CN105644423A - Wheel difference reminding method and system - Google Patents
Wheel difference reminding method and system Download PDFInfo
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- CN105644423A CN105644423A CN201610104300.3A CN201610104300A CN105644423A CN 105644423 A CN105644423 A CN 105644423A CN 201610104300 A CN201610104300 A CN 201610104300A CN 105644423 A CN105644423 A CN 105644423A
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/32—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides, e.g. clearance lights
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Abstract
The invention provides a wheel difference reminding method and system and relates to vehicle auxiliary driving. The method and system are used for giving a prompt about a wheel difference region. The wheel difference reminding method includes the steps that the turning angle of front wheels is obtained; according to the turning angle of the front wheels, the angle of rays transmitted by a laser transmitter is set; and the included angle between the set rays transmitted by the laser transmitter and the side of a carriage and the turning angle of the front wheels are in positive correlation. By the adoption of the technical scheme, the laser transmitter is controlled, so that lasers transmitted by the laser transmitter intersect with the ground to form a linear light spot; a driver can be better reminded of the position of the wheel difference region according to the travel condition of a vehicle so that the driver can conveniently make a correct driving judgment; and pedestrians can better avoid the vehicle in time according to a prompt of the linear light spot.
Description
Technical field
The present invention relates to auxiliary driving field, particularly to vehicle wheel difference prompting field.
Background technology
In so-called, wheel is poor, is the difference of nose-wheel turn radius and inner rear wheel radius of turn in Ackermann steer angle. Taking turns poor existence, Ackermann steer angle due to interior, the movement locus of forward and backward wheel is misaligned. And if drive a vehicle in only note front-wheel can by and forget interior difference of taking turns, it is possible to cause inner rear wheel to roll road surface or the accident with other object collisions away from. For oversize vehicle, in it, nose-wheel turn radius is likely to relatively big with inner rear wheel radius of turn difference, and oversize vehicle car body is heavier, and stopping power relatively dilly is poor, once have an accident, it is easy to causing death. And driver's likely mistake estimation inner rear wheel radius of turn; When particularly turning right, forward right side wheel place is the vision dead zone of driver, particularly hazardous.
In the process realizing the present invention, inventor have found that, in some accidents, although pedestrian recognizes that oversize vehicle is turned, but pedestrian often ignores or takes chances and do not dodge in time and cause serious consequence.
Summary of the invention
For this reason, it may be necessary to provide a kind of interior wheel difference based reminding method, system, to remind wheel difference region.
For achieving the above object, a kind of wheel difference based reminding method is inventor provided, including step:
Obtain the angle of turn of front-wheel;
Angle of turn according to front-wheel arranges the angle of the ray of laser transmitter projects;
The angle of turn positive correlation of the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
Further, the angle of turn positive correlation of the ray of laser transmitter projects and the angle of compartment side and front-wheel, also include:
The ray of laser transmitter projects and the angle of compartment side are more than or equal to the angle of turn of front-wheel.
Further, after described step " obtains the angle of turn of front-wheel ", described step also includes before " arranging the ray of laser transmitter projects and the angle of compartment side according to the angle of turn of front-wheel ":
Judge that whether the angle of turn of front-wheel is more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then arranges the ray of laser transmitter projects and the angle of compartment side according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser.
Further, described generating laser and trailing wheel distance in the horizontal direction are less than 0.5m.
Further, further comprise the steps of:
The positional information of the barrier of the vehicle periphery according to radar system acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices.
Inventor also provides for a kind of wheel difference system for prompting for oversize vehicle, including vehicle, also includes angle of turn receiver module, generating laser control module, generating laser;
Described angle of turn receiver module is used for obtaining Nose Wheel Steering angle; Described generating laser controls module for arranging the angle of turn positive correlation of the angle of generating laser, the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
Further, the angle of generating laser control module ray and compartment side for arranging laser transmitter projects is not greater than or equal to the angle of turn of front-wheel.
Further, described generating laser controls module and whether is used for the angle of turn judging front-wheel more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then the ray of laser transmitter projects and the angle of compartment side are set according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser.
Further, described generating laser and trailing wheel distance in the horizontal direction are less than 0.5m.
Further, radar, forecasting-obstacle module, warning devices are also included;
Described radar is for detecting the distance between vehicle peripheral obstacle and radar;
Described forecasting-obstacle module is used for the positional information of the barrier of the vehicle periphery according to radar acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices; Described warning devices is used for sending alarm.
Being different from prior art, technique scheme is by controlling generating laser so that it is the laser of transmitting and ground are crossed to form line style hot spot; Be conducive to the prompting driver of the travel situations according to vehicle to take turns the position in poor region, judge to facilitate driver to make correct driving; It is also beneficial to pedestrian's prompting according to line style hot spot, dodges vehicle in time.
Accompanying drawing explanation
Fig. 1 is poor for wheel, wheel difference area schematic;
Fig. 2 is the facula position schematic diagram of specific embodiment;
The wheel difference that Fig. 3 is specific embodiment reminds schematic diagram;
Fig. 4 a is the wheel difference area schematic of specific embodiment;
Fig. 4 b is the wheel difference area schematic of specific embodiment;
Fig. 4 c is the wheel difference area schematic of specific embodiment.
Description of reference numerals:
10, car body;
110, front-wheel;
111, front-wheel prediction locus;
112, vehicle front side prediction locus;
120, trailing wheel;
131, trailing wheel prediction locus;
132, vehicle rear-side prediction locus;
140, region is filled;
150, hot spot;
160, generating laser;
20, ground.
Detailed description of the invention
By describing the technology contents of technical scheme, structural feature in detail, being realized purpose and effect, below in conjunction with specific embodiment and coordinate accompanying drawing to be explained in detail. Relational language illustrates herein:
Traffic administration institute door knob automobile is divided into full-sized car and kart. Full-sized car refers to: gross mass 4.5t (containing), seating capacity (except driver) 20 people (containing) or vehicle commander 6m (containing) more than automobile.
Wheel difference is also referred to as interior wheel poor (DifferenceofRadiusBetweenInnerWheels), and with reference to Fig. 1, it is the difference of nose-wheel turn radius r2 and inner rear wheel radius of turn r1 in Ackermann steer angle.Ackermann steer angle, owing to taking turns difference and the region that formed is called the region of wheel difference or wheel difference region, in Fig. 4 a or Fig. 4 c shadow region 140 identify.
The angle of turn of front-wheel, when referring to turn to, two front-wheels of vehicle are in the angle formed with car body. In as shown in Figure 1, front-wheel turns over a angle. Positive correlation, refers to that two variablees variation directions are identical, and during the descending or ascending change of variable, another variable is descending or ascending change also.
Inventor provides wheel difference based reminding method, including step:
S101 obtains the angle of turn of front-wheel;
S102 arranges the angle of the ray of laser transmitter projects according to the angle of turn of front-wheel;
The angle of turn positive correlation of the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
With reference to Fig. 1-Fig. 4 c, vehicle described herein is at least made up of front-wheel 110 and trailing wheel 120, is generally controlled direction, rear wheel drive by front-wheel, and front wheels and rear wheels can be made up of one group of tire respectively. It is understandable that scheme provided herein is also applied for vehicle and has the situation organizing tire more, for instance have the vehicle of least one set wheel at the middle part of vehicle, or the rear of vehicle is also hung with a trailer. For there being the vehicle organizing tire, trailing wheel refers to one group of tire that vehicle is last more; For carrying the vehicle of trailer, trailing wheel refers to one group of tire last on trailer bodies.
The angle of turn of front-wheel refers to the front-wheel steering angle relative to car body, or can be described as the steering angle relative to trailing wheel, in Fig. 1 shown in angle mark a. Namely for carrying the vehicle of trailer, the angle of turn of its front-wheel refers to the angle that front-wheel turns over relative to trailer, the angle that namely front-wheel filled relative to the trailing wheel of trailer. Usual vehicle travels in the road, and the angle of turn of front-wheel is not fixing, but fluctuation; And when turning, the angle of turn of front-wheel, it is gradually increased in a period of time started, and gradually decreases in a period of time before terminating of turning.
For different vehicles, due to the difference of the angle of turn of front-wheel, and the distance of front wheels and rear wheels is different, and the border in wheel difference region is also different. The size in the distance of front wheels and rear wheels and the angle of turn of front-wheel and wheel difference region is positively related. The distance of front wheels and rear wheels refers to the distance of front wheels and rear wheels when vehicle is kept straight on, and in the distance of front wheels and rear wheels such as Fig. 1, m is identified.
Being understandable that the ray of laser transmitter projects is for reminding wheel difference region, the ray that generating laser 160 is launched intersects with ground 20, forms the 150 of line style clearly, and the region between this reflection light and compartment is the wheel difference region of prompting. It can as shown in Fig. 4 a-Fig. 4 c. Its vehicles or pedestrians that could be for reminding rear, point out or warn it to take turns poor region, it is to avoid it is strayed into and damages. It can also be for pointing out human pilot, notes the barrier in wheel difference region, to avoid having an accident. It is understood that the ray of above-mentioned laser transmitter projects impinges upon on the ground, it is possible to be the hot spot forming line style on the ground, or the hot spot of block-type. For the hot spot of block-type, block-type hot spot is relative to the poor region of wheel that the region between outermost border and the compartment in compartment is prompting. Referring to Fig. 3, it is preferred that generating laser 160 is installed on the latter half of of vehicle, for instance above vehicle rear wheel, or vehicle car side; Can also be mounted on vehicle rear-side face, and generating laser is to vehicle both sides divergent-ray. Preferred above the both sides of trailing wheel, or the two of vehicle car relative sides are installed laser beam emitting device. By the direction controlling the ray that device controlling organization is launched accordingly, the corresponding device that controls is properly termed as direction-control apparatus, and it is made up of corresponding drive motor, and it makes generating laser, or the direction of the laser tube in generating laser changes. The corresponding realization controlling device is referred to the direction driving device of 360 degree of monitoring cameras.In other cases, the corresponding device that controls may also mean that the device driving one group of minute surface, and the corresponding device that controls, by changing the angle of minute surface, makes the direction of the ray of laser transmitter projects deflect.
By controlling the direction that device controls the ray of laser transmitter projects accordingly so that it is change with the size of the angle of compartment side. In scheme provided by the invention, laser transmitter projects camera angle is set by controlling device accordingly, makes the angle of turn positive correlation of the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
Corresponding control device arranges the angle of the ray of laser transmitter projects according to the angle of turn of front-wheel, and it can be arrange generating laser so that the angle that the ray of laser transmitter projects and compartment side are formed is equal to the angle of turn of front-wheel. In further embodiments, it can also be arrange generating laser so that the angle that the ray of laser transmitter projects and compartment side are formed is slightly larger than the angle of turn of front-wheel, to reach better to point out effect.
By controlling generating laser so that it is the laser of transmitting and ground are crossed to form line style hot spot; Be conducive to the prompting driver of the travel situations according to vehicle to take turns the position in poor region, judge to facilitate driver to make correct driving; It is also beneficial to pedestrian's prompting according to line style hot spot, dodges vehicle in time.
Vehicle is in the process of moving, the angle of turn of front-wheel is generally not constant, in order to save energy, and in order to extend the generating laser use time on vehicle, judge that when vehicle travels whether the angle of turn of front-wheel is more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then the ray of laser transmitter projects and the angle of compartment side are set according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser. Length according to different front-wheel trailing wheels and different car speeds, this setting value can be different, it is preferred to 5 degree.
Add, radar system can also be set on vehicle, the positional information of the barrier of the vehicle periphery according to radar system acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices. By Nose Wheel Steering angle, and the distance of front wheels and rear wheels calculates trailing wheel radius of turn; And break the barriers, ground, position relationship between vehicle and trailing wheel radius of turn, barrier can be calculated whether in wheel difference region by spatial modeling; If in wheel difference region, then reminded driver or pedestrian by warning devices. Pre-measuring wheel difference region can be equal to take turns poor region, and as shown in fig. 4 a, namely fill region 140 is take turns the wheel difference region that difference region is also prediction; It can also be pre-measuring wheel difference region and wheel difference region border be different, as shown in Fig. 4 b-Fig. 4 c, fill region 140 represent pre-measuring wheel difference region. It is understood that be change in the change of the angle of turn along with the position of vehicle and front-wheel, wheel difference region or pre-measuring wheel difference region. It is understandable that, in figure, estimation range is not close, according to, pre-measuring wheel difference region may refer to the region between line style hot spot and the compartment that laser transmitter projects is formed, it can also be the travel direction according to vehicle, region between trailing wheel radius of turn and nose-wheel turn radius, this region is according to running velocity, it was predicted that the size in wheel difference region is adjustable.
In further embodiments, it can also adopt the generating laser launching arc laser, namely forming the hot spot of obvious arc after the intersecting of the ray of laser transmitter projects and ground, as shown in fig. 4 a, this arc hot spot is identical or approximate with vehicle front side prediction locus 112;This arc hot spot is used for indicating wheel difference region, and namely the region between arc hot spot and compartment is wheel difference region (as Fig. 4 a fills shown in region); And the radian of the laser of the laser transmitter projects of this transmitting arc laser can be arranged; The radius of turn of the radius of arc hot spot preferably trailing wheel, namely the radius of arc hot spot is relevant to the distance of the angle of turn of front-wheel and front wheels and rear wheels; It can also be that, according to vehicle enclosure size or other factors, the radius of arc hot spot is slightly less than the radius of turn of trailing wheel. The preferred generating laser launching arc laser is arranged on the top of trailing wheel, and the ray of laser transmitter projects is adjacent with trailing wheel or tangent. The radian changing laser transmitter projects laser can be through what the radian at hollow out position in interlock circuit adjustment light-blocking member completed. Preferred generating laser is arranged at the surface of trailing wheel, so that trailing wheel is positioned on the extended line of same radius of arc hot spot. It can also be provided in directly over trailing wheel, left and right 0.5m in.
It is understandable that hot spot herein is preferably line style. The method controlling to be formed line style hot spot has multiple, for example with baffle plate or film, it may also be is fixed by the afterbody of control generating laser, head rapid movement with corresponding drives generating laser, so at naked eyes, laser projections can form the hot spot of straight line or camber line behind ground. By Nose Wheel Steering angle, and the distance of front wheels and rear wheels obtains trailing wheel radius of turn; And by the position relationship between generating laser, ground, vehicle, trailing wheel radius of turn, the movement locus of generating laser head can be calculated, the head of this generating laser is by the above-mentioned orbiting motion calculated, and namely producible arc hot spot is used for indicating wheel difference region.
Inventor also provides for the wheel difference system for prompting for oversize vehicle, is used for realizing above-mentioned taking turns poor based reminding method, and this system includes angle of turn receiver module, generating laser controls module, generating laser;
Described angle of turn receiver module is used for obtaining Nose Wheel Steering angle; Described generating laser controls module for arranging the angle of turn positive correlation of the angle of generating laser, the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
Generating laser controls module for arranging the ray of laser transmitter projects and the angle of the compartment side angle of turn more than or equal to front-wheel.
It can be that described generating laser controls module for judging that whether the angle of turn of front-wheel is more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then the ray of laser transmitter projects and the angle of compartment side are set according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser.
Preferably, described generating laser and trailing wheel distance in the horizontal direction are less than 0.5m.
Also include radar, forecasting-obstacle module, warning devices in other embodiments;
Described radar is for detecting the distance between vehicle peripheral obstacle and radar;
Described forecasting-obstacle module is used for the positional information of the barrier of the vehicle periphery according to radar acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices; Described warning devices is used for sending alarm.
It should be noted that, in this article, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or terminal unit not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or terminal unit. When there is no more restriction, statement " including ... " or " comprising ... " key element limited, it is not excluded that there is also other key element in including the process of described key element, method, article or terminal unit. Additionally, in this article, " more than ", " less than ", " exceeding " etc. be interpreted as not including this number; " more than ", " below ", " within " etc. be interpreted as including this number.
Although the various embodiments described above being described; but those skilled in the art are once know basic creative concept; then these embodiments can be made other change and amendment; so the foregoing is only embodiments of the invention; not thereby the scope of patent protection of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include within the scope of patent protection of the present invention.
Claims (10)
1. take turns poor based reminding method, it is characterised in that include step:
Obtain the angle of turn of front-wheel;
Angle of turn according to front-wheel arranges the angle of the ray of laser transmitter projects;
The angle of turn positive correlation of the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
2. according to claim 1 take turns poor based reminding method, it is characterised in that the ray of laser transmitter projects and the angle of compartment side and the angle of turn positive correlation of front-wheel, also include:
The ray of laser transmitter projects and the angle of compartment side are more than or equal to the angle of turn of front-wheel.
3. according to claim 1 take turns poor based reminding method, it is characterized in that, after described step " obtains the angle of turn of front-wheel ", described step also includes before " arranging the ray of laser transmitter projects and the angle of compartment side according to the angle of turn of front-wheel ":
Judge that whether the angle of turn of front-wheel is more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then arranges the ray of laser transmitter projects and the angle of compartment side according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser.
4. according to claim 1 take turns poor based reminding method, it is characterised in that described generating laser and trailing wheel distance in the horizontal direction are less than 0.5m.
5. according to claim 1 take turns poor based reminding method, it is characterised in that further comprise the steps of:
The positional information of the barrier of the vehicle periphery according to radar system acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices.
6. for the wheel difference system for prompting of oversize vehicle, including vehicle, it is characterised in that also include angle of turn receiver module, generating laser controls module, generating laser;
Described angle of turn receiver module is used for obtaining Nose Wheel Steering angle; Described generating laser controls module for arranging the angle of turn positive correlation of the angle of generating laser, the ray of the laser transmitter projects after arranging and the angle of compartment side and front-wheel.
7. the wheel difference system for prompting for oversize vehicle according to claim 6, it is characterised in that the angle of generating laser control module ray and compartment side for arranging laser transmitter projects is not greater than or equal to the angle of turn of front-wheel.
8. the wheel difference system for prompting for oversize vehicle according to claim 6, it is characterised in that
Described generating laser controls module and whether is used for the angle of turn judging front-wheel more than setting value, when the angle of turn that judged result is front-wheel is more than setting value, then the ray of laser transmitter projects and the angle of compartment side are set according to the angle of turn of front-wheel; When the angle of turn that judged result is front-wheel is less than or equal to setting value, then closes laser transmitting set or be not provided with generating laser.
9. the wheel difference system for prompting for oversize vehicle according to claim 6, it is characterised in that described generating laser and trailing wheel distance in the horizontal direction are less than 0.5m.
10. the wheel difference system for prompting for oversize vehicle according to claim 6, it is characterised in that also include radar, forecasting-obstacle module, warning devices;
Described radar is for detecting the distance between vehicle peripheral obstacle and radar;
Described forecasting-obstacle module is used for the positional information of the barrier of the vehicle periphery according to radar acquisition and the angle of turn of front-wheel, it is judged that whether having barrier in the pre-measuring wheel difference region of vehicle, if there being barrier, triggering warning devices;
Described warning devices is used for sending alarm.
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| CN201610104300.3A CN105644423A (en) | 2016-02-25 | 2016-02-25 | Wheel difference reminding method and system |
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| CN201610104300.3A CN105644423A (en) | 2016-02-25 | 2016-02-25 | Wheel difference reminding method and system |
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| CN107128245A (en) * | 2017-04-10 | 2017-09-05 | 江苏车视杰电子有限公司 | A kind of vehicle blind zone early warning system |
| CN108437888A (en) * | 2018-02-11 | 2018-08-24 | 合肥工业大学 | Eliminate the active forewarning system and method on the dangerous boundary of projection of lubrication groove difference hidden danger |
| CN110303983A (en) * | 2019-07-15 | 2019-10-08 | 巢湖学院 | A kind of truck turning vision dead zone method for early warning and its early warning system |
| CN110329152A (en) * | 2019-06-25 | 2019-10-15 | 北京邮电大学 | It is a kind of using algorithm of target detection as the driving blind area early warning system of core |
| CN110654309A (en) * | 2018-06-29 | 2020-01-07 | 慧展科技股份有限公司 | Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system |
| CN110979338A (en) * | 2019-12-20 | 2020-04-10 | 潍柴动力股份有限公司 | Tractor blind area monitoring method and device and storage medium |
| CN111443348A (en) * | 2020-04-15 | 2020-07-24 | 厦门华厦学院 | Obstacle detection system based on mathematical model |
| CN112069559A (en) * | 2020-07-08 | 2020-12-11 | 南京工业大学 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107128245A (en) * | 2017-04-10 | 2017-09-05 | 江苏车视杰电子有限公司 | A kind of vehicle blind zone early warning system |
| CN108437888A (en) * | 2018-02-11 | 2018-08-24 | 合肥工业大学 | Eliminate the active forewarning system and method on the dangerous boundary of projection of lubrication groove difference hidden danger |
| CN110654309A (en) * | 2018-06-29 | 2020-01-07 | 慧展科技股份有限公司 | Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system |
| CN110329152A (en) * | 2019-06-25 | 2019-10-15 | 北京邮电大学 | It is a kind of using algorithm of target detection as the driving blind area early warning system of core |
| CN110303983A (en) * | 2019-07-15 | 2019-10-08 | 巢湖学院 | A kind of truck turning vision dead zone method for early warning and its early warning system |
| CN110979338B (en) * | 2019-12-20 | 2023-09-15 | 潍柴动力股份有限公司 | Tractor blind area monitoring method, device and storage medium |
| CN110979338A (en) * | 2019-12-20 | 2020-04-10 | 潍柴动力股份有限公司 | Tractor blind area monitoring method and device and storage medium |
| CN111443348A (en) * | 2020-04-15 | 2020-07-24 | 厦门华厦学院 | Obstacle detection system based on mathematical model |
| CN111443348B (en) * | 2020-04-15 | 2022-03-15 | 厦门华厦学院 | Obstacle detection system based on mathematical model |
| CN112069559B (en) * | 2020-07-08 | 2021-10-01 | 南京工业大学 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
| CN112069559A (en) * | 2020-07-08 | 2020-12-11 | 南京工业大学 | Method for determining inner wheel difference area range of right turn at intersection of large vehicles and application of method |
| CN115376365A (en) * | 2022-10-21 | 2022-11-22 | 北京德风新征程科技有限公司 | Vehicle control method, device, electronic equipment and computer readable medium |
| CN115376365B (en) * | 2022-10-21 | 2023-01-13 | 北京德风新征程科技有限公司 | Vehicle control method, device, electronic equipment and computer readable medium |
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