CN105730455B - A kind of vehicle anticollision control system and its control method - Google Patents
A kind of vehicle anticollision control system and its control method Download PDFInfo
- Publication number
- CN105730455B CN105730455B CN201610275657.8A CN201610275657A CN105730455B CN 105730455 B CN105730455 B CN 105730455B CN 201610275657 A CN201610275657 A CN 201610275657A CN 105730455 B CN105730455 B CN 105730455B
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- function
- collision warning
- active brake
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- hosts
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The present invention provides a kind of vehicle anticollision control system and its control method, wherein, control system includes：AVN hosts；The preceding control panel being connected with AVN hosts by bus；Anticollision early warning be connected with preceding control panel by rigid line switchs, for when being operated triggering AVN hosts show for the human-computer interaction interface of anti-collision warning function and/or active brake miscellaneous function before being turned on and off；The radar controller being connected respectively with AVN hosts, preceding control panel by bus, for according to the operating result in human-computer interaction interface, being turned on and off preceding anti-collision warning function and/or active brake miscellaneous function.The present invention is by setting anticollision early warning to switch, only need simple operations to can trigger AVN hosts and show human-computer interaction interface, button can be turned on and off by clicking on directly over, preceding anti-collision warning function or active brake miscellaneous function are turned on and off to correspond to, is avoided existing by security risk caused by multilevel menu entrance operation layer by layer.
Description
Technical field
Technical field of vehicle safety of the present invention, more particularly to a kind of vehicle anticollision control system and its control method.
Background technology
The anticollision pre-alarming control system of existing automobile is integrated with including adaptive cruise, preceding anti-collision warning and actively makes
The functions such as dynamic auxiliary, wherein, what preceding anti-collision warning and active brake miscellaneous function had can not operate for driver be turned on and off,
So when driver is not intended to danger warning or active brake often occur, it can not be closed by manual operation,
User experience is poor；Another man-machine interaction mode is then by AVN hosts（Audio（Audio）、Video（Video）、
Navigation（Navigation）Integrated on-vehicle host）In multilevel menu operated, still, existing this multistage
Menu does not show current state, and driver can not know that current function is in unlatching or closed mode, simultaneously close off the work(
It need to can be carried out in the multilevel menu of AVN hosts, operation is troublesome, is particularly operated in driving and easily causes traffic thing
Therefore bring serious security risk.And adaptive cruise function is then turned on and off typically by driving lever form, but its
All information outputs have the disadvantage that for image：Partial information just shows that such as following distance, driver can not be real-time when setting
Operating status is obtained, there is larger security risk；In vehicle with car decelerating mode or with shut-down condition, there is reversible event in adaptive cruise
When barrier or irreversible failure, only there are picture cues in instrument, driver may not notice that, this car can be with D grades of rows at this time
Sail, there is larger risk of collision.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of vehicle anticollision control for effectively improving travel safety
System and its control method processed.
In order to solve the above technical problem, the present invention provides a kind of vehicle anticollision control system, including：
AVN hosts；
The preceding control panel being connected with the AVN hosts by bus；
The anticollision early warning being connected with the preceding control panel by rigid line switchs, for triggering the AVN when being operated
Host is shown for being turned on and off the human-computer interaction interface of preceding anti-collision warning function and/or active brake miscellaneous function；
The radar controller being connected respectively with the AVN hosts, the preceding control panel by bus, for according to described
The operating result of human-computer interaction interface, anti-collision warning function and/or active brake miscellaneous function before being turned on and off.
Wherein, before the human-computer interaction interface is shown " unlatching " of anti-collision warning function and active brake miscellaneous function and
The Close button.
Wherein, the AVN hosts be used to will click on the preceding anti-collision warning function after " unlatchings " or the Close button with/
Or the state of active brake miscellaneous function issues the radar controller with event mode bus signals, the radar controller is used for
According to the event mode bus signals correspondingly by preceding anti-collision warning function and/or the state change of active brake miscellaneous function.
Wherein, the radar controller is additionally operable to after changing preceding anti-collision warning function and/or active brake miscellaneous function
State the AVN hosts are issued with cycle bus signal, the AVN hosts are additionally operable to according to the cycle bus signal in institute
State and described " unlatching " or the Close button are highlighted on human-computer interaction interface.
Wherein, if the radar controller changes the state of preceding anti-collision warning function and/or active brake miscellaneous function
Become unsuccessful, then the human-computer interaction interface according to preceding anti-collision warning function and/or active brake miscellaneous function before change
State is highlighted " unlatching " or the Close button.
Wherein, the vehicle anticollision control system further includes：
Adaptive cruise for being turned on and off adaptive cruise function switchs, and passes through rigid line with engine management system
Connection, the engine management system are connected with the radar controller by bus.
Wherein, the engine management system is used to adaptive cruise switching signal issuing the radar with bus signals
Controller, the radar controller are used to change the cruise of adaptive cruise function according to the adaptive cruise switching signal
Speed, following distance, working status.
Wherein, the vehicle anticollision control system further includes：
Instrument, is connected with the radar controller by bus, for showing adaptive cruise function, preceding with image format
Anti-collision warning function, the status information of active brake miscellaneous function at work.
Wherein, the instrument is with the following distance, cruising speed, front of the continuously display adaptive cruise function of image format
Whether the failure of car and appearance is had；Display big figure when having car when following distance is adjusted or in front of finding is described big
Figure is automatic after a certain time to disappear；Auditory tone cues is provided at the same time when breaking down；When driver sends takeover request,
Prompted with image combination form of sound.
Wherein, the instrument is to flicker the low dangerous alarm of anti-collision warning before low frequency image mode carries out, with flicker
High-frequency image adds the high risk alarm of anti-collision warning before voice mode progress；It is described when preceding anti-collision warning function is closed
The of short duration display text prompt of instrument, when preceding anti-collision warning function breaks down, the instrument circulation shows image and word
Prompting；When active brake miscellaneous function is closed, the of short duration display text prompt of instrument, occurs in active brake miscellaneous function
During failure, the instrument circulation shows image and text prompt.
The present invention also provides a kind of control method of the vehicle anticollision control system, including：
When anticollision early warning switch is operated, triggering AVN hosts are shown for anti-collision warning function before being turned on and off
And/or the human-computer interaction interface of active brake miscellaneous function；
According to the operating result in the human-computer interaction interface, anti-collision warning function and/or active system before being turned on and off
Dynamic auxiliary function.
Wherein, before the human-computer interaction interface is shown " unlatching " of anti-collision warning function and active brake miscellaneous function and
The Close button.
The beneficial effect of the embodiment of the present invention is：By setting anticollision early warning to switch, it is only necessary to which simple operations can touch
Send out AVN hosts and show human-computer interaction interface, driver can directly in the human-computer interaction interface by click on be turned on and off by
Button, come correspond to be turned on and off before anti-collision warning function or active brake miscellaneous function, avoid it is existing by multilevel menu layer by layer
Into security risk caused by operation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structure diagram of vehicle anticollision control system of the embodiment of the present invention one.
Fig. 2 is the actions menu signal of anti-collision warning and active brake auxiliary before being turned on and off in the embodiment of the present invention one
Figure.
Embodiment
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
Refer to shown in Fig. 1, the embodiment of the present invention one provides a kind of vehicle anticollision control system, including：
AVN hosts 1；
The preceding control panel 2 being connected with AVN hosts 1 by bus；
The anticollision early warning switch 3 being connected with preceding control panel 2 by rigid line, shows for triggering AVN hosts when being operated
Show for being turned on and off the human-computer interaction interface of preceding anti-collision warning function and/or active brake miscellaneous function；
The radar controller 4 being connected respectively with AVN hosts 1, preceding control panel 2 by bus, for according to described man-machine
The operating result of interactive interface, anti-collision warning function and/or active brake miscellaneous function before being turned on and off.
Specifically, anticollision early warning switch 3 is realized usually in the form of button, when it is operated that is, the when of being pressed, level
It will change, preceding control panel 2 receives level change signal and is sent to AVN hosts 1 afterwards with bus signals.
After the foregoing bus signals that panel 2 is sent are controlled before receiving, AVN hosts 1 will show human-computer interaction as shown in Figure 2
Interface, before operator such as driver can click in the human-computer interaction interface " unlatching " or " closing " at anti-collision warning rear press
Button is turned on and off preceding anti-collision warning function to correspond to, and can also click on " unlatching " or the Close button at active brake auxiliary rear
Active brake miscellaneous function is turned on and off to correspond to, definite, AVN hosts 1 are clicked on again after clicking on " unlatching " or the Close button
The state of preceding the anti-collision warning function and/or active brake miscellaneous function after " unlatching " or the Close button can then be will click on thing
Part type bus signals are sent, if for example, selecting anti-collision warning function before closing（" closing " of anti-collision warning function is pressed before click
Button）, then AVN hosts 1 by preceding anti-collision warning function be in close state sent with event mode bus signals.The man-machine friendship of display
Mutual interface can disappear automatically after the completion of operation.Cancel if clicked on, i.e., preceding anti-collision warning function or active brake are not aided in
Function carries out any operation, then AVN hosts 1 will not send the state of preceding anti-collision warning function and active brake miscellaneous function.
It should be understood that anticollision early warning switch can also be other forms, such as knob, when it is rotated to setting shelves
During position, it can equally trigger AVN hosts 1 and show human-computer interaction interface shown in Fig. 2.
AVN hosts 1 are total with event mode by the state of preceding anti-collision warning function and/or active brake miscellaneous function after selection
Line signal is sent, and is specifically intended for radar controller 4.Radar controller 4 is according to the bus signals correspondingly by preceding anti-collision warning
The state change of function and/or active brake miscellaneous function.Meanwhile radar controller 4 can be by preceding anti-collision warning function and/or master
State after dynamic brake assist function changes issues AVN hosts 1 with cycle bus signal, and human-computer interaction interface shown in Fig. 2 can root
It is highlighted " unlatching " or " closing " according to the status signal of preceding the anti-collision warning function and/or active brake miscellaneous function that receive
Button, when functional status change is unsuccessful, which can be auxiliary according to preceding anti-collision warning function and/or active brake
State before assist can change is highlighted " unlatching " or the Close button, to prompt the current function status of driver.Lift
For example, if driver clicks the Close button at preceding anti-collision warning function rear in human-computer interaction interface shown in Fig. 2,
Then preceding anti-collision warning function is in the state closed and is sent to radar controller with event mode bus signals by AVN hosts 1 first
4, radar controller 4 is according to the bus signals correspondingly by the state change of preceding anti-collision warning function（Anti-collision warning work(before closing
Energy）；Meanwhile radar controller 4 by preceding anti-collision warning function change after state（Closed mode）Issued with cycle bus signal
AVN hosts 1, the Close button at anti-collision warning function rear before human-computer interaction interface shown in Fig. 2 will be highlighted, are driven with prompting
Currently preceding anti-collision warning function is closed the person of sailing；And cause radar controller 4 to preceding collision if based on certain reason
The state change of warning function is unsuccessful, and human-computer interaction interface shown in Fig. 2 is then according to the state before the change of preceding anti-collision warning function
（Opening）, " unlatching " button at anti-collision warning function rear before being highlighted, to prompt driver's currently preceding anti-collision warning
Function is in opening.In addition, current anti-collision warning function is changed into opening, the finger being arranged on anticollision early warning switch
Show that lantern festival is lighted, when current anti-collision warning function change is in off state, the indicator light being arranged on anticollision early warning switch can be put out
Go out.
From the foregoing, it will be observed that the present embodiment by setting anticollision early warning to switch, on the one hand only needs simple operations to can trigger AVN
Host 1 shows human-computer interaction interface, and driver can be turned on and off button by clicking on directly in the human-computer interaction interface, come
It is corresponding be turned on and off before anti-collision warning function or active brake miscellaneous function, avoid it is existing entered layer by layer by multilevel menu grasp
Security risk caused by work；On the other hand, after selection is turned on and off corresponding function, AVN hosts 1 and radar controller 4
It is in communication with each other, the feedback of status after radar controller 4 can change function returns AVN hosts 1, and in foregoing human-computer interaction interface
It is highlighted, the current state of driver's function, more hommization can be prompted.
For adaptive cruise function, vehicle anticollision control system of the embodiment of the present invention accordingly further includes：
Adaptive cruise for being turned on and off adaptive cruise function switchs 5, with engine management system 6 by hard
Line connects, and engine management system 6 is connected with radar controller 4 by bus.
Adaptive cruise switch 5 includes five buttons：Main switch, speed subtract, and/setting, speed adds/recovers, cancels, spacing
Adjust, be connected by rigid line with engine management system 6, by judging that voltage swing determines which button is pressed, engine
Management system 6 sends adaptive cruise switching signal with bus signals.
Specifically, adaptive cruise switching signal is issued radar controller 4 by engine management system 6 with bus signals,
Radar controller 4 changes the cruising speed of adaptive cruise function, following distance, work according to adaptive cruise switching signal
State.
In addition, it is contemplated that existing adaptive cruise function is in shortcoming present on display, the present embodiment vehicle anticollision control
System processed further includes instrument 7, is connected with radar controller 4 by bus, for image format show adaptive cruise function,
Preceding anti-collision warning function, the status information of active brake miscellaneous function at work, to be prompted to driver, specifically include with
Under：
Adaptive cruise function：Following distance, continuously display with image format, driver occurs that big figure carries when adjusting
Show, it is automatic after a certain period of time to disappear；Cruising speed, it is continuously display with image format；Whether front has car, is continued with image format
It has been shown that, schemes prompting, automatic disappearance after a certain period of time when finding that the appearance of front truck moment is big；When driver sends takeover request, to scheme
Picture and form of sound combine prompting；Failure, it is when a failure occurs, continuously display with image format, while go out current moment in failure,
Certain time can be made a sound, ensures that driver chance failure such as occurs when using adaptive cruise function and can immediately know that,
And take necessary security measures；
Preceding anti-collision warning function：Divide two-stage alarm, the low dangerous alarm i.e. first order, which is alarmed, passes through the low frequency in instrument 5
Picture cues are flickered, represent that degree of danger is relatively low；High risk alarm be the second level alarm by instrument 5 high-frequency flicker
Image adds the mode of sound to prompt, and makes the alertness of driver maximum；When function is closed, instrument 5 of short duration can show that word carries
Show；During failure, display image and text prompt can be circulated in instrument 5；
Active brake miscellaneous function：When function is closed, instrument 5 can of short duration display text prompt；During failure, in instrument
Display image and text prompt can be circulated on table 5.
It is different from the status information display mode of existing adaptive cruise function, the present embodiment by it is a kind of it is safer,
Man-machine performance's better way prompts driver in instrument adaptive cruise working status, and display information is divided
Class, important information is continuously display, and other information of short duration display when driver operates or functional status changes, can make driver
The operating status of adaptive cruise function is grasped in real time, and mode is combined by sound, image when breaking down and prompts to drive
The person of sailing.
Based on the embodiment of the present invention one, the embodiment of the present invention two provides a kind of controlling party of vehicle anticollision control system
Method, including：
When anticollision early warning switch is operated, triggering AVN hosts are shown for anti-collision warning function before being turned on and off
And/or the human-computer interaction interface of active brake miscellaneous function；
According to the operating result in the human-computer interaction interface, anti-collision warning function and/or active system before being turned on and off
Dynamic auxiliary function.
Specifically, before the human-computer interaction interface is shown " unlatching " of anti-collision warning function and active brake miscellaneous function and
The Close button.
Operation principle and caused beneficial effect in relation to the present embodiment refer to the explanation of the embodiment of the present invention one,
Details are not described herein again.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
Enclose, therefore equivalent variations made according to the claims of the present invention, it is still within the scope of the present invention.
Claims (9)
- A kind of 1. vehicle anticollision control system, it is characterised in that including：AVN hosts；The preceding control panel being connected with the AVN hosts by bus；The anticollision early warning being connected with the preceding control panel by rigid line switchs, for triggering the AVN hosts when being operated Show for being turned on and off the human-computer interaction interface of preceding anti-collision warning function and/or active brake miscellaneous function, it is described man-machine Anti-collision warning function and " unlatching " of active brake miscellaneous function and the Close button before interactive interface is shown；The radar controller being connected respectively with the AVN hosts, the preceding control panel by bus, for according to described man-machine The operating result of interactive interface, anti-collision warning function and/or active brake miscellaneous function before being turned on and off；The AVN hosts are used to will click on the preceding anti-collision warning function and/or active system after " unlatching " or the Close button The state of dynamic auxiliary function issues the radar controller with event mode bus signals, and the radar controller is additionally operable to according to institute Event mode bus signals are stated correspondingly by preceding anti-collision warning function and/or the state change of active brake miscellaneous function.
- 2. vehicle anticollision control system according to claim 1, it is characterised in that the radar controller be additionally operable to by State after preceding anti-collision warning function and/or active brake miscellaneous function change issues the AVN hosts with cycle bus signal, The AVN hosts be additionally operable to according to the cycle bus signal is highlighted on the human-computer interaction interface " unlatching " or The Close button.
- 3. vehicle anticollision control system according to claim 2, it is characterised in that if the radar controller is to preceding The state change of anti-collision warning function and/or active brake miscellaneous function is unsuccessful, then the human-computer interaction interface is according to before touching Hit the state of warning function and/or active brake miscellaneous function before change and be highlighted " unlatching " or the Close button.
- 4. vehicle anticollision control system according to claim 1, it is characterised in that further include：Adaptive cruise for being turned on and off adaptive cruise function switchs, and is connected with engine management system by rigid line Connect, the engine management system is connected with the radar controller by bus.
- 5. vehicle anticollision control system according to claim 4, it is characterised in that the engine management system is used for Adaptive cruise switching signal is issued into the radar controller with bus signals, the radar controller is used for according to certainly Cruise switch signal is adapted to change the cruising speed of adaptive cruise function, following distance, working status.
- 6. vehicle anticollision control system according to claim 4, it is characterised in that further include：Instrument, is connected with the radar controller by bus, for showing adaptive cruise function, preceding collision with image format Warning function, the status information of active brake miscellaneous function at work.
- 7. vehicle anticollision control system according to claim 6, it is characterised in that the instrument is continued with image format Whether show the following distance, cruising speed, front of adaptive cruise function has the failure of car and appearance；To following distance When being adjusted or find display big figure when there is car in front, the big figure is automatic after a certain time to disappear；Breaking down When auditory tone cues is provided at the same time；When driver sends takeover request, prompted with image combination form of sound.
- 8. vehicle anticollision control system according to claim 6, it is characterised in that the instrument is to flicker low frequency figure The low dangerous alarm of anti-collision warning before image space formula carries out, with flicker high-frequency image add voice mode carry out before anti-collision warning High risk is alarmed；When preceding anti-collision warning function is closed, the of short duration display text prompt of instrument, in preceding anti-collision warning function During failure, the instrument circulation shows image and text prompt；When active brake miscellaneous function is closed, the instrument Of short duration display text prompt, when active brake miscellaneous function breaks down, the instrument circulation shows that image and word carry Show.
- 9. a kind of control method of such as claim 1-8 any one of them vehicle anticollision control systems, including：When anticollision early warning switch is operated triggering AVN hosts show for anti-collision warning function before being turned on and off and/or The human-computer interaction interface of active brake miscellaneous function, anti-collision warning function and active brake are auxiliary before the human-computer interaction interface is shown Assist can " unlatchings " and the Close button, will click on the preceding anti-collision warning function after " unlatching " or the Close button with/ Or the state of active brake miscellaneous function issues radar controller with event mode bus signals；Radar controller according to the operating result in the human-computer interaction interface, before being turned on and off anti-collision warning function and/or Active brake miscellaneous function, and according to the event mode bus signals correspondingly by preceding anti-collision warning function and/or active brake The state change of miscellaneous function.
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| 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 |
| JP7259356B2 (en) * | 2019-01-28 | 2023-04-18 | スズキ株式会社 | 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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| 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 |
| CN103692994A (en) * | 2013-11-13 | 2014-04-02 | 李铁葵 | Vehicle forward radar control method and forward radar system |
| CN204309675U (en) * | 2014-11-25 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | A kind of vehicle parking anti-collision control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1772322A3 (en) * | 2003-07-11 | 2007-05-16 | Toyota Jidosha Kabushiki Kaisha | Crash-safe vehicle control system |
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|---|---|---|---|---|
| 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 |
| CN103692994A (en) * | 2013-11-13 | 2014-04-02 | 李铁葵 | Vehicle forward radar control method and forward radar system |
| CN204309675U (en) * | 2014-11-25 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | A kind of vehicle parking anti-collision control device |
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