CN104960466B - A kind of automobile turning safety assisting system - Google Patents
A kind of automobile turning safety assisting system Download PDFInfo
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- CN104960466B CN104960466B CN201510432611.8A CN201510432611A CN104960466B CN 104960466 B CN104960466 B CN 104960466B CN 201510432611 A CN201510432611 A CN 201510432611A CN 104960466 B CN104960466 B CN 104960466B
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Abstract
The present invention relates to a kind of automobile turning safety assisting system, including vehicle-mounted computer control module and coupled angle sensor module, longitudinal ranging sensing module, speed sensing module, automobile power module, automobile brake module and acousto-optic warning module；Vehicle-mounted computer control module after automobile itself turn condition and its surrounding condition information is obtained in real time, by calculate prediction vehicle running route and periphery minimum distance pedestrian or object information, judge automobile whether the possibility and degree of danger that will be collided with pedestrian or other objects；If it was found that there is risk of collision, take automatically interrupt the safety measure such as automobile power and urgent band-type brake immediately, and the alarm signals such as acousto-optic are sent to driver and pedestrian, it is ensured that personnel, automobile and perimeter security.The system can both be arranged on internal combustion engine as that on the various automobiles of power, can also be applied to various electric automobiles and various engineering mechanically, application prospect is extensive, and real-time is good, it is easy to accomplish, installation cost is low, easily promotes.
Description
Technical field
The present invention relates to field of automobile safety, particularly a kind of automobile turning safety assisting system.
Background technology
Automobile has become the important walking-replacing tool of people's trip, and is all increasing every year.But its security into
The problem of must not being not concerned with and consider for us, particularly in automobile turning, the presence of interior foreign steamer difference so that script and automobile
There are people or the thing of a segment distance, may be scraped or even be rolled by automobile postmedian, especially the full-sized car of long wheelbase, it is such as public
Car etc. is handed over, when they turn, side displacement is bigger, more dangerous inward for trailing wheel.
Daily peak period on and off duty, because flow of the people, various vehicle flowrates are extremely big, everybody catches up with or gone up on time in the class
Learn or earlier go home, often these when, wait the crowd to be gone across the road at crossing etc., bicycle race, electric bicycle etc., often
Chang Wei to red light be changed into green light when, start to be moved along with regard to someone, be entirely ignorant of or ignore preparation turn especially turn right
Curved vehicle hazard is very big.Now, wait until once to pass through the automobile of green light with great difficulty, also forwardly hurries on a journey forward.If
Driver attention is not enough concentrated or other what reasons, and when causing its erroneous judgement and continuing to turn with fast speed, possibility is very big
Generation vehicle touches people, thrustes into, even rolls the pernicious traffic accident such as pedestrian.
At present, not yet find that automobile is equipped with turning security accessory system.The automobile turning safety assisting system of the present invention, just
It is to improve, solve a kind of automobile safety system of automobile turning potential safety hazard and especial manufacture.The system passes through in automobile
Upper installation vehicle-mounted computer, angular transducer, distance measuring sensor and vehicle speed sensor etc., are obtaining automobile itself turn condition in real time
After the information such as its surrounding condition, the information such as vehicle running route and periphery minimum distance is predicted by calculating, it is vehicle-mounted by its
Control computer, judge at any time automobile whether the possibility and degree of danger that will be collided with passerby or other objects.If it was found that have
Risk of collision, take automatically interrupt the safety measures such as automobile power, urgent band-type brake immediately, while acousto-optic is sent to driver and passerby
Deng alarm signal, it is ensured that personnel, automobile and perimeter security.
The content of the invention
In view of this, it is an object of the invention to provide a kind of automobile turning safety assisting system, when vehicle is being turned, it is
System finds automobile when high-risk collision status may occur with passerby or thing, take automatically in real time immediately disconnect automobile power with it is tight
Severe brake action, and the alarm signals such as acousto-optic are sent automatically to driver and passerby simultaneously, it is ensured that personnel, automobile and perimeter security,
It is also possible to apply the invention to the various walking engineering machinery such as loading machine, excavator, road roller, bull-dozer, crane, fork truck.
The present invention is realized using following scheme：A kind of automobile turning safety assisting system, including vehicle-mounted computer control mould
Block and coupled angle sensor module, longitudinal ranging sensing module, a speed sensing module, an automobile power module,
One automobile brake module and an acousto-optic warning module；The angle sensor module is included to measure automotive steering angle size
A plurality of angular transducers and coupled capture card；Longitudinal ranging sensing module includes a plurality of distance measuring sensors
And coupled capture card；The speed sensing module is included to measure a plurality of speeds of car speed size sensing
Device and coupled capture card；The distance measuring sensor, angular transducer and vehicle speed sensor are adopted with coupled
The input of truck is connected, to by the signal collected input to the capture card carry out A/D conversions, the capture card it is defeated
Go out end with the vehicle-mounted computer control module to be connected, the signal after A/D is changed is inputted to the vehicle-mounted computer control module；
The vehicle-mounted computer control module judges that automobile whether can according to the range information, angle information and speed information of real-time reception
Send and collide with the passerby nearest apart from vehicle body and object, if then controlling the automobile power module real with automobile brake module
Existing car deceleration and brake hard, and control the acousto-optic warning module to send alarm.
Further, the angle sensor is measuring vehicle steering（Steering column for vehicles）Or the rotation of automobile steering roller
Angle, detected and obtain automotive steering angle size；The angular transducer system is also measuring longitudinal ranging
The corner size of distance measuring sensor in sensing module.
Further, at least each distance measuring sensor in longitudinal ranging sensing module is together with coupled one
Motor can be arranged on the left and right rearview mirror handle or the other protrusions of headstock of automobile head jointly, may also be disposed on car tail
On the protrusion of portion both sides；The motor（Or other power set）Coupled distance measuring sensor is driven to surround it certainly
The vertical axis horizontal hunting of body, to the closest pedestrian of detecting distance vehicle body or so and object, obtain vehicle body and the row
People and object apart from size.To ensure that longitudinal ranging is reliably carried out, the sensor of turning side will be by this according to turning degree
System computer control drives its power set to drive it to turn over a corresponding angle（Make the sensor towards pedestrian or object）, and
According to the fore-and-aft distance size of the angular dimension and the sensor and object, calculate the pedestrian nearest from vehicle body, object with
The lateral separation of body of a motor car.
Further, in addition to a horizontal ranging sensing module being connected with the vehicle-mounted computer control module, the horizontal stroke
Include a plurality of distance measuring sensors and coupled capture card to ranging sensing module, the distance measuring sensor is arranged at vapour
Both sides on car car, to the nearest pedestrian of detecting distance vehicle body lateral separation and object, obtain vehicle body and the pedestrian and object
Lateral separation size.The horizontal ranging sensing module belongs to the supplementary module for improving detection reliability, if being not provided with the horizontal stroke
The working condition of the system is not interfered with to ranging sensing module yet.
Further, the distance measuring sensor includes range radar sensor, laser range sensor, infrared distance measuring biography
Sensor, ultrasonic distance-measuring sensor and vision sensor.
Further, the vehicle speed sensor is by detecting automobile engine（Motor）Output shaft or speed changer
Any axle or automobile driving axle（Driving wheel）Or the rotating speed of automotive driven wheel, obtain car speed size.
Further, the automobile power module realizes vapour by changing the driving force size of automobile and interrupting driving force
Car slows down and brake hard, the driving force both can be the other forms power such as internal combustion engine or motor, the vapour
Car slows down specifically includes following methods realization with brake hard：Adjust engine air throttle angular dimension or regulation distributive value（Spray
Tolerance）Size or regulation time of ignition or interrupt igniting or regulation motor driving current size or adjustment transmission gear ratio,
Or allow clutch to depart from working condition immediately or allow automobile to be in neutral position state.The automobile brake module is by changing automobile
Brake force size and retro-speed realize car deceleration and brake hard, the brake power includes pressure oil, calm the anger or
Electric power.
Further, the acoustic-optic alarm includes LED and loudspeaker, when an alert occurs, the LED flicker
Drivers and pedestrians are reminded, the loudspeaker sends alarm and reminding drivers and pedestrians.
Further, in addition to the vehicle-mounted computer control module display screen that is connected, a memory module and one
Wireless network（Or cell phone）Send and receiving module, the display screen are arranged in automobile instrument panel, it is described to show
The deterministic process of vehicle-mounted computer control module and judged result and goers outside vehicle and subject image；The memory module is hard
Disk, to store the deterministic process and judged result of the vehicle-mounted computer control module；The wireless network is sent with receiving mould
Block is realizing when turning traffic accident occurs（During such as automobile dynamic system or brakes regulation failure）From trend car owner
Narration information is sent with vehicle supervision department.
Particularly, the vehicle-mounted computer control module in the automobile turning safety assisting system includes hardware components and intelligence
Control program, when running car, the automobile that real-time reception angular transducer, distance measuring sensor, speed sensing mold transmit turns
Curved, pedestrian or object and headstock or the tailstock and vehicle body distance and corresponding speed information, automatic decision row is analyzed by calculating
Whether people or object can be with the possibility sizes of car collision.When the turning security accessory system judges to find that the automobile is adopted
With original speed along expected turning path walk when, it is possible to scratching passerby or during object, slow down at once and pass through dress
Multiple warning signal is transmitted to driver and pedestrian by outer acousto-optic device in real time in the car；When the safety assisting system judge find,
The automobile using original speed along expected turning path walk when, be bound to collide or roll passerby or object
When, automobile power and emergency brake are interrupted at once, it is ensured that automobile and pedestrains safety, while pass through the acousto-optic device outside in-car
Multiple warning signal is transmitted to driver and pedestrian in real time.
Wherein, the automobile turning safety assisting system is mainly according to automobile turning degree and speed size, the vehicle mounted electric
Advance rule and control software in brain, automatic driving are located at headstock（Or tailstock portion）The fore-and-aft distance sensor motor of both sides or
Other power set make the sensor turn over certain angle around its vertical axis, itself and the pedestrian obtained using longitudinal distance measuring sensor
Or the distance signal of object and its corner size, automatic calculate judge that pedestrian or object can no and car collision or possibilities
Size；Meanwhile be arranged at the acquisition of the distance measuring sensor in the horizontal ranging sensing module of Automobile side with pedestrian or object with
Automobile side angle distance is used as side information（It is optional）, it is ensured that signal is more accurately and reliably.
Compared with prior art, the present invention has advantages below：
1）The turning security accessory system, automobile turning, passerby's range information of system acquisition etc. can be utilized, is sentenced in advance
Whether car of cutting steam can collide and its possibility size.
2）The vehicle-mounted computer control system of the turning security accessory system, the dangerous situation that can collide can judged
Under, real-time intelligent intervenes automobile power and brakes, automobile power is interrupted simultaneously emergency brake at once, or reduction power makes vapour
Car deceleration etc., reaches the generation to avoid traffic accident automatically.
Brief description of the drawings
Fig. 1 is the system schematic block diagram of the present invention.
Fig. 2 is schematic view of the mounting position of the system on automobile in the present invention.
Fig. 3 is to pass through motor turning Predicting Performance Characteristics travel route figure in the embodiment of the present invention.
Label declaration：1 is that longitudinal ranging senses distance measuring sensor in sensing module, 2 is horizontal ranging sensing sensing mould
Distance measuring sensor in block, 3 are the system vehicle-mounted computer control module, display screen and its in-car remind the installation of acousto-optic warning module
Place, 4 be car lateral surface pedestrian prompting acousto-optic warning module, 5 be automobile power module and automobile brake module.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described.
The present embodiment provides a kind of automobile turning safety assisting system, as depicted in figs. 1 and 2, including a vehicle-mounted computer control
Molding block 3 and coupled angle sensor module, longitudinal ranging sensing module, a speed sensing module, an automobile power
Module, an automobile brake module and an acousto-optic warning module；The angle sensor module is included to measure automobile steering angle
The a plurality of angular transducers and coupled capture card of degree and fore-and-aft distance sensor corner size；Longitudinal ranging passes
Sense module includes a plurality of distance measuring sensors and coupled capture card；The speed sensing module is included to measure vapour
A plurality of vehicle speed sensor of vehicle speed size and coupled capture card；The distance measuring sensor, angular transducer and
Vehicle speed sensor is connected with the input of coupled capture card, the signal collected is inputted to the capture card
A/D conversions are carried out, the output end of the capture card is connected with the vehicle-mounted computer control module, by the signal after A/D is changed
Input to the vehicle-mounted computer control module；Range information, angle letter of the vehicle-mounted computer control module according to real-time reception
Breath and speed information judge whether automobile can send with the passerby nearest apart from vehicle body and object and collided, if then described in control
Automobile power module realizes car deceleration and brake hard with automobile brake module, and controls the acousto-optic warning module to send police
Report；
In the present embodiment, the angular transducer is used to detect vehicle steering, steering column for vehicles or automobile steering roller
Corner, realize and detect and obtain automotive steering angle size；The angular transducer system is also measuring longitudinal ranging
The corner size of distance measuring sensor in sensing module.
In the present embodiment, at least each a distance measuring sensor 1 and its power dress in longitudinal ranging sensing module
Put and be installed on vehicle right and left rearview mirror handle（Or the protrusion of headstock both sides）On the upper or protrusion of car two sides of tail, to examine
The ranging passerby nearest from vehicle body or object obtain vehicle body and institute with a distance from it, and combining the sensor rotation angle obtained
State passerby and object apart from size；Distance measuring sensor setting in the horizontal ranging sensing module and both sides on Automobile,
To the nearest passerby of detecting distance vehicle body lateral separation and object, supplement obtains vehicle body and the distance of the passerby and object are big
It is small.Preferably, distance measuring sensor in longitudinal ranging sensing module, can with automobile turning degree and travel speed correspondingly around
Vertical axis turns over an angle, and will detect, the distance that obtains with the closest pedestrian of automobile or object and the sensor it is big
It is small.
In the present embodiment, in addition to a horizontal ranging sensing module being connected with the vehicle-mounted computer control module, institute
Stating horizontal ranging sensing module includes a plurality of distance measuring sensors and coupled capture card, and the distance measuring sensor 2 is set
Both sides on Automobile are placed in, to the nearest pedestrian of detecting distance vehicle body lateral separation and object, obtain vehicle body and the pedestrian
With the lateral separation size of object.The horizontal ranging sensing module belongs to the supplementary module for improving detection reliability, if being not provided with
The horizontal ranging sensing module does not interfere with the working condition of the system yet.
In the present embodiment, the distance measuring sensor includes range radar sensor, laser range sensor, infrared ray survey
Away from sensor, ultrasonic distance-measuring sensor and vision sensor.
In the present embodiment, the vehicle speed sensor is used to detect automobile engine（Motor）, speed changer it is a certain
Axle, drive shaft（Driving wheel）Or automotive driven wheel speed, obtain car speed size.
In the present embodiment, the automobile power module 5 is by changing the driving force size of automobile and interrupting driving force
Car deceleration is realized, the driving force both can be the other forms power such as internal combustion engine or motor, described to realize vapour
Car slows down or interruption power is specially to adjust engine air throttle angular dimension or regulation distributive value（Jet amount）Size is adjusted
Section time of ignition interrupts igniting or regulation motor driving current size or adjustment transmission gear ratio or allows clutch immediately
Depart from working condition or allow automobile to be in neutral position state；The automobile brake module 5 by change the brake force size of automobile with
And retro-speed realizes car deceleration and brake hard, the brake power includes pressure oil, calms the anger or electric power.
In the present embodiment, the acoustic-optic alarm 4 includes LED and loudspeaker, when an alert occurs, the LED
Drivers and pedestrians are reminded in lamp flicker, and the loudspeaker sends alarm and reminding drivers and pedestrians.
In the present embodiment, in addition to a display screen being connected with the vehicle-mounted computer control module, the display screen are set
It is placed in automobile instrument panel, to show the deterministic process and judged result of the vehicle-mounted computer control module.
In the present embodiment, in addition to a memory module being connected with the vehicle-mounted computer control module, the storage mould
Block is hard disk, to store the deterministic process and judged result of the vehicle-mounted computer control module, be easy to driver's use with the future
Management.
In the present embodiment, in addition to vehicle-mounted computer control module the wireless network being connected（Or cell phone）Transmission
With receiving module, during for turning traffic accident to occur（During such as automobile dynamic system or brakes regulation failure）, from trend
Car owner, vehicle supervision department（Traffic police）Deng transmission relevant information, signal etc..
In the present embodiment, the vehicle-mounted computer control module in the automobile turning safety assisting system includes hardware components
With intelligent control program, when running car, real-time reception angular transducer, distance measuring sensor, speed sensing mold transmit
The distance of the distance measuring sensor set on automobile turning, pedestrian or object and headstock or the tailstock, distance measuring sensor corner size, OK
The distance of the distance measuring sensor of people or object with being arranged at automobile both sides（It is optional）And corresponding speed information, by calculating
Analyze automatic decision pedestrian or whether object can be with the possibility size of car collision.When the turning security accessory system is sentenced
It is disconnected find the automobile using original speed along expected turning path walk when, it is possible to scratching passerby or during object, horse
It is upper to slow down and multiple warning signal is transmitted to by driver and pedestrian by the acousto-optic device outside in-car in real time；When this is aided in safely
System judge find, the automobile using original speed along expected turning path walk when, be bound to collide or grind
When pressing passerby or object, automobile power and emergency brake are interrupted at once, it is ensured that automobile and pedestrains safety, while by mounted in in-car
Multiple warning signal is transmitted to driver and pedestrian by outer acousto-optic device in real time.
Preferably, the automobile turning safety assisting system is mainly according to the vehicle-mounted computer control module according to advance rule
With automobile turning degree size and speed size, automatic driving is located at headstock（Or tailstock portion）Longitudinal distance measuring sensor electricity of both sides
Machine or other power set make the sensor turn over certain angle around its vertical axis, obtained by longitudinal distance measuring sensor with row
The distance signal of people or object and its corner size, and judge pedestrian by corner size and being calculated automatically apart from size of measuring
Or object can no and car collision or possibility size；Now, it is arranged in the horizontal ranging sensing module of Automobile side
Distance measuring sensor obtain be used as side information with pedestrian or object and automobile side angle distance, it is ensured that signal accurately and reliably, is
System control is errorless.
In the present embodiment, when being illustrated in figure 3 known automobile steering angle size, the interior of automobile turning process front and back wheel is calculated
The schematic diagram of difference is taken turns, when known to the wheelbase L, wheelspan B and automobile steering angle δ of automobile, relevant parameter calculation formula is as follows：Turn
To radius：R=L/δ；The turning radius of front-wheel lubrication groove：R1=(R-B/2)/cosα；
The turning radius of trailing wheel lubrication groove：R2=R-B/2；Trailing wheel moves inward distance when turning：△R=R1-R2；Predicted with this
The driving trace of different corner automobiles, and combined with the motor vehicle environment things of detection, calculated by vehicle-mounted computer control module pre-
Survey automobile whether the possibility and degree of danger that will be collided with passerby or other objects.
When the vehicle-mounted computer control module calculates and judges to obtain data above, the display screen display automobile periphery
Environment and display automobile turning path, driver can intuitively find out automobile turning track and the week detected on a display screen
Enclose pedestrian or object whether there is crosspoint, if there is crosspoint to illustrate there is the possibility to collide, the vehicle-mounted computer control module
Control sound and light alarm module is flashed by LED and reminds drivers and pedestrians, alarm and reminding drivers and pedestrians are gone out by loudspeaker；
If the vehicle-mounted computer control module not only controls alarm set when automobile and the too near distance of pedestrian or object, but also directly
Intervention driver operation is connect, timely automated take of control dynamical system disconnects power and emergency brake, it is ensured that the peace of personnel and vehicle
Entirely.
The foregoing is only presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, it should all belong to the covering scope of the present invention.The present invention also may be directly applied to loading machine, excavator, road roller, bull-dozer,
The various walking engineering machinery such as crane, fork truck, these applications also belong to the covering scope of the present invention.
Claims (8)
- A kind of 1. automobile turning safety assisting system, it is characterised in that：Including a vehicle-mounted computer control module and coupled Angle sensor module, longitudinal ranging sensing module, a speed sensing module, an automobile power module, an automobile brake module An and acousto-optic warning module；The angle sensor module includes passing to measure a plurality of angles of automotive steering angle size Sensor and coupled capture card；Longitudinal ranging sensing module includes a plurality of distance measuring sensors and coupled Capture card；The speed sensing module is included to measure a plurality of vehicle speed sensor of car speed size and coupled Capture card；The distance measuring sensor, angular transducer and vehicle speed sensor and the input phase of coupled capture card Even, to by the signal collected input to the capture card carry out A/D conversions, the output end of the capture card with it is described vehicle-mounted Computer control module is connected, and the signal after A/D is changed is inputted to the vehicle-mounted computer control module；The vehicle-mounted computer control Molding root tuber according to the range information, angle information and speed information of real-time reception judge automobile whether can with it is nearest apart from vehicle body Passerby and object send and collide, if then control the automobile power module and automobile brake module realize car deceleration with it is tight Anxious braking, and control the acousto-optic warning module to send warning；At least each distance measuring sensor in longitudinal ranging sensing module is common together with a coupled motor It is arranged on the left and right rearview mirror handle of automobile head and the protrusion of automobile tail both sides, the motor drives and its phase Distance measuring sensor even surround the vertical axis horizontal hunting of its own, to the closest pedestrian of detecting distance vehicle body or so and Object, obtain vehicle body and the pedestrian and object apart from size；Also include a horizontal ranging sensing module being connected with the vehicle-mounted computer control module, the horizontal ranging sensing module Including a plurality of distance measuring sensors and coupled capture card, the distance measuring sensor is arranged at both sides on Automobile, uses With the nearest pedestrian of detecting distance vehicle body lateral separation and object, obtain vehicle body and the lateral separation of the pedestrian and object are big It is small.
- 2. according to a kind of automobile turning safety assisting system described in claim 1, it is characterised in that：The angle sensor is surveying The rotational angle of vehicle steering or automobile steering roller is measured, is detected and obtains automotive steering angle size；The angle passes Sensor system is also measuring the corner size of distance measuring sensor in longitudinal ranging sensing module.
- A kind of 3. automobile turning safety assisting system according to claim 1, it is characterised in that：The distance measuring sensor bag Include range radar sensor, laser range sensor, infrared distance measuring sensor, ultrasonic distance-measuring sensor and visual sensing Device.
- A kind of 4. automobile turning safety assisting system according to claim 1, it is characterised in that：The vehicle speed sensor is led to The rotating speed of detection automobile engine, a certain axle of speed changer, drive shaft or automotive driven wheel is crossed, obtains car speed size.
- A kind of 5. automobile turning safety assisting system according to claim 1, it is characterised in that：The automobile power module Car deceleration and brake hard are realized by changing the driving force size of automobile and interrupting driving force, specifically includes following methods Realize：Regulation engine air throttle angular dimension, regulation distributive value size, regulation time of ignition, interruption igniting, regulation motor drive Streaming current size, adjustment transmission gear ratio, clutch is departed from into working condition immediately or automobile is in neutral position state.
- A kind of 6. automobile turning safety assisting system according to claim 1, it is characterised in that：The automobile brake module Car deceleration and brake hard are realized by the brake force size and retro-speed that change automobile, the brake power includes pressure Power oil, calm the anger or electric power.
- A kind of 7. automobile turning safety assisting system according to claim 1, it is characterised in that：The sound and light alarm module Including LED and loudspeaker, when the sound and light alarm module sends warning, drivers and pedestrians, institute are reminded in the LED flicker State loudspeaker and send alarm and reminding drivers and pedestrians.
- A kind of 8. automobile turning safety assisting system according to claim 1, it is characterised in that：Also include with it is described vehicle-mounted The connected display screen of computer control module, a memory module and wireless network transmission and receiving module, the display screen It is arranged in automobile instrument panel, to show the deterministic process of the vehicle-mounted computer control module and judged result and car layman People and subject image；The memory module is hard disk, to store the deterministic process of the vehicle-mounted computer control module and judgement As a result；The wireless network is sent with receiving module realizing when turning traffic accident occurs from trend car owner and traffic pipe Reason department sends narration information.
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| CN201510432611.8A CN104960466B (en) | 2015-07-22 | 2015-07-22 | A kind of automobile turning safety assisting system |
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| CN201510432611.8A CN104960466B (en) | 2015-07-22 | 2015-07-22 | A kind of automobile turning safety assisting system |
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| CN104960466B true CN104960466B (en) | 2017-11-17 |
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| DE102015226232A1 (en) * | 2015-12-21 | 2017-06-22 | Bayerische Motoren Werke Aktiengesellschaft | A method for collision avoidance of a motor vehicle with an emergency vehicle and a related system and motor vehicle |
| CN105966317B (en) * | 2016-05-12 | 2018-03-23 | 北京汽车股份有限公司 | Rearview mirror adjustment control method, Model Predictive Control processor and its equipment |
| CN106218613A (en) * | 2016-07-30 | 2016-12-14 | 江苏理工学院 | Oversize vehicle turns to active safety system |
| CN106287434A (en) * | 2016-09-03 | 2017-01-04 | 超视界激光科技（苏州）有限公司 | Laser searchlight |
| US10583838B2 (en) | 2016-11-04 | 2020-03-10 | GM Global Technology Operations LLC | Systems and methods of automatic braking for manual transmissions |
| CN106828458A (en) * | 2017-03-01 | 2017-06-13 | 天津市利成工贸有限公司 | A kind of learner-driven vehicle autobrake system |
| CN106945663B (en) * | 2017-04-13 | 2020-09-25 | 大陆投资(中国)有限公司 | Anti-collision method for turning vehicle |
| CN107757581A (en) * | 2017-09-25 | 2018-03-06 | 南京律智诚专利技术开发有限公司 | A kind of method of work of vehicle automatic running system suitable for bend detection |
| CN107901894A (en) * | 2017-11-13 | 2018-04-13 | 福建工程学院 | A kind of braking automobile auxiliary system |
| CN107856606A (en) * | 2017-12-21 | 2018-03-30 | 江西师范大学 | A kind of oversize vehicle side shows early warning system and implementation method |
| CN108407784B (en) * | 2018-01-23 | 2021-12-07 | 内蒙古青杉汽车有限公司 | Anti-collision control method and device based on fuzzy control theory |
| CN109466423B (en) * | 2018-11-28 | 2022-05-20 | 江苏富新电子照明科技有限公司 | Front car lamp for controlling car distance |
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| US6906621B2 (en) * | 2001-02-06 | 2005-06-14 | Mazda Motor Corporation | Occupant protection system for vehicle |
| CN102520411A (en) * | 2011-12-29 | 2012-06-27 | 华南理工大学 | Simple automobile turning distance measuring device |
| CN103318174B (en) * | 2012-03-20 | 2015-09-30 | 比亚迪股份有限公司 | Vehicle anti-collision control system and control method thereof |
| CN203047064U (en) * | 2012-12-07 | 2013-07-10 | 长安大学 | Prompting device preventing vehicle from colliding with non-motor vehicles during turning |
| CN103204159B (en) * | 2013-01-10 | 2016-04-27 | 浙江吉利汽车研究院有限公司杭州分公司 | A kind of battery-driven car turn assist system and control method |
| CN103661190B (en) * | 2014-01-07 | 2017-12-01 | 江苏新安电器有限公司 | Side anticollision device, collision-prevention device and side avoiding collision when full-sized car is turned |
| CN204978641U (en) * | 2015-07-22 | 2016-01-20 | 福州大学 | Car turn safety auxiliary device |
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