
min (i+min (i)), Ben Che and front truck be at t
i+ t
min (i)interval Sq constantly
(i+min (i)), the risk judgment that knocks into the back, and at aforementioned minimum braking distance S
min (i+min (i))be more than or equal to aforementioned car and front truck at t
i+ t
min (i)interval Sq constantly
(i+min (i))in time, is controlled and to send early warning signal.
5. vehicle rear-end collision early warning system according to claim 4, is characterized in that, for measuring the device (11) of surface friction coefficient, comprises at least one ground friction factor sensor, is arranged on vehicle bottom.
6. vehicle rear-end collision early warning system according to claim 4, it is characterized in that, described for measuring the device (12) of this car vehicle wheel rotational speed, comprise at least one wheel speed sensors, be arranged in vehicle axles, collection vehicle service data, comprises velocity information, acceleration information in driving process.
7. vehicle rear-end collision early warning system according to claim 4, is characterized in that, describedly for measuring the device (13) of the spacing data of advancing between this car and front truck, comprises at least one laser range finder, is arranged on the front portion of vehicle.
8. vehicle rear-end collision early warning system according to claim 4, is characterized in that, this vehicle rear-end collision early warning system also comprises a loudspeaker (40) and/or light feedback assembly (50), is connected to described one or more processor (20).
9. vehicle rear-end collision early warning system according to claim 4, is characterized in that, this vehicle rear-end collision early warning system also comprises a radio communication device (60), is connected to described one or more processor (20).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410411767.3A CN104200705A (en) | 2014-08-20 | 2014-08-20 | Warning method and system for vehicle tailgating |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410411767.3A CN104200705A (en) | 2014-08-20 | 2014-08-20 | Warning method and system for vehicle tailgating |
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| CN104200705A true CN104200705A (en) | 2014-12-10 |
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| CN201410411767.3A Pending CN104200705A (en) | 2014-08-20 | 2014-08-20 | Warning method and system for vehicle tailgating |
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| CN105575181A (en) * | 2015-12-21 | 2016-05-11 | 南京理工大学 | Monitoring and early warning device and method of preventing city road vehicle rear collision under haze pollution |
| CN105774807A (en) * | 2016-03-04 | 2016-07-20 | 苏黎 | Vehicle speed control method and vehicle |
| CN106530830A (en) * | 2016-12-07 | 2017-03-22 | 深圳市元征科技股份有限公司 | Vehicle braking distance broadcasting method and apparatus |
| WO2017084601A1 (en) * | 2015-11-19 | 2017-05-26 | 深圳前海达闼云端智能科技有限公司 | Control method, device and system for vehicles in internet of vehicles and vehicle |
| CN106781691A (en) * | 2016-11-30 | 2017-05-31 | 北京汽车集团有限公司 | Drive pre-warning system and method |
| CN108922177A (en) * | 2018-06-29 | 2018-11-30 | 东南大学 | Speed control system and method when a kind of automatic driving vehicle passes through intersection |
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| CN108922177A (en) * | 2018-06-29 | 2018-11-30 | 东南大学 | Speed control system and method when a kind of automatic driving vehicle passes through intersection |
| CN108922177B (en) * | 2018-06-29 | 2021-08-10 | 东南大学 | Speed control system and method for unmanned vehicle passing through intersection |
| CN108932872A (en) * | 2018-07-29 | 2018-12-04 | 合肥市智信汽车科技有限公司 | A kind of method of long-range control vehicle early warning |
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