CN105984407A - Monitoring and warning device for condition behind vehicle - Google Patents
Monitoring and warning device for condition behind vehicle Download PDFInfo
- Publication number
- CN105984407A CN105984407A CN201510245383.3A CN201510245383A CN105984407A CN 105984407 A CN105984407 A CN 105984407A CN 201510245383 A CN201510245383 A CN 201510245383A CN 105984407 A CN105984407 A CN 105984407A
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- car
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- central control
- alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a monitoring and warning device for the condition behind a vehicle. The monitoring and warning device comprises an image collecting device and a central control device, wherein the image collecting device is installed at the tail of the vehicle and used for collecting an image of the condition behind the vehicle, and the central control device is used for determining the existence of a rear vehicle according to the image of the condition behind the vehicle from the image collecting device. The monitoring and warning device further comprises an alarm device. The central control device instructs the alarm device to give an alarm according to whether the distance between the vehicle and the rear vehicle is smaller than or equal to a preset threshold value under the current speed of the rear vehicle. According to the technical scheme, the image of the condition behind the vehicle is obtained through the image collecting device installed at the tail of the vehicle based on the image recognition technology, the existence and the speed of the rear vehicle are automatically recognized, and the condition behind the vehicle is monitored; besides, an alarm can be given according to the risk of rear-end collisions, and thus the risk of rear-end collisions can be lowered.
Description
Technical field
The present invention relates to a kind of field of vehicle safety, particularly after a kind of car, situation monitors and alarming device.
Background technology
Along with expanding economy, the quantity of vehicle continues to increase, and the quantity of car accident is also increasing.Wherein,
Most commonly seen accident is exactly " knocking into the back ".The reason causing " knocking into the back " accident essentially consists in rear car and front truck
Hypotelorism and the excessive velocities of rear car.The method reducing " knocking into the back " accident can be supervised exactly in time
Depending on the situation after car, and rear car driver is provided warning so that rear car driver can maintain safe distance and reduce
Speed.
Summary of the invention
For technical problem present in prior art, the present invention proposes situation monitoring device after a kind of car,
Including image collecting device, it is installed on the image of situation after tailstock collecting vehicle；And central control unit,
It determines the existence of rear car according to the image of situation after the car of image collecting device.
Situation monitoring device after car as above, wherein central control unit includes Car license recognition module, its
Identify the car plate in the image of situation after the car of image collecting device, determine the existence of rear car.
Situation monitoring device after car as above, wherein central control unit includes speed identification module, its
Size and location change according to the car plate in the image of situation after the continuous print car of image collecting device
And image collecting device is installed on the speed of position calculation rear car of the tailstock.
Situation monitoring device after car as above, wherein central control unit farther includes supplementary module,
Its wheel identified in the image of situation after the car of image collecting device or driver, determine rear car
Exist.
Situation monitoring device after car as above, wherein central control unit includes speed identification module, its
Size and location change according to the car plate in the image of situation after the continuous print car of image collecting device
Change with the size and location of wheel or driver and image collecting device is installed on the position meter of the tailstock
Calculate the speed of rear car.
Situation monitoring device after car as above, farther includes laser range finder, and it is connected to central authorities' control
Device processed.
Situation monitoring device after car as above, wherein image collecting device is connected further to driver's cabin
Display screen；Wherein when being in state of rolling backward, the video of situation after car is sent to drive by image collecting device
The display screen of room.
According to another aspect of the present invention, a kind of alarming device is proposed, including: arbitrary described car
Rear situation monitoring device；And alarm device；Wherein, central control unit is according to lower of current rear car speed
Whether car distance with the rear car sends alarm less than or equal to predetermined threshold value indicating alarm device.
Alarming device as above, wherein said alarm device includes:
Light warning part, under its current rear car speed, this car distance with the rear car is less than or equal to predetermined
Threshold value more than described threshold value 80% time send alarm by changing the luminescence of car light or color；
Word alarm portion, under its current rear car speed, this car distance with the rear car is less than or equal to predetermined
Threshold value 80% more than described threshold value 40% time send alarm by word；And
Audible alarm part, under current rear car speed, this car distance with the rear car is less than or equal to predetermined
Alarm is sent loudly by sound during threshold value 40%.
Alarming device as above, wherein central control unit and image collecting device are connected to vehicle-mounted recording
Instrument, wherein central control unit according to this car distance with the rear car under current rear car speed whether less than or
Equal to situation after predetermined threshold value startup Train-borne recorder record car.
Technical scheme is obtained by being arranged on the image collecting device of the tailstock by image recognition technology
Image after the car obtained, automatically identifies existence and the speed of rear car of rear car, monitors the situation after car；And
Alarm can be sent such that it is able to reduce the risk knocked into the back according to the risk that rear-end collision occurs.
Accompanying drawing explanation
Below, in conjunction with accompanying drawing, the preferred embodiment of the present invention will be described in more detail, wherein:
Fig. 1 is the structural representation of alarming device according to an embodiment of the invention；And
Fig. 2 is the schematic diagram that alarming device according to an embodiment of the invention sends alarm.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
In the following detailed description, may refer to as the application part for illustrating that the application's is specific
Each Figure of description of embodiment.In the accompanying drawings, similar reference describes substantially in different drawings
Upper similar assembly.Each specific embodiment of the application has carried out the most detailed description following so that
The those of ordinary skill possessing this area relevant knowledge and technology can implement the technical scheme of the application.Should
Understand, it is also possible to utilize other embodiments or embodiments herein is carried out structure, logic or electrically
Change.
It will be appreciated by those skilled in the art that if assembly of the invention does not include alarm device, then become
Situation monitoring device after independent car；If assembly of the invention includes alarm device, then become independent
Alarming device.In the embodiment of alarming device, unification is described herein, distinguishes the most in detail.
Fig. 1 is the structural representation of alarming device according to an embodiment of the invention.With reference to Fig. 1, alert
Showing device 100 includes central control unit 101, image collecting device 102 and alarm device 103；Wherein
Image collecting device 102 and alarm device 103 are connected respectively to central control unit 101.According to the present invention
An example, image collecting device 102 is typically mounted at the tailstock, for the figure of collection vehicle last case
Picture.According to an example of the present invention, image collecting device 102 continuous acquisition car at regular intervals
Image below, and send images to central control unit 101.Central control unit 101 is from each
Identification rear car in image, and from which further follow that the speed of the distance between rear car and this car and rear car, then
Judging under the speed of current rear car, whether this car distance with the rear car is less than or equal to predetermined threshold
Value；And whether in response to the distance between front car and rear car less than or equal to predetermined threshold value, central authorities control
Device 101 indicating alarm device 103 proposes alarm to driver or the rear car of this car.
Central control unit 101 can be implemented in the way of hardware or software and realize relevant with the present invention
Control function.Such as, central control unit 101 can include on processor and this processor run with
The software that the present invention is relevant, or include the hardware with firmware.Image collecting device 102 can be various
Go for the hardware unit of the solution of the present invention, include but not limited to various photographing unit, video camera, figure
As sensor etc..According to an example of the present invention, image collecting device 102 includes infrared or low-light mould
Formula, uses in night to facilitate.Alarm device 103 can also be various types of hardware unit and with
Its software coordinated, with word, sound, light, color or a combination thereof to driver or the driver of rear car
Warning is proposed.
Determine whether there is the risk that knocks into the back it is critical only that measure this car distance with the rear car and after
Car is relative to the speed of this car.In prior art exist use laser range finder mode judge this car with after
The mode of the spacing of car.Technical scheme can also use laser range finder as additional project.
Such as, as it is shown in figure 1, alarming device 100 can include laser ranging system 104, such as laser ranging
Instrument.The measurement of laser ranging system 104 has a highest precision, but but have cost high and reliability without
The problem that method ensures.If there is the geographical limit such as situation or bend that reflection is the best or position is the best in rear car
System, laser ranging system 104 may not play a role.This is also to utilize laser ranging system 104
Carry out a reason of spacing and vehicle speed measurement.Therefore, for the solution of the present invention, laser ranging fills
It is optional for putting 104.Similarly, after prior art there is also use expensive tachymeter measuring
Car is relative to the speed of this car.But, tachymeter reliability is the highest, and installation and maintenance are also compared
Trouble.Therefore, practice seldom uses.
In the case of even if there be no diastimeter and tachymeter, after the present invention is determined by image recognition technology
Distance between car and this car and relative velocity, thus estimate the probability of " knocking into the back " and send indicating alarm.
According to one embodiment of present invention, central control unit 101 is receiving from image collecting device 102
Consecutive image after, identify the rear car in image；And draw this car according to the change of rear car in consecutive image
With rear car distance and relative speed.For example, image collecting device 102 is spaced at a fixed time, example
Such as 1 second or 0.5 second or shorter time, this car of continuous acquisition multiple images below.Central control unit
101 receive the multiple image of continuous print, identify one or more rear car from each image.Then, according to
Rear car change in the picture determines the rear car distance apart from this car and the speed of rear car.In it follows that
Centre control device 101 determine this car distance with the rear car whether less than or equal to predetermined threshold value, and according to
This indicating alarm device 103 sends alarm.
The first problem that the present invention faces is how to identify rear car.Because type of vehicle is a lot, identification is got up
There is the highest difficulty.According to an example of the present invention, central control unit 101 includes Car license recognition
Module 110.Car license recognition module 110 is by identifying the car plate in the image that image collecting device 102 gathers
Identify rear car.Although the type of vehicle is a lot, but the car plate of all vehicles is all standard, therefore knows
Not rate is the highest.By technology such as image compensations, prior art has been able to accomplish from far distance it
Outward, the car plate of automobile is identified exactly.Further, in certain embodiments of the present invention, there is no
Need to identify completely the content of car plate.As long as identifying the existence of car plate, it becomes possible to after identifying exactly
Car.Further, image collecting device 102 can have wide-angle view, covers this car below the biggest
In the range of all of rear car.So, central control unit 101 just can identify multiple car plate simultaneously,
So that it is determined that the existence of multiple rear cars.
According to an example of the present invention, central processor can also include that supplementary module (does not shows in figure
Go out), use other technologies means individually or to be used in conjunction with Car license recognition module, preferably solve rear car
The problem identified.Specifically, other technological means of supplementary module includes: by identifying car in image
Take turns and/or by identifying that the modes such as the driver of rear car carry out the existence of rear car.According to an example of the present invention,
Such as the measurement result of the equipment such as laser range finder or vehicle mounted infrared device can also be with the knot of image recognition
Fruit combines and determines the existence of rear car.According to an example of the present invention, far away from it may happen that the peace that knocks into the back
Outside full distance, the central control unit 101 of the present invention just can identify the existence of rear car exactly.
Another problem that the present invention faces after identifying rear car, how to determine this car and rear car distance and
The speed of rear car.According to an example of the present invention, central control unit 101 includes speed identification module
111.Speed identification module 111 is on the basis of identify the car plate of rear car, according to car plate in the picture
The installation site of size and location and this car epigraph harvester 102 just can calculate this car exactly
Distance with the rear car.Owing to car plate is standard, i.e. by this car in consecutive image in single image
The change of distance with the rear car just can be easily calculated the rear car change relative to the distance of this car,
Thus draw relative velocity therebetween.According to an example of the present invention, due to the wheel of most of vehicles
Spacing about before 2.5-3 rice, speed identification module 111 by identify rear car in image wheel and
Spacing between wheel, it is also possible to estimate utilize same method estimate this car with the rear car away from
From.Similarly, by identifying that in image, driver can also estimate this car distance with the rear car.This
Sample can also estimate the rear car relative velocity relative to this car relatively accurately.A reality according to the present invention
Example, above-mentioned multiple method of estimation can be used in combination, to improve accuracy.According to an example of the present invention,
Such as the measurement result of the equipment such as laser range finder or vehicle mounted infrared device can also be with the knot of image recognition
Fruit combines and determines that rear car is relative to the distance of this car and relative velocity.
Central control unit farther includes warning decision-making module 112.Warning decision-making module 112 is according to knocking into the back
Risk determine that indicating alarm device 103 sends alarm.
According to one embodiment of present invention, the risk knocked into the back is estimated by safe distance.Such as, currently
After car is braked suddenly, rear car therewith braking and the unlikely distance bumping against front truck, i.e. safe distance.Hereinafter only use
Purpose in citing illustrates how to draw safe distance.
Table 1 is the reaction distance that under different speed, the differential responses time obtains.
Table 1
Table 2 is different coefficients of road adhesion and different speeds obtains different reaction distances.
Table 2
It is said that in general, time of driver's reaction is the 0.3-1 second, the braking time of brake is the 0.2-0.8 second.
Utilize the distance that table 1 can show that time of driver's reaction is the most corresponding with the braking time of brake again by two
Person is added the reaction distance that can draw rear car.And the braking distance after braking can be drawn by table 2.Will
The reaction distance of rear car and braking distance are added and just can draw the safe distance being actually needed.
According to an example of the present invention, if rear car is oversize vehicle, simple " distance+speed "
Judgment mode may be the most inaccurate.According to an example of the present invention, by identify the word in car plate and
The color of car plate judges the type of rear car.Then, when calculating safe distance, it is considered to the car weight of rear car and
Suitably extend required safe distance.Such as, if rear car is oversize vehicle, safe distance can extend
20%-50%, preferably 35%.The mode of this employing " rear car type+distance+speed ", can very great Cheng
Alarm accuracy is improved, it is ensured that traffic safety on degree.
Another common problem that existing alarm device exists is frequently to report to the police, and interferes.According to this
One embodiment of invention, warning decision-making module 112, according to the height of the risk that knocks into the back, uses multiple levels of alert
Mode indicating alarm device 103 proposes to report to the police.
Fig. 2 is that situation monitors and alarming device sends showing of alarm after car according to an embodiment of the invention
It is intended to.As in figure 2 it is shown, also with reference to Fig. 1, alarm device 103 includes that light warning part, word are reported to the police
Part and/or audible alarm part.The threshold value of different alarm portion correspondence different stages.According to the present invention
An embodiment, first order threshold value expresses possibility risky, light warning part change tailstock portion light or
The color of other light parts of person or light-emitting mode, point out rear car；Second level threshold value table is shown with risk, word
Alarm portion ejects LED display, uses text prompt rear car；Third level threshold value represents to be taked to arrange the most immediately
Execute and can cause danger, the big acoustic alarm of audible alarm part sound.
According to an example of the present invention, between this car actual range and safe distance with the rear car
Relation determine to determine the rank of threshold value.Such as, if this car actual range with the rear car and safety
Distance, it is not necessary to report to the police；If the actual range that this car is with the rear car safe distance 80% with safety away from
Between from, then show to exceed first order threshold value；If the actual range that this car is with the rear car is at safe distance
40% and the 80% of safe distance between, then show to exceed second level threshold value；If this car is with the rear car
Actual range less than safe distance 40%, then show to exceed third level threshold value.Those skilled in the art should
Working as understanding, above threshold level is only in the purpose of citing.Other mode can also be applied to this
In bright scheme.Thus, the type of alarm of the present invention had both improve the accuracy of warning, also will not be due to frequency
The prompting modes such as numerous use acousto-optic and disturb user.
According to an example of the present invention, in order to avoid judging difficult burden after having an accident, the figure of the present invention
As harvester 102 is connected to Train-borne recorder 105 automatically to record the situation after car.Such as, central
When centre control device 101 exceedes first order threshold value or second level threshold value or third level threshold value, automatically open
Motor-car flight recorder 105 records the image acquired in image collecting device 102 or video.
According to another example of the present invention, the image collecting device of the present invention can also be connected to driver's cabin
Use when display screen is for reversing.Such as, when central control unit 101 finds that vehicle is in state of rolling backward,
Then image collecting device is set in image pickup mode the display screen by the video stream of acquisition to driver's cabin
On, thus replace reverse image.
Above-described embodiment is used for illustrative purposes only, and is not limitation of the present invention, and relevant technology is led
The those of ordinary skill in territory, without departing from the present invention, it is also possible to make a variety of changes and become
Type, therefore, the technical scheme of all equivalents also should belong to category disclosed by the invention.
Claims (10)
1. a situation monitoring device after car, including:
Image collecting device, it is installed on the tailstock, the image of situation after collecting vehicle；And
Central control unit, it determines depositing of rear car according to the image of situation after the car of image collecting device
?.
Situation monitoring device after car the most according to claim 1, wherein central control unit includes car plate
Identification module, its car plate identified in the image of situation after the car of image collecting device, determine rear car
Exist.
Situation monitoring device after car the most according to claim 2, wherein central control unit includes speed
Identification module, it is according to the size of the car plate in the image of situation after the continuous print car of image collecting device
The speed of the position calculation rear car of the tailstock it is installed on change in location and image collecting device.
Situation monitoring device after car the most according to claim 2, wherein central control unit is wrapped further
Include supplementary module, its wheel identified in the image of situation after the car of image collecting device or driving
Member, determines the existence of rear car.
Situation monitoring device after car the most according to claim 4, wherein central control unit includes speed
Identification module, it is according to the size of the car plate in the image of situation after the continuous print car of image collecting device
Change with the size and location of change in location and wheel or driver and image collecting device is installed on car
The speed of the position calculation rear car of tail.
Situation monitoring device after car the most according to claim 1, farther includes laser range finder, its
It is connected to central control unit.
Situation monitoring device after car the most according to claim 1, wherein image collecting device connects further
Receive the display screen of driver's cabin；Wherein when being in state of rolling backward, image collecting device is by the regarding of situation after car
Take place frequently and deliver to the display screen of driver's cabin.
8. an alarming device, including:
Situation monitoring device after car as described in arbitrary in claim 1-7；And
Alarm device；
Wherein, whether central control unit is less than according to this car distance with the rear car under current rear car speed
Or send alarm equal to predetermined threshold value indicating alarm device.
Alarming device the most according to claim 8, wherein said alarm device includes:
Light warning part, under its current rear car speed, this car distance with the rear car is less than or equal to predetermined
Threshold value more than described threshold value 80% time send alarm by changing the luminescence of car light or color；
Word alarm portion, under its current rear car speed, this car distance with the rear car is less than or equal to predetermined
Threshold value 80% more than described threshold value 40% time send alarm by word；And
Audible alarm part, under current rear car speed, this car distance with the rear car is less than or equal to predetermined
Alarm is sent loudly by sound during threshold value 40%.
Alarming device the most according to claim 8, wherein central control unit and image collecting device
Being connected to Train-borne recorder, wherein central control unit is according to this car under current rear car speed with the rear car
Whether distance is less than or equal to situation after predetermined threshold value startup Train-borne recorder record car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245383.3A CN105984407B (en) | 2015-05-15 | 2015-05-15 | Situation monitoring and alarming device after a kind of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245383.3A CN105984407B (en) | 2015-05-15 | 2015-05-15 | Situation monitoring and alarming device after a kind of vehicle |
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| CN105984407A true CN105984407A (en) | 2016-10-05 |
| CN105984407B CN105984407B (en) | 2018-09-25 |
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| CN201510245383.3A Expired - Fee Related CN105984407B (en) | 2015-05-15 | 2015-05-15 | Situation monitoring and alarming device after a kind of vehicle |
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Cited By (9)
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| CN106371107A (en) * | 2016-10-11 | 2017-02-01 | 嘉兴普朗克光电科技有限公司 | Laser driving distance measurement system |
| CN106427777A (en) * | 2016-11-09 | 2017-02-22 | 山东国金汽车工程技术有限公司 | Automotive tail lamp automatic alarming device |
| CN107187384A (en) * | 2017-05-08 | 2017-09-22 | 王文婧 | A kind of automobile front-and-rear vehicle distance monitoring and warning system |
| CN107539210A (en) * | 2017-02-06 | 2018-01-05 | 昆山市苞蕾众创投资管理有限公司 | The anti-monitor display that knocks into the back |
| CN108621924A (en) * | 2018-02-08 | 2018-10-09 | 常州星宇车灯股份有限公司 | A kind of control system for rear light and its control method with prompt facility |
| CN108924499A (en) * | 2018-07-18 | 2018-11-30 | 上海小蚁科技有限公司 | Detection method and device, storage medium, the terminal of follow the bus exception |
| CN109204141A (en) * | 2018-09-19 | 2019-01-15 | 深圳市众鸿科技股份有限公司 | Method for early warning and device in vehicle travel process |
| CN110774980A (en) * | 2019-11-06 | 2020-02-11 | 南京酷沃智行科技有限公司 | Rear vehicle distance monitoring system and method during emergency braking of vehicle |
| CN112686209A (en) * | 2021-01-25 | 2021-04-20 | 深圳市艾为智能有限公司 | Vehicle rear blind area monitoring method based on wheel identification |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371107A (en) * | 2016-10-11 | 2017-02-01 | 嘉兴普朗克光电科技有限公司 | Laser driving distance measurement system |
| CN106427777A (en) * | 2016-11-09 | 2017-02-22 | 山东国金汽车工程技术有限公司 | Automotive tail lamp automatic alarming device |
| CN107539210A (en) * | 2017-02-06 | 2018-01-05 | 昆山市苞蕾众创投资管理有限公司 | The anti-monitor display that knocks into the back |
| CN107187384A (en) * | 2017-05-08 | 2017-09-22 | 王文婧 | A kind of automobile front-and-rear vehicle distance monitoring and warning system |
| CN107187384B (en) * | 2017-05-08 | 2018-08-03 | 王文婧 | A kind of automobile front-and-rear vehicle distance monitoring and warning system |
| CN108621924A (en) * | 2018-02-08 | 2018-10-09 | 常州星宇车灯股份有限公司 | A kind of control system for rear light and its control method with prompt facility |
| CN108924499A (en) * | 2018-07-18 | 2018-11-30 | 上海小蚁科技有限公司 | Detection method and device, storage medium, the terminal of follow the bus exception |
| CN109204141A (en) * | 2018-09-19 | 2019-01-15 | 深圳市众鸿科技股份有限公司 | Method for early warning and device in vehicle travel process |
| CN110774980A (en) * | 2019-11-06 | 2020-02-11 | 南京酷沃智行科技有限公司 | Rear vehicle distance monitoring system and method during emergency braking of vehicle |
| CN112686209A (en) * | 2021-01-25 | 2021-04-20 | 深圳市艾为智能有限公司 | Vehicle rear blind area monitoring method based on wheel identification |
| CN112686209B (en) * | 2021-01-25 | 2024-07-02 | 深圳市艾为智能有限公司 | Vehicle rear blind area monitoring method based on wheel identification |
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| CN105984407B (en) | 2018-09-25 |
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