CN104442812B - A kind of automobile lane change aided detection method - Google Patents
A kind of automobile lane change aided detection method Download PDFInfo
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- CN104442812B CN104442812B CN201310487563.3A CN201310487563A CN104442812B CN 104442812 B CN104442812 B CN 104442812B CN 201310487563 A CN201310487563 A CN 201310487563A CN 104442812 B CN104442812 B CN 104442812B
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- 238000001514 detection method Methods 0.000 title claims abstract description 76
- 238000002955 isolation Methods 0.000 claims abstract description 39
- 230000003292 diminished effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 239000000523 sample Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 210000004283 incisor Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
Abstract
The invention discloses a kind of automobile lane change aided detection device and detection method, automobile outer rear-view mirror blind area is divided into forward and backward two parts, the detection device includes processor and the first sensor and second sensor installed in automobile side rear end, and the first sensor is connected with the second sensor with the processor：The first sensor is used to detect the forward part of automobile outer rear-view mirror blind area, and the detection range of the first sensor is that the angle of 34 meters and automobile longitudinal center line is 70 110 degree；The second sensor is used to detect the rear part of automobile outer rear-view mirror blind area, and the detection range of the second sensor is that the angle of 49 meters and automobile longitudinal center line is 20 40 degree.Investigative range covers the whole blind areas of outside rear-view mirror, realizes to passed vehicle, overtakes other vehicles, meeting, the various driving states such as travels, turns round, turning around along isolation strip, greenbelt and accurately recognizing, improving the practicality, security, reliability of system.
Description
Technical field
The present invention relates to a kind of automobile lane change aided detection device and detection method.
Background technology
There is blind area M (as shown in Figure 1) in automobile outer rear-view mirror, when having vehicle in the M of blind area, and driver is often difficult to hair
Feel, then in lane change, easily cause to collide with the vehicle in the M of blind area.If dangerous in bad weathers such as misty rain snowy days
Degree can further increase.
Automobile lane change aided detection device in the market, has plenty of using microwave sounding technology, has plenty of using super
Acoustic sounding, has plenty of using image Detection Techniques：
Detection mode 1：Fig. 2 is refer to, the short distance probe per side after car is detected to the fore-end of blind area, is visited
Ranging is from for 3-4 meters.The subject matter of presence：First, when vehicle is turned on turn signal lamp, incisor path is close close to curb, or incisor path
Isolation strip, greenbelt etc., as shown in figure 3, system alarm, produces erroneous judgement, wrong report phenomenon；2nd, investigative range is limited, only covers blind
The fore-end in area, if the object just like motorcycle size enters blind area rear end part, as shown in figure 4, system will be detected not
Arrive；3rd, it is difficult to differentiate two kinds of driving states of passed vehicle and meeting (without alarm during meeting).
Detection mode 2：The blind area probe detection blind area of both sides after Fig. 5, car is refer to, detection range is 3-4 meters, detection
Scope covers the fore-end of rear view mirror blind zone；The auxiliary probe of Chinese herbaceous peony both sides carries out road, environment detection, and accessory system is carried out
Judge, accuracy, the reliability of strengthening system.The subject matter of presence：First, when vehicle being turned around along isolation strip, greenbelt or
During turn, Chinese herbaceous peony auxiliary probe easily loses target, detects less than isolation strip, greenbelt, and blind area probe is still detected after car
To isolation strip, greenbelt, as shown in Fig. 6, system thinks it is now precarious position, is pointed out, alarmed, and so, is formed
Erroneous judgement, wrong report；2nd, investigative range is limited, and investigative range only covers the fore-end of rear view mirror blind zone, if big just like motorcycle
Small object enter blind area rear end part, system detection less than；3rd, preceding auxiliary probe, rear blind spot probe detect card with when entering
During the longer object such as car or bus, system is mistakenly considered along isolation strip, greenbelt transport condition, and system is not pointed out, do not alarmed, production
Raw failing to report phenomenon.
Detection mode 3：Fig. 7 is refer to, using microwave sounding technology, detection range is very remote, investigative range is except covering
Outside rear-view mirror blind area, has also covered blind area toward a segment distance very long after car, such as 30 meters -100 meters simultaneously.What is existed is main
Problem：When the first, being travelled to incisor path by isolation strip, greenbelt, as shown in figure 8, system also easily produces erroneous judgement, wrong report, malfunction
Prompting, alarm by mistake；If the 2, beginning to work during system low speed, multiple road conditions of being got on the bus on city road, after system is detected often
Square both sides vehicle, frequently makes system be in prompting, alarm condition, this generates excessive interference to driver's normal driving, causes
Make nervous；3rd, detection range is remote, and automobile has a certain degree in traveling, or on bend, even in bend with track shape
Travelled on the larger bend of radius ratio, system easily detects the vehicle at this track rear, or measure and be separated by one with this track
Vehicle on the third lane in individual track, forms and surveys, judges by accident by mistake, reporting by mistake.
Detection mode 4, using image Detection Techniques, by image, image processing, external visor blind area vehicle is detectd
Survey, recognize.The subject matter of presence：First, being changed by light is influenceed, and meets heavy rain, dense fog, big snowy day, and systemic-function is by base
Originally lose；2nd, such as camera is by the fierce direct projection of the sun, and function will lose substantially；3rd, at night, if rear vehicle lamp light loss is bad, and
Street lighting is poor, and camera may also recognize the vehicle less than side at all.
The content of the invention
The invention provides a kind of automobile lane change aided detection device and detection method, which overcome present in background technology
Deficiency.The technical solution adopted for the present invention to solve the technical problems is：
A kind of automobile lane change aided detection device, automobile outer rear-view mirror blind area is divided into forward and backward two parts, and detection device includes
Processor and the first sensor and second sensor installed in automobile side rear end, the first sensor and the second sensor
It is connected with the processor：
The first sensor is used to detect the forward part of automobile outer rear-view mirror blind area, the detection of the first sensor
Distance is 3-4 meters, be 70-110 degree with the angle of automobile longitudinal center line；
The second sensor is used to detect the rear part of automobile outer rear-view mirror blind area, the detection of the second sensor
Distance is 4-9 meters, be 20-40 degree with the angle of automobile longitudinal center line.
Among one preferred embodiment：The first sensor is microwave remote sensor or ultrasonic sensor；The second sensor
It is microwave remote sensor or ultrasonic sensor.
Among one preferred embodiment：Automobile advances and speed >=5KM/H, and the automobile lane change aided detection device starts work
Make.
A kind of automobile lane change aided detection method that utilization automobile lane change aided detection device is realized, automobile outer rear-view mirror is blind
Forward and backward two parts are distinguished into, automobile lane change aided detection device includes processor and passed installed in the first of automobile side rear end
Sensor and second sensor, the first sensor are connected with the second sensor with the processor：
The first sensor is used to detect the forward part of automobile outer rear-view mirror blind area, the detection of the first sensor
Distance is 3-4 meters, be 70-110 degree with the angle of automobile longitudinal center line；
The second sensor is used to detect the rear part of automobile outer rear-view mirror blind area, the detection of the second sensor
Distance is 4-9 meters, be 20-40 degree with the angle of automobile longitudinal center line；
The time length that the A1 first sensors first measure object appearance is T1, and then, the second sensor does not measure thing
Body, the processor makes the judgement overtaken other vehicles；
The time length that the A2 first sensors first measure object appearance is T1, and then, the second sensor also measures object
The time length of appearance is T1, the processor make overtake other vehicles or meeting judgement；
The time length that the B1 first sensors first measure object appearance is T1, then, the first sensor, second sensing
Have a high regard for one or both intersection or while the time length for measuring object appearance is T2, the processor is made along greenbelt, isolation strip row
Sail or turned round along greenbelt, isolation strip the judgement for travelling or turning around to travel along greenbelt, isolation strip.
The time length that the C second sensors first measure object appearance is T1, and the processor makes the judgement of passed vehicle.
Among one preferred embodiment：The processor make passed vehicle or along greenbelt, isolation strip traveling or along greenbelt, every
Pointed out from when turning around the judgement of traveling with turn traveling or along greenbelt, isolation strip to driver.
Among one preferred embodiment：The processor can make weak information level prompting, information level prompting, alarm level prompting three
Plant alarm condition；When the processor is made along greenbelt, isolation strip traveling or is turned round traveling or along greening along greenbelt, isolation strip
Band, isolation strip turn around to carry out weak information level prompting during the judgement travelled；Believed when the processor makes the judgement of passed vehicle
Cease level prompting；When the processor makes the judgement of passed vehicle, and the processor detects automobile turn signal lamp unlatching, carries out
Alarm level is pointed out.
Among one preferred embodiment：Under C mode, the time length that the second sensor first measures object appearance is T1, is connect
, if the first sensor, the second sensor all do not measure object, the processor information level is pointed out to second sensing
Device does not measure object；Intersect if the first sensor, the second sensor are any or both or measure object appearance simultaneously
Time length be T1, processor information level prompt message level prompting to the first sensor, the second sensor is not all measured
Object；If the time length that the first sensor, the second sensor be any or both to intersect or measure object appearance simultaneously is
T2, the processor information level changes into weak information level prompting after pointing out 2-6 seconds.
Among one preferred embodiment：Under weak information level prompting state, if first sensor or second sensor are measured
Range data is in the object continuously diminished, and the weak information level prompting of the processor changes into information level prompting.
Among one preferred embodiment：The weak information level of the processor is no longer pointed out after pointing out 2-6 seconds.
Among one preferred embodiment：0 ＜ T1≤3 second, T2 >=3 second
The technical program is compared with background technology, and it has the following advantages that：
1. automobile lane change aided detection device of the present invention and detection method, by setting the first sensor, the second sensing
Device, makes investigative range cover the whole blind areas of outside rear-view mirror；Pass through the first sensor, the cooperation of second sensor, realization pair
Passed vehicle, overtakes other vehicles, meeting, the various driving states such as travels, turns round, turning around along isolation strip, greenbelt and accurately recognizing, effectively anti-
The phenomenon only judge by accident, report by mistake, failed to report occurs, and improves the practicality, security, reliability of system.
2. it is real with perfect weather environmental suitability because apparatus of the present invention use microwave or ultrasonic listening technology
It is high with property, reliability.
3. when the processor is made along greenbelt, isolation strip traveling or is turned round traveling or along greening along greenbelt, isolation strip
Band, isolation strip turn around to carry out weak information level prompting during the judgement travelled, it is to avoid interference driver.
4. under weak information level prompting state, if first sensor or second sensor measure range data in continuous change
Small object, illustrates that the object for having similar motorcycle size enters blind area, and the weak information level prompting of the processor changes into information level
Prompting, reminds driver to be avoided in time.
5. the weak information level of the processor is no longer pointed out after pointing out 2-6 seconds, it is to avoid interference driver.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 depicts automobile outer rear-view mirror blind area schematic diagram.
Fig. 2 depicts the schematic diagram of detection mode in first in the prior art.
Fig. 3 depicts in the prior art that detection mode travels schematic diagram by road (isolation strip, greenbelt) in first.
When Fig. 4 depicts that detection mode is travelled in first in the prior art, motorcycle enters the schematic diagram of blind area.
Fig. 5 depicts the schematic diagram of detection mode in second in the prior art.
Fig. 6 depicts in the prior art that detection mode travels schematic diagram by road (isolation strip, greenbelt) in second.
Fig. 7 depicts the schematic diagram of detection mode in the 3rd in the prior art.
Fig. 8 depicts in the prior art that detection mode travels schematic diagram by road (isolation strip, greenbelt) in the 3rd.
Fig. 9 depicts a kind of schematic diagram of automobile lane change aided detection device of the invention.
Figure 10 depicts a kind of another schematic diagram of automobile lane change aided detection device of the invention.
Figure 11 depicts automobile lane change aided detection device of the present invention and overtaken other vehicles schematic diagram.
Figure 12 depicts automobile lane change aided detection device meeting schematic diagram of the present invention.
Figure 13 depicts automobile lane change aided detection device of the present invention and travels schematic diagram by road (isolation strip, greenbelt).
Figure 14 depicts automobile lane change aided detection device of the present invention and illustrated along road (isolation strip, greenbelt) turning driving
Figure.
Figure 15 depicts automobile lane change aided detection device of the present invention and turns around to travel signal along road (isolation strip, greenbelt)
Figure.
Figure 16 depicts automobile lane change aided detection device passed vehicle schematic diagram of the present invention.
Figure 17 depicts automobile lane change aided detection device of the present invention has motorcycle to enter along road (isolation strip, greenbelt) traveling
Enter schematic diagram.
Embodiment
Fig. 9 and Figure 10 are refer to, automobile outer rear-view mirror blind area is divided into forward part M1 and rear part M2.
The present invention a kind of automobile lane change aided detection device, including a processor (not shown), installed in automobile side
A first sensor 10 and a second sensor 20 for rear end, the first sensor 10 and the second sensor 20 and the processor
Connection.
The processor is used to receive the first sensor 10 and the detection data of the second sensor 20, judges current
Driving states, and driver is pointed out.The processor can make weak information level prompting, information level is pointed out, alarm level is carried
Show three kinds of alarm conditions.Certainly, prompting rank, method, the species of the processor are not restricted by.Such as, in alert levels, root
It can also be pointed out according to the processor is needed without the prompting of weak information level or alarm level；Prompting, time of fire alarming length can also bases
Need to be adjusted.
The first sensor 10 is used to detect the forward part M1 of blind area.The first sensor 10 is microwave remote sensor
Or ultrasonic sensor.The detection range L1 of the first sensor 10 is 3-4 meters, detection angle β 1 is 60-140 degree and automobile
The angle γ 1 of longitudinal centre line is 70-110 degree.
The second sensor 20 is used to detect the rear part M2 of blind area.The second sensor 20 is microwave remote sensor
Or ultrasonic sensor.The detection range L2 of the second sensor 20 is 4-9 meters, detection angle β 2 is 20-60 degree, indulged with automobile
It is 20-40 degree to the angle γ 2 of center line.
The automobile lane change aided detection device advances in automobile and speed >=5KM/H starts working.It is of course also possible to root
According to the demand of client, a vehicle velocity V 1 is pre-defined, as long as speed >=V1 that automobile advances, the automobile lane change aided detection device
Work is begun to, and V1 size can be set according to different clients between 5KM/H to 30KM/H.
When the automobile lane change aided detection device works, two time ranges T1 and T2,0 ＜ T1≤3 second, T2 are first set
>=3 seconds.Certainly, the size of the T1 and T2 can be adjusted as needed.
During driving：
A1 patterns：The time length that the first sensor 10 first measures object appearance is T1, and then, the second sensor 20 does not have
Object is measured, as shown in figure 11, illustrates that this car is wanted to surmount other vehicles, and overtaking process is not completed, should
Processor makes the judgement overtaken other vehicles.Driver can observe directly other vehicles during due to overtaking other vehicles, therefore, and the processor can be with
Prompting is not made.
A2 patterns：The time length that the first sensor 10 first measures object appearance is T1, then, the second sensor 20
The time length for measuring object appearance is T1, illustrates that this car is wanted to surmount other vehicles, and overtaking process is completed；Or such as Figure 12
It is shown, illustrate that this car is met with other vehicles, the processor make overtake other vehicles or meeting judgement.Due to overtaking other vehicles, meeting when drive
Member can observe directly other vehicles, and therefore, the processor can not make prompting.
B1 patterns：The time length that the first sensor 10 first measures object appearance is T1, then, the first sensor 10,
Any or both the time length intersected or measure object appearance simultaneously of the second sensor 20 is T2, illustrate that front occurs continuously
Longer object, the processor is made along greenbelt, isolation strip traveling (as shown in figure 13) or gone along greenbelt, isolation strip turn
Sail (as shown in figure 14) or turn around to travel the judgement of (as shown in figure 15) along greenbelt, isolation strip.Now, the processor is only needed to
Prompting human pilot notes roadside width, therefore, and the processor only needs to make weak information level prompting, it is of course also possible to
Do not point out.
C mode：The time length that the second sensor 20 first measures object appearance is T1, illustrates have vehicle to want to surmount this
Car, as shown in figure 16, the processor make the judgement of passed vehicle immediately.Now dangerous higher, the processor makes letter immediately
Level prompting is ceased, shows that rear car is wanted to overtake other vehicles.If now the processor detects automobile turn signal lamp unlatching, the processor will
Information level prompting changes into alarm level prompting, points out human pilot should not changing Lane.Ground can be solved, if the processor is not to turning
Signal acquisition is carried out to signal lamp either to have little time to make respective reaction, then the processor only carries out information level prompting, does not enter
Row alarm level is pointed out, and can also realize the purpose of warning.
Once the time length that the second sensor 20 first measures object appearance is T1, C mode is advanced to, and then：Such as
Really the first sensor 10, the second sensor 20 all do not measure object, illustrate that rear vehicle is abandoned overtaking other vehicles, the processor information
Level prompting to the second sensor 20 does not measure object；If the first sensor 10, the second sensor 20 are any or two
The time length that object appearance is intersected or measured simultaneously to person is T1, illustrates that other rear vehicles complete to overtake other vehicles, the processor information level is carried
Show to the first sensor 10, the second sensor 20 and all do not measure object；If the first sensor 10, the second sensor
20 any or both time length intersected or measure object appearance simultaneously are T2, illustrate that rear car exceedes at relatively slow speeds,
Or no completion is not overtaken other vehicles, rest in the range of this car blind area, the processor information level changes into weak information level after pointing out 2-6 seconds and carried
Show.
Figure 17 is refer to, if the processor judges that this car travels along greenbelt, isolation strip, and is made that weak information level
Prompting, and now, there is motorcycle to want to surmount this car, under weak information level prompting state, if first sensor 10 or second is passed
It is in the object continuously diminished that sensor 20, which measures range data, and the weak information level prompting of the processor changes into information level prompting.
Can be as needed, set the processor and no longer pointed out after weak information level is pointed out 2-6 seconds, it is to avoid interference is driven
Sail personnel.
It is described above, only present pre-ferred embodiments, therefore the scope that the present invention is implemented can not be limited according to this, i.e., according to
The equivalent changes and modifications that the scope of the claims of the present invention and description are made, all should still belong in the range of the present invention covers.Together
When, lane change aided detection device and detection method of the present invention are equally applicable other motor vehicles such as motorcycle.
Claims (7)
1. a kind of automobile lane change aided detection method that utilization automobile lane change aided detection device is realized, automobile outer rear-view mirror blind area
It is divided into forward and backward two parts,
Automobile lane change aided detection device includes processor and first sensor and the second sensing installed in automobile side rear end
Device, the first sensor is connected with the second sensor with the processor, and the first sensor is ultrasonic sensor, and this second
Sensor is ultrasonic sensor：
The first sensor is used to detect the forward part of automobile outer rear-view mirror blind area, the detection range of the first sensor
It is 70-110 degree for 3-4 meters, with the angle of automobile longitudinal center line；
The second sensor is used to detect the rear part of automobile outer rear-view mirror blind area, the detection range of the second sensor
It is 20-40 degree for 4-9 meters, with the angle of automobile longitudinal center line；
Characterized in that, automobile lane change aided detection method includes pattern：
The time length that the A1 first sensors first measure object appearance is T1, and then, the second sensor does not measure object, should
Processor makes the judgement overtaken other vehicles；
The time length that the A2 first sensors first measure object appearance is T1, then, and the second sensor also measures object appearance
Time length be T1, the processor make overtake other vehicles or meeting judgement；
The time length that the B1 first sensors first measure object appearance is T1, then, and the first sensor, the second sensor are appointed
One or both intersect or measure simultaneously object appearance time length be T2, the processor make along greenbelt, isolation strip traveling or
The judgement for the traveling that turned around along greenbelt, isolation strip turn traveling or along greenbelt, isolation strip；
The time length that the C second sensors first measure object appearance is T1, and the processor makes the judgement of passed vehicle.
2. automobile lane change aided detection method according to claim 1, it is characterised in that：The processor make passed vehicle or
Along greenbelt, isolation strip traveling or along greenbelt, isolation strip turn round traveling or along greenbelt, isolation strip turn around traveling judgement when
Pointed out to driver.
3. automobile lane change aided detection method according to claim 2, it is characterised in that：The processor can make weak letter
Cease level prompting, information level prompting, alarm level three kinds of alarm conditions of prompting；When the processor is made along greenbelt, isolation strip traveling
Or carry out weak information level prompting along greenbelt, isolation strip turn traveling or when turning around the judgement of traveling along greenbelt, isolation strip；When
The processor carries out information level prompting when making the judgement of passed vehicle；When the processor makes the judgement of passed vehicle, and at this
Reason device detects automobile turn signal lamp unlatching, carries out alarm level prompting.
4. automobile lane change aided detection method according to claim 3, it is characterised in that：Under C mode, second sensing
The time length that device first measures object appearance is T1, then, if the first sensor, the second sensor all do not measure thing
Body, the processor information level is pointed out to the second sensor not measure object；If the first sensor, the second sensor
Any or both time length intersected or measure object appearance simultaneously is T1, and processor information level prompt message level prompting is extremely somebody's turn to do
First sensor, the second sensor all do not measure object；Handed over if the first sensor, the second sensor are any or both
The time length pitched or measure object appearance simultaneously is T2, and the processor information level changes into weak information level prompting after pointing out 2-6 seconds.
5. automobile lane change aided detection method according to claim 3, it is characterised in that：State is pointed out in weak information level
Under, if it is in the object continuously diminished that first sensor or second sensor, which measure range data, the weak information level of the processor is carried
Show and change into information level prompting.
6. the automobile lane change aided detection method according to claim 3 or 4 or 5, it is characterised in that：The weak information of the processor
Level prompting is no longer pointed out after 2-6 seconds.
7. the automobile lane change aided detection method according to claim 1 or 2 or 3 or 4 or 5, it is characterised in that：0 ＜ T1≤
3 seconds, T2 >=3 second.
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| CN106353757B (en) * | 2016-08-30 | 2019-10-18 | 陈武强 | The vehicle blind zone detection system and method for microwave radar and ultrasonic sensor are set |
| CN106314327A (en) * | 2016-08-30 | 2017-01-11 | 陈武强 | Detection device and detection method of car ultrasonic blind area for preventing ground measuring error and misinformation |
| DE102018204937B4 (en) * | 2017-03-31 | 2024-02-01 | Hl Klemove Corp. | Device and method for integrated control of driver support systems |
| CN107323350B (en) * | 2017-06-22 | 2023-07-28 | 上海申视汽车新技术有限公司 | Automatic tracking external rearview mirror for adjusting field of vision of driver of passenger and freight car |
| US10549762B2 (en) * | 2017-07-31 | 2020-02-04 | GM Global Technology Operations LLC | Distinguish between vehicle turn and lane change |
| CN108859952B (en) * | 2018-05-22 | 2020-10-23 | 森思泰克河北科技有限公司 | Vehicle lane change early warning method and device and radar |
| CN109615855A (en) * | 2018-12-10 | 2019-04-12 | 北京新能源汽车股份有限公司 | A kind of recognition methods, storage medium and car-mounted terminal changing driving behavior |
| CN109878446B (en) * | 2019-01-22 | 2021-04-06 | 南京工程学院 | Overtaking auxiliary early warning system based on multiple radars and control method |
| CN110509842B (en) * | 2019-08-15 | 2023-03-24 | 重庆长安汽车股份有限公司 | Vehicle low-speed section blind area detection and lane change auxiliary method and system |
| CN111098809A (en) * | 2019-12-31 | 2020-05-05 | 长城汽车股份有限公司 | Dormancy control method and device and vehicle |
| CN114506324B (en) * | 2020-10-23 | 2024-03-15 | 上海汽车集团股份有限公司 | Lane decision method and related device |
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| WO2005103757A1 (en) * | 2004-04-22 | 2005-11-03 | Siemens Aktiengesellschaft | Blindspot sensor system |
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