CN105730455A - Automobile anti-collision control system and control method thereof - Google Patents
Automobile anti-collision control system and control method thereof Download PDFInfo
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- CN105730455A CN105730455A CN201610275657.8A CN201610275657A CN105730455A CN 105730455 A CN105730455 A CN 105730455A CN 201610275657 A CN201610275657 A CN 201610275657A CN 105730455 A CN105730455 A CN 105730455A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000001960 triggered effect Effects 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims description 36
- 230000003044 adaptive effect Effects 0.000 claims description 32
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Instrument Panels (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention provides an automobile anti-collision control system and a control method thereof, wherein the control system comprises: an AVN main unit; a front control panel connected with the AVN main unit through a bus; an anti-collision warning switch connected with the front control panel through a hard wire and used for triggering the AVN main unit to display a human-machine interface for enabling or disabling a front collision warning function and/or an active braking assisting function when triggered; a radar controller connected respectively with the AVN main unit and the front control panel through a bus and used for enabling or disenabling the collision warning function and/or an active braking assisting function according to the results of operation on the human-machine interface. By providing the anti-collision warning switch, the AVN main unit can be triggered only with a simple operation to display the human-machine interface, and buttons on the interface may be directly clicked or closed to correspondingly enable or disable the front collision warning function or active braking assisting function, and the safety risk due to operating with a multilevel menu layer is avoided.
Description
Technical field
Technical field of vehicle safety of the present invention, particularly relates to a kind of vehicle anticollision and controls system and control method thereof.
Background technology
The anticollision pre-alarming control system of existing automobile is integrated with and includes adaptive cruise, front anti-collision warning and actively brake the functions such as auxiliary, wherein, what front anti-collision warning and actively brake assist function had cannot supply driver's operation to be turned on and off, so driver without wishing to when danger warning often occurring or actively brakes, cannot passing through manual operation it is closed, Consumer's Experience is poor；Another kind of man-machine interaction mode is then by AVN main frame (Audio(audio frequency), Video(video), Navigation(navigation) integrated on-vehicle host) inner multilevel menu is operated, but, existing this multilevel menu does not show current state, driver cannot know that current function is in unlatching or closed mode, simultaneously close off this function to carry out in the multilevel menu of AVN main frame, operate troublesome, particularly it is operated very easily causing vehicle accident in driving, brings serious potential safety hazard.Adaptive cruise function is then turned on and off typically by driving lever form, but its all information are output as image and have the disadvantage that: partial information is just display when arranging, such as following distance, driver cannot obtain running status in real time, has bigger potential safety hazard；At vehicle with car decelerating mode or with shut-down condition, when reversible fault or irreversible fault occurs in adaptive cruise, only having picture cues in instrument, driver may not notice that, now this car can travel with D shelves, has bigger risk of collision.
Summary of the invention
The technical problem to be solved is in that, it is provided that a kind of vehicle anticollision being effectively improved travel safety controls system and control method thereof.
In order to solve above-mentioned technical problem, the present invention provides a kind of vehicle anticollision to control system, including:
AVN main frame；
The front control panel being connected by bus with described AVN main frame；
With described before the anticollision early warning switch that is connected by rigid line of control panel, for triggered when operating described AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
The radar controller being connected by bus with described AVN main frame, described front control panel respectively, for according to the operating result at described human-computer interaction interface, being turned on and off front anti-collision warning function and/or active brake assist function.
Wherein, described human-computer interaction interface shows front anti-collision warning function and " unlatching " and the Close button of active brake assist function.
Wherein, described AVN main frame is used for the state of the front anti-collision warning function after will click on described " unlatching " or the Close button and/or active brake assist function and issues described radar controller with event mode bus signals, and described radar controller is for correspondingly changing the state of front anti-collision warning function and/or active brake assist function according to described event mode bus signals.
Wherein, the state that described radar controller is additionally operable to after front anti-collision warning function and/or active brake assist function being changed issues described AVN main frame with cycle bus signal, and described AVN main frame is additionally operable to be highlighted described " unlatching " or the Close button on described human-computer interaction interface according to described cycle bus signal.
Wherein, if the state of front anti-collision warning function and/or active brake assist function is changed unsuccessful by described radar controller, then described human-computer interaction interface is highlighted " unlatching " or the Close button according to front anti-collision warning function and/or active brake assist function state before change.
Wherein, described vehicle anticollision control system also includes:
Adaptive cruise for being turned on and off adaptive cruise function switchs, and is connected by rigid line with engine management system, and described engine management system is connected by bus with described radar controller.
Wherein, described engine management system is for issuing described radar controller by adaptive cruise switching signal with bus signals, and described radar controller is for changing the cruising speed of adaptive cruise function, following distance, duty according to described adaptive cruise switching signal.
Wherein, described vehicle anticollision control system also includes:
Instrument, is connected by bus with described radar controller, for showing adaptive cruise function, front anti-collision warning function, actively brake assist function status information operationally with pictorial form.
Wherein, whether described instrument has the fault of car and appearance with the following distance of the continuously display adaptive cruise function of pictorial form, cruising speed, front；When following distance is adjusted or find display big figure when there is a car in front, described big figure all disappears after a certain time automatically；Auditory tone cues is provided when breaking down simultaneously；When driver sends takeover request, point out in conjunction with form of sound with image.
Wherein, described instrument carries out the low dangerous of front anti-collision warning with the low frequency image mode that glimmers and reports to the police, and adds voice mode with the altofrequency image that glimmers and carries out the high risk warning of front anti-collision warning；When front anti-collision warning function is closed, the of short duration display text prompt of described instrument, when front anti-collision warning function breaks down, the circulation of described instrument shows image and text prompt；When active brake assist function is closed, the of short duration display text prompt of described instrument, when active brake assist function breaks down, the circulation of described instrument shows image and text prompt.
The present invention also provides for a kind of described vehicle anticollision and controls the control method of system, including:
Triggered when anticollision early warning switch operates AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
According to the operating result at described human-computer interaction interface, it is turned on and off front anti-collision warning function and/or active brake assist function.
Wherein, described human-computer interaction interface shows front anti-collision warning function and " unlatching " and the Close button of active brake assist function.
Having the beneficial effects that of the embodiment of the present invention: by arranging anticollision early warning switch, only need simple operations can trigger AVN main frame display human-computer interaction interface, driver directly can be turned on and off button by click in this human-computer interaction interface, corresponding to be turned on and off front anti-collision warning function or actively brake assist function, it is to avoid existing entered the security risk that operation brings layer by layer by multilevel menu.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation that one one kinds of vehicle anticollisions of the embodiment of the present invention control system.
Fig. 2 is the actions menu schematic diagram being turned on and off front anti-collision warning and actively braking auxiliary in the embodiment of the present invention one.
Detailed description of the invention
The explanation of following embodiment is with reference to accompanying drawing, can specific embodiment in order to implement in order to the example present invention.
Refer to shown in Fig. 1, the embodiment of the present invention one provides a kind of vehicle anticollision to control system, including:
AVN main frame 1；
The front control panel 2 being connected by bus with AVN main frame 1；
The anticollision early warning switch 3 being connected by rigid line with front control panel 2, for triggered when operating AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
The radar controller 4 being connected by bus with AVN main frame 1, front control panel 2 respectively, for according to the operating result at described human-computer interaction interface, being turned on and off front anti-collision warning function and/or active brake assist function.
Specifically, anticollision early warning switch 3 generally realizes with button form, and when it is operated that is the time of being pressed, level will change, and front control panel 2 is sent to AVN main frame 1 with bus signals after receiving level variable signal.
nullAfter controlling, before receiving, the aforementioned bus signals that panel 2 sends，AVN main frame 1 will show human-computer interaction interface as shown in Figure 2，Before operator such as driver can click in this human-computer interaction interface, " unlatching " at anti-collision warning rear or the Close button corresponding to be turned on and off front anti-collision warning function，Also can click " unlatchings " at actively braking auxiliary rear or the Close button corresponding to be turned on and off active brake assist function，Click again after clicking " unlatching " or the Close button and determine，AVN main frame 1 then can will click on " unlatching " or the Close button after front anti-collision warning function and/or the state of actively brake assist function send with event mode bus signals，Such as，If selecting anti-collision warning function before closing (clicking the Close button of front anti-collision warning function)，Then the state that front anti-collision warning function is in closedown is sent by AVN main frame 1 with event mode bus signals.The human-computer interaction interface of display automatically can disappear after operation completes.Cancelling if clicked, namely front anti-collision warning function or active brake assist function not carried out any operation, then the state of front anti-collision warning function and active brake assist function will not be sent by AVN main frame 1.
It should be understood that anticollision early warning switch can also be other forms, for instance knob, when it is rotated to set position, equally possible triggering AVN main frame 1 shows human-computer interaction interface shown in Fig. 2.
The state of the front anti-collision warning function after selection and/or active brake assist function is sent by AVN main frame 1 with event mode bus signals, specifically issues radar controller 4.The state of front anti-collision warning function and/or active brake assist function is correspondingly changed by radar controller 4 according to this bus signals.Simultaneously, state after front anti-collision warning function and/or active brake assist function change can be issued AVN main frame 1 with cycle bus signal by radar controller 4, human-computer interaction interface shown in Fig. 2 can be highlighted " unlatching " or the Close button according to the status signal of the front anti-collision warning function received and/or active brake assist function, when functional status changes unsuccessful, this human-computer interaction interface can be highlighted " unlatching " or the Close button according to the state before front anti-collision warning function and/or active brake assist function change, to point out driver current function status.For example, if driver clicks the Close button at anti-collision warning function rear before in human-computer interaction interface shown in Fig. 2, then first then front anti-collision warning function is in the state of closedown and is sent to radar controller 4 with event mode bus signals by AVN main frame 1, and the state of front anti-collision warning function is correspondingly changed (before closing anti-collision warning function) according to this bus signals by radar controller 4；Simultaneously, state (closed mode) after front anti-collision warning changing function is issued AVN main frame 1 with cycle bus signal by radar controller 4, human-computer interaction interface shown in Fig. 2 will be highlighted the Close button at front anti-collision warning function rear, is closed with anti-collision warning function before pointing out driver currently；And cause that the state of front anti-collision warning function is changed unsuccessful by radar controller 4 if based on certain reason, human-computer interaction interface shown in Fig. 2 is then according to the state (opening) before front anti-collision warning changing function, it is highlighted " unlatching " button at front anti-collision warning function rear, is in opening with anti-collision warning function before pointing out driver currently.Additionally, current anti-collision warning function becomes opening, the display lamp being arranged on anticollision early warning switch can be lighted, and when current anti-collision warning function becomes closed mode, the display lamp being arranged on anticollision early warning switch can extinguish.
As from the foregoing, the present embodiment is by arranging anticollision early warning switch, only need simple operations can trigger AVN main frame 1 on the one hand and show human-computer interaction interface, driver directly can be turned on and off button by click in this human-computer interaction interface, corresponding to be turned on and off front anti-collision warning function or actively brake assist function, it is to avoid existing entered the security risk that operation brings layer by layer by multilevel menu；On the other hand, after selection is turned on and off corresponding function, AVN main frame 1 intercoms mutually with radar controller 4, feedback of status after changing function can be returned AVN main frame 1 by radar controller 4, and be highlighted in aforementioned human-computer interaction interface, the current state of this function of driver can be pointed out, more hommization.
For adaptive cruise function, embodiment of the present invention vehicle anticollision controls system and also includes accordingly:
Adaptive cruise for being turned on and off adaptive cruise function switchs 5, is connected by rigid line with engine management system 6, and engine management system 6 is connected by bus with radar controller 4.
Adaptive cruise switch 5 includes five buttons: master switch, speed subtract/arranges, speed adds/recovers, cancel, spacing regulates, it is connected with engine management system 6 by rigid line, by judging that voltage swing determines which button is pressed, adaptive cruise switching signal is sent by engine management system 6 with bus signals.
Specifically, adaptive cruise switching signal is issued radar controller 4 with bus signals by engine management system 6, and radar controller 4 changes the cruising speed of adaptive cruise function, following distance, duty according to adaptive cruise switching signal.
In addition, consider the shortcoming that existing adaptive cruise function exists in display, the present embodiment vehicle anticollision controls system and also includes instrument 7, it is connected by bus with radar controller 4, for showing adaptive cruise function, front anti-collision warning function, actively brake assist function status information operationally with pictorial form, to be prompted to driver, specifically include following:
Adaptive cruise function: following distance, continuously display with pictorial form, driver regulate time there will be scheme greatly prompting, automatically disappear after certain time；Cruising speed, continuously display with pictorial form；Whether front has car, continuously display with pictorial form, when finding that the front truck moment occurs scheming greatly prompting, automatically disappears after certain time；When driver sends takeover request, combine prompting with image and form of sound；Fault, when a failure occurs, continuously display with pictorial form, go out now in fault simultaneously, sound certain time can be sent, it is ensured that chance failure can immediately know that driver as occurred when using adaptive cruise function, and takes necessary security measures；
Front anti-collision warning function: point two-stage is reported to the police, low dangerous warning and the first order are reported to the police by the flicker picture cues of low frequency in instrument 5, represent that degree of danger is relatively low；The mode that high risk warning and second level warning add sound by altofrequency scintigram picture in instrument 5 is pointed out, and the Vigilance making driver is maximum；When function is closed, instrument 5 can of short duration display text prompt；When breaking down, instrument 5 can circulate display image and text prompt；
Actively brake assist function: instrument 5 can of short duration display text prompt when function is closed；When breaking down, instrument 5 can circulate display image and text prompt.
Different from the status information display mode of existing adaptive cruise function, the present embodiment is safer by one, driver is pointed out by man-machine performance's better way by adaptive cruise duty in instrument, display information is classified, important information is continuously display, the of short duration display when operator or functional status change of other information, driver can be made to grasp the running status of adaptive cruise function in real time, and point out driver when breaking down by sound, the image mode of combining.
Based on the embodiment of the present invention one, the embodiment of the present invention two provides a kind of vehicle anticollision to control the control method of system, including:
Triggered when anticollision early warning switch operates AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
According to the operating result at described human-computer interaction interface, it is turned on and off front anti-collision warning function and/or active brake assist function.
Specifically, described human-computer interaction interface shows front anti-collision warning function and " unlatching " and the Close button of active brake assist function.
Refer to the explanation of the embodiment of the present invention one about the operation principle of the present embodiment and the beneficial effect that brings, repeat no more herein.
Above disclosed it is only present pre-ferred embodiments, certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to the claims in the present invention with this, still belong to the scope that the present invention contains.
Claims (12)
1. a vehicle anticollision controls system, it is characterised in that including:
AVN main frame；
The front control panel being connected by bus with described AVN main frame；
With described before the anticollision early warning switch that is connected by rigid line of control panel, for triggered when operating described AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
The radar controller being connected by bus with described AVN main frame, described front control panel respectively, for according to the operating result at described human-computer interaction interface, being turned on and off front anti-collision warning function and/or active brake assist function.
2. vehicle anticollision according to claim 1 controls system, it is characterised in that described human-computer interaction interface shows front anti-collision warning function and " unlatching " and the Close button of active brake assist function.
3. vehicle anticollision according to claim 2 controls system, it is characterized in that, described AVN main frame is used for the state of the front anti-collision warning function after will click on described " unlatching " or the Close button and/or active brake assist function and issues described radar controller with event mode bus signals, and described radar controller is for correspondingly changing the state of front anti-collision warning function and/or active brake assist function according to described event mode bus signals.
4. vehicle anticollision according to claim 3 controls system, it is characterized in that, the state that described radar controller is additionally operable to after front anti-collision warning function and/or active brake assist function being changed issues described AVN main frame with cycle bus signal, and described AVN main frame is additionally operable to be highlighted described " unlatching " or the Close button on described human-computer interaction interface according to described cycle bus signal.
5. vehicle anticollision according to claim 4 controls system, it is characterized in that, if the state of front anti-collision warning function and/or active brake assist function is changed unsuccessful by described radar controller, then described human-computer interaction interface is highlighted " unlatching " or the Close button according to front anti-collision warning function and/or active brake assist function state before change.
6. vehicle anticollision according to claim 1 controls system, it is characterised in that also include:
Adaptive cruise for being turned on and off adaptive cruise function switchs, and is connected by rigid line with engine management system, and described engine management system is connected by bus with described radar controller.
7. vehicle anticollision according to claim 6 controls system, it is characterized in that, described engine management system is for issuing described radar controller by adaptive cruise switching signal with bus signals, and described radar controller is for changing the cruising speed of adaptive cruise function, following distance, duty according to described adaptive cruise switching signal.
8. vehicle anticollision according to claim 6 controls system, it is characterised in that also include:
Instrument, is connected by bus with described radar controller, for showing adaptive cruise function, front anti-collision warning function, actively brake assist function status information operationally with pictorial form.
9. vehicle anticollision according to claim 8 controls system, it is characterised in that described instrument is so that whether the following distance of the continuously display adaptive cruise function of pictorial form, cruising speed, front have the fault of car and appearance；When following distance is adjusted or find display big figure when there is a car in front, described big figure all disappears after a certain time automatically；Auditory tone cues is provided when breaking down simultaneously；When driver sends takeover request, point out in conjunction with form of sound with image.
10. vehicle anticollision according to claim 8 controls system, it is characterized in that, described instrument carries out the low dangerous of front anti-collision warning with the low frequency image mode that glimmers and reports to the police, and adds voice mode with the altofrequency image that glimmers and carries out the high risk warning of front anti-collision warning；When front anti-collision warning function is closed, the of short duration display text prompt of described instrument, when front anti-collision warning function breaks down, the circulation of described instrument shows image and text prompt；When active brake assist function is closed, the of short duration display text prompt of described instrument, when active brake assist function breaks down, the circulation of described instrument shows image and text prompt.
11. the vehicle anticollision as described in any one of claim 1-10 controls a control method for system, including:
Triggered when anticollision early warning switch operates AVN main frame show be available for being turned on and off before the human-computer interaction interface of anti-collision warning function and/or active brake assist function；
According to the operating result at described human-computer interaction interface, it is turned on and off front anti-collision warning function and/or active brake assist function.
12. control method according to claim 11, it is characterised in that described human-computer interaction interface shows front anti-collision warning function and " unlatching " and the Close button of active brake assist function.
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| CN201610275657.8A CN105730455B (en) | 2016-04-29 | 2016-04-29 | A kind of vehicle anticollision control system and its control method |
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| CN201610275657.8A CN105730455B (en) | 2016-04-29 | 2016-04-29 | A kind of vehicle anticollision control system and its control method |
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| CN105730455A true CN105730455A (en) | 2016-07-06 |
| CN105730455B CN105730455B (en) | 2018-05-15 |
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| CN110562252A (en) * | 2018-06-05 | 2019-12-13 | 广州汽车集团股份有限公司 | Automobile cruise control system and control method thereof |
| CN111661212A (en) * | 2019-01-28 | 2020-09-15 | 铃木株式会社 | Control device and electric vehicle |
| WO2023221067A1 (en) * | 2022-05-19 | 2023-11-23 | 华为技术有限公司 | Warning method and apparatus for vehicle, and device and storage medium |
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| US20060155469A1 (en) * | 2003-07-11 | 2006-07-13 | Tomoya Kawasaki | Crash-safe vehicle control system |
| CN102750837A (en) * | 2012-06-26 | 2012-10-24 | 北京航空航天大学 | No-signal intersection vehicle and vehicle cooperative collision prevention system |
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| CN110562252A (en) * | 2018-06-05 | 2019-12-13 | 广州汽车集团股份有限公司 | Automobile cruise control system and control method thereof |
| CN110562252B (en) * | 2018-06-05 | 2020-12-08 | 广州汽车集团股份有限公司 | Automobile cruise control system and control method thereof |
| CN111661212A (en) * | 2019-01-28 | 2020-09-15 | 铃木株式会社 | Control device and electric vehicle |
| CN111661212B (en) * | 2019-01-28 | 2022-05-03 | 铃木株式会社 | Control device and electric vehicle |
| WO2023221067A1 (en) * | 2022-05-19 | 2023-11-23 | 华为技术有限公司 | Warning method and apparatus for vehicle, and device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105730455B (en) | 2018-05-15 |
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