CN106080591A - Automatic collision avoidance system alarm opens and closes control method, device and vehicle - Google Patents
Automatic collision avoidance system alarm opens and closes control method, device and vehicle Download PDFInfo
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- CN106080591A CN106080591A CN201610642934.4A CN201610642934A CN106080591A CN 106080591 A CN106080591 A CN 106080591A CN 201610642934 A CN201610642934 A CN 201610642934A CN 106080591 A CN106080591 A CN 106080591A
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- vehicle
- collision avoidance
- avoidance system
- automatic collision
- system alarm
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
-
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a kind of vehicle automatic collision avoidance system alarm and open and close control method, device and vehicle, described control method includes: judge the traffic residing for vehicle, obtains a judged result；When described judged result shows that vehicle is in traffic congestion section, close the automatic collision avoidance system alarm song of vehicle；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision avoidance system alarm of unlocking vehicle.Pass through technical scheme, it is possible to by the traffic residing for vehicle is judged, automatically judge to be turned on and off automatic collision avoidance system alarm song, it is to avoid driver's manual operation, be greatly improved riding experience, improve drive safety.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly relate to a kind of vehicle automatic collision avoidance system alarm and open and close controlling party
Method, device and employ the vehicle of this automatic collision avoidance system alarm opening/shutting controller.
Background technology
Along with the pay attention to day by day of traffic safety and active safety technologies high speed development, increasing vehicle are equipped with by society
Automatic collision avoidance system.Vehicle by signal acquiring systems such as the radar, laser or the infrared lamps that are arranged on around headstock and vehicle body,
Have found that it is likely that the obstructing objects with collision scenario, such as other vehicle, pedestrian etc., and by arranging that speed and driver take
Execute, it is judged that current distance whether safety, the most then send alarm and reminding driver such as spacing distance.
In urban congestion jogging section, spacing is little, vehicle low running speed, but still has speed, and driver must often step on braking and step on
Plate is to adjust at any time and front following distance；In some section, it is normal that motor vehicles and bicycle, pedestrian mix row, bicycle and pedestrian
The nearest with vehicle distances.Now, automatic collision avoidance system is easily judged to that safe distance causes alarm not and persistently, in order to keep away
Exempt from driver is caused severe jamming, need manual-lock automatic collision avoidance system alarm, have impact on the riding experience of driver.Certainly
After automatic collsion avoidance system alarm is closed, if driver reopens automatic collision the most in time when vehicle travels best friend unobstructed forehearth section
System, will be unfavorable for drive safety.Additionally, automatic collision avoidance system alarm open-close on-off must be arranged in driver can contact range
In, occupy arrangement space.
Summary of the invention
The present invention relates to a kind of vehicle automatic collision avoidance system alarm open and close control method, device and use this automatic collision system
The vehicle of system alarm opening/shutting controller, it is possible to by the traffic residing for vehicle is judged, automatically judge to open or
Close automatic collision avoidance system, it is to avoid driver's manual operation, be greatly improved riding experience, improve drive safety.
Technical scheme provided by the present invention is as follows:
A kind of vehicle automatic collision avoidance system alarm opens and closes control method, and described vehicle automatic collision avoidance system alarm opens and closes and controls
Method includes:
Traffic residing for vehicle is judged, obtains a judged result；
When described judged result shows that vehicle is in traffic congestion section, close the automatic collision avoidance system alarm of vehicle
Sound；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision avoidance system alarm song of unlocking vehicle.
Use such scheme, by the traffic residing for vehicle is judged, it is determined that vehicle is in traffic congestion road
Section, or the section that has a good transport and communication network, be automatically switched off or unlocking vehicle automatic collision avoidance system alarm, it is to avoid driver's manual operation, optimizes
The riding experience of driver, improves drive safety.The automatic open close design of vehicle automatic collision avoidance system alarm, is conducive to
The intelligent development of vehicle.
Further, described judging the traffic residing for vehicle, the step obtaining a judged result includes:
The travel speed of detection vehicle, when the travel speed of described vehicle is more than first threshold, it is judged that at described vehicle
In the section that has a good transport and communication network.
Further, described judging the traffic residing for vehicle, the step obtaining a judged result includes:
Detection vehicle travel speed, described vehicle travel speed more than 0 less than first threshold time, detection vehicle with
The distance of front truck；
When the distance of described vehicle with front truck is more than setting time threshold less than the time of Second Threshold, detection vehicle
Gear；
When described automobile gear level is one grade, the engine speed of detection vehicle；
When described engine speed is less than three threshold values, it is judged that described vehicle is in traffic congestion section.
Further, the travel speed of detection vehicle, when the travel speed of described vehicle is 0, close the automatic of vehicle
CAS alarm song.
Further, described vehicle uses laser range sensor detection with the distance of front truck.
The present invention also provides for a kind of vehicle automatic collision avoidance system alarm opening/shutting controller, described vehicle automatic collision avoidance system
Alarm opening/shutting controller includes:
Detection module, for judging the traffic residing for vehicle, obtains a judged result；
Processing module, for when described judged result shows that vehicle is in traffic congestion section, closes the automatic of vehicle
CAS alarm song；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision system of unlocking vehicle
System alarm song.
Using such scheme, the traffic residing for vehicle is judged by detection module, show that vehicle is in traveling smooth
Forehearth section or the judged result in traffic congestion stage；Processing module according to the judged result of detection module, perform vehicle from
Automatic collsion avoidance system alarm automatically turns on or closes, it is to avoid driver manual operation.Use such scheme, be greatly improved and drive
The driving experience of the person of sailing, improves drive safety.
Further, described detection module is specifically for detecting the travel speed of vehicle, in the travel speed of described vehicle
During more than first threshold, it is judged that described vehicle is in the section that has a good transport and communication network.
Further, described detection module is specifically for detecting the travel speed of vehicle, in the travel speed of described vehicle
During more than 0 less than first threshold, detection vehicle and the distance of front truck；Distance at described vehicle with front truck is less than Second Threshold
When time is more than three threshold values, the gear of detection vehicle；When the gear of described vehicle is one grade, the electromotor of detection vehicle turns
Speed；When described engine speed is less than three threshold values, it is judged that described vehicle is in traffic congestion section.
Further, described detection module is specifically for detecting the travel speed of vehicle, in the travel speed of described vehicle
When being 0, close the automatic collision avoidance system alarm song of vehicle.
Further, described detection module uses the distance of laser range sensor detection vehicle and front truck.
The present invention also provides for a kind of vehicle, it is characterised in that include that vehicle automatic collision avoidance system alarm as above is opened
Close control device.
What the present invention was brought has the beneficial effect that:
Vehicle automatic collision avoidance system alarm provided by the present invention opens and closes control method, by the traffic shape residing for vehicle
Condition judges, it is determined that vehicle is in traffic congestion section and still travels unimpeded section, is automatically switched off or unlocking vehicle is prevented automatically
Hit system alarm, it is to avoid driver's manual operation, be greatly improved the riding experience of driver, improve drive safety.
Accompanying drawing explanation
Fig. 1 represents that vehicle automatic collision avoidance system alarm of the present invention opens and closes the schematic flow sheet of control method；
Fig. 2 represents that vehicle automatic collision avoidance system alarm opens and closes the schematic flow sheet of control method；
Fig. 3 represents the structural representation of vehicle automatic collision avoidance system alarm opening/shutting controller.
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 embodiment of the present invention
Accompanying drawing, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this
Bright a part of embodiment rather than whole embodiments.Based on described embodiments of the invention, ordinary skill
The every other embodiment that personnel are obtained, broadly falls into the scope of protection of the invention.
Vehicle automatic collision avoidance system alarm provided by the present invention opens and closes control method, by the traffic shape residing for vehicle
Condition judges, and closes or the automatic collision avoidance system alarm song of unlocking vehicle according to judged result.Avoid driver's hands
Dynamic operation, optimizes the riding experience of driver, improves drive safety.
As it is shown in figure 1, the present invention provides a kind of vehicle automatic collision avoidance system alarm to open and close control method, including walking as follows
Rapid:
S1, the traffic residing for vehicle is judged, obtain a judged result；
S2, when described judged result shows that vehicle is in traffic congestion section, the automatic collision avoidance system closing vehicle is alert
Report sound；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision avoidance system alarm song of unlocking vehicle.
The embodiment of the present invention is by judging the traffic residing for vehicle, it is judged that traffic residing for vehicle, is
Traffic congestion section or the section that has a good transport and communication network, and then be automatically switched off or unlocking vehicle automatic collision avoidance system alarm, decrease and drive
The process of the person's of sailing manual operation, is greatly improved the riding experience of driver, improves drive safety.
Fig. 2 is that in the present invention, the warning of vehicle automatic collision avoidance system opens and closes control method flow chart, including:
Travel speed v of detection vehicle, the travel speed at vehicle is more than first threshold vTTime, it is judged that vehicle is in traffic
Unimpeded section, opens automatic collision avoidance system alarm song.
Travel speed v of detection vehicle, the travel speed at described vehicle is more than 0 and is not more than first threshold vTTime, detection
Vehicle and distance s of front truck；Distance s at vehicle Yu front truck is not more than Second Threshold sTTime t less than set time threshold T
Time, it is judged that vehicle is in the section that has a good transport and communication network, and opens automatic collision avoidance system alarm song.
Travel speed v of detection vehicle, the travel speed at described vehicle is more than 0 less than first threshold vTTime, detect car
With distance s of front truck；Distance s at vehicle with front truck meets no more than Second Threshold sTTime t not less than the setting time
During threshold value T, the gear of detection vehicle；The gear of vehicle is not when one grade, it is judged that vehicle is in the section that has a good transport and communication network, and opens automatically
CAS alarm song.
Travel speed v of detection vehicle, the travel speed at described vehicle is more than 0 less than first threshold vTTime, detect car
With distance s of front truck；Distance s at vehicle with front truck meets no more than Second Threshold sTTime t not less than the setting time
During threshold value T, the gear of detection vehicle；Automobile gear level, when one grade, detects engine speed rpm of vehicle；Engine speed rpm
More than the 3rd threshold value rpmTTime, it is judged that vehicle is in the section that has a good transport and communication network, and opens automatic collision avoidance system alarm song.
Travel speed v of detection vehicle, the travel speed at described vehicle is more than 0 less than first threshold vTTime, detect car
With distance s of front truck；Distance s at vehicle with front truck meets no more than Second Threshold sTTime t not less than the setting time
During threshold value T, the gear of detection vehicle；Automobile gear level, when one grade, detects engine speed rpm of vehicle；At described electromotor
Rotating speed rpm is not more than the 3rd threshold value rpmTTime, it is judged that described vehicle is in traffic congestion section, closes automatic collision avoidance system alarm
Sound.
Travel speed v of detection module detection vehicle, when travel speed v of vehicle is 0, the electromotor of detection vehicle turns
Speed rpm, when described engine speed rpm is 0, closes the automatic collision avoidance system alarm song of vehicle.
The embodiment of the present invention, by detecting relevant parameter in vehicle travel process, specifically includes that vehicle travels speed
In degree, setting time, vehicle is combined setting threshold value etc. with gear and engine speed residing for leading vehicle distance, vehicle, in conjunction with setting car
Threshold value, it is judged that vehicle is in traffic congestion section or travels the unimpeded stage, so be automatically switched off or unlocking vehicle from
Dynamic collision avoidance system alarm.Can avoid the erroneous judgement of vehicle automatic collision avoidance system and continuous alarm or when travelling unimpeded without the most anti-
Hit system alarm, reduce and driver is interfered, ensure the traffic safety of normal driving process.
Meanwhile, vehicle is carried out many relevant combined factors and judges, automatic collision avoidance system alarm can be avoided to turn off or on
Maloperation, ensures driver's riding experience.
Further, vehicle uses laser range sensor detection with the distance of front truck.
Using such scheme, speed is fast, precision is high, range is big and it is optical, electrical dry to resist to use laser range sensor to have
Disturb the advantages such as ability is strong.
The embodiment of the present invention additionally provides a kind of vehicle automatic collision avoidance system alarm opening/shutting controller, as it is shown on figure 3, institute
State control device to include:
Detection module 21, for judging the traffic residing for vehicle, obtains a judged result；
Processing module 22, is used for when described judged result shows that vehicle is in traffic congestion section, closes vehicle oneself
Automatic collsion avoidance system alarm song；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision of unlocking vehicle
System alarm sound.
The embodiment of the present invention eliminates the hand push button of tradition automatic collision avoidance system, and the cloth increasing Car design is empty
Between.
The present invention uses detection module to judge the traffic residing for vehicle, obtains vehicle and is in the unimpeded road of traveling
Section or the judged result in traffic congestion stage；Processing module, according to the judged result of detection module, performs the most anti-of vehicle
Hitting system alarm to automatically turn on or close, control process avoids the manual operation of driver, is greatly improved driving of driver
Sail experience, improve drive safety.
Further, detection module is specifically for detecting the travel speed of vehicle, and the travel speed at vehicle is more than first
During threshold value, it is judged that vehicle is in the section that has a good transport and communication network.
Further, detection module is specifically for detecting the travel speed of vehicle, and the travel speed at described vehicle is more than 0
When being not more than first threshold, detection vehicle and the distance of front truck；Distance at vehicle Yu front truck is not more than the time of Second Threshold
Less than when setting time threshold, it is judged that vehicle is in the section that has a good transport and communication network, processing module opens automatic collision avoidance system alarm song.
Further, detection module is specifically for detecting the travel speed of vehicle, and the travel speed at described vehicle is more than 0
During less than first threshold, detection vehicle and the distance of front truck；Distance at vehicle Yu front truck meet no more than Second Threshold time
Between not less than set time threshold time, detection vehicle gear；The gear of vehicle is not when one grade, it is judged that it is smooth that vehicle is in traffic
Forehearth section, processing module opens automatic collision avoidance system alarm song.
Further, detection module is specifically for detecting the travel speed of vehicle, and the travel speed at described vehicle is more than 0
During less than first threshold, detection vehicle and the distance of front truck；Distance at vehicle Yu front truck meet no more than Second Threshold time
Between not less than set time threshold time, detection vehicle gear；Automobile gear level, when one grade, detects the engine speed of vehicle；
When engine speed is more than three threshold values, it is judged that vehicle is in the section that has a good transport and communication network, it is alert that processing module opens automatic collision avoidance system
Report sound.
Further, detection module is specifically for detecting the travel speed of vehicle, and the travel speed at described vehicle is more than 0
During less than first threshold, detection vehicle and the distance of front truck；Distance at vehicle Yu front truck meet no more than Second Threshold time
Between not less than set time threshold time, detection vehicle gear；Automobile gear level, when one grade, detects the engine speed of vehicle；
When described engine speed is not more than three threshold values, it is judged that described vehicle is in traffic congestion section, processing module is closed certainly
Automatic collsion avoidance system alarm song.
Further, detection module is specifically for detecting the travel speed of vehicle, when the travel speed of vehicle is 0, closes
Close the automatic collision avoidance system alarm song of vehicle.
Use such scheme, the detection module detection to the relevant parameter in vehicle travel process, travel speed including vehicle
Vehicle and leading vehicle distance, automobile gear level and engine speed etc. in degree, setting time.Threshold value, detection module is set in conjunction with vehicle
Judge that vehicle is in traffic congestion section or travels the unimpeded stage.According to detection module judged result, processing module is automatic
Close or unlocking vehicle automatic anticollision system alarm.Avoid vehicle automatic collision avoidance system to judge by accident and continuous alarm or row
Without automatic collision avoidance system alarm when sailing unimpeded, decrease driver and participate in, reduce the interference to driver, ensure normal driving mistake
The traffic safety of journey.
Meanwhile, using such scheme, vehicle carries out multi-factor comprehensive judgement, it is to avoid automatic collision avoidance system alarm close or
Open maloperation, ensure driver's riding experience.
Further, detection module uses the distance of laser range sensor detection vehicle and front truck.
In each method embodiment of the present invention, the sequence number of each step can not be used for limiting the sequencing of each step, right
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, the priority of each step is changed also at this
Within the protection domain of invention.
It is above the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as this
The protection domain of invention.
Claims (11)
1. a vehicle automatic collision avoidance system alarm opens and closes control method, it is characterised in that described vehicle automatic collision avoidance system is alert
Report opens and closes control method and includes:
Traffic residing for vehicle is judged, obtains a judged result；
When described judged result shows that vehicle is in traffic congestion section, close the automatic collision avoidance system alarm song of vehicle；?
Described judged result shows that vehicle is in when having a good transport and communication network section, the automatic collision avoidance system alarm song of unlocking vehicle.
Vehicle automatic collision avoidance system alarm the most according to claim 1 opens and closes control method, it is characterised in that
Described judging the traffic residing for vehicle, the step obtaining a judged result includes:
The travel speed of detection vehicle, when the travel speed of described vehicle is more than first threshold, it is judged that described vehicle is in friendship
Unobstructed forehearth section.
Vehicle automatic collision avoidance system alarm the most according to claim 1 opens and closes control method, it is characterised in that
Described judging the traffic residing for vehicle, the step obtaining a judged result includes:
The travel speed of detection vehicle, when the travel speed of described vehicle is not more than first threshold more than 0, detection vehicle is with front
The distance of car；
Distance at described vehicle Yu front truck is not more than time of Second Threshold not less than when setting time threshold, detects vehicle shelves
Position；
Described automobile gear level at one grade time, detection vehicle engine speed；
When described engine speed is not more than three threshold values, it is judged that described vehicle is in traffic congestion section.
Vehicle automatic collision avoidance system alarm the most according to claim 1 opens and closes control method, it is characterised in that
Also include:
The travel speed of detection vehicle, when the travel speed of described vehicle is 0, closes the automatic collision avoidance system alarm of vehicle.
Vehicle automatic collision avoidance system alarm the most according to claim 3 opens and closes control method, it is characterised in that described vehicle
Laser range sensor detection is used with the distance of front truck.
6. a vehicle automatic collision avoidance system alarm opening/shutting controller, it is characterised in that described vehicle automatic collision avoidance system is alert
Report opening/shutting controller includes:
Detection module, for judging the traffic residing for vehicle, obtains a judged result；
Processing module, for when described judged result shows that vehicle is in traffic congestion section, closes the automatic collision of vehicle
System alarm sound；Described judged result show vehicle be in have a good transport and communication network section time, the automatic collision avoidance system of unlocking vehicle is alert
Report sound.
Vehicle automatic collision avoidance system alarm opening/shutting controller the most according to claim 6, it is characterised in that
Described detection module is specifically for detecting the travel speed of vehicle, and the travel speed at described vehicle is more than first threshold
Time, it is judged that described vehicle is in the section that has a good transport and communication network.
Vehicle automatic collision avoidance system alarm opening/shutting controller the most according to claim 6, it is characterised in that
Described detection module, specifically for detecting the travel speed of vehicle, is not more than the in the travel speed of described vehicle more than 0
During one threshold value, detection vehicle and the distance of front truck；
Distance at described vehicle Yu front truck is not more than time of Second Threshold not less than when setting time threshold, detects vehicle shelves
Position；
Automobile gear level, at one grade, detects the engine speed of vehicle；
When described engine speed is not more than three threshold values, it is judged that described vehicle is in traffic congestion section.
Vehicle automatic collision avoidance system alarm opening/shutting controller the most according to claim 6, it is characterised in that
Described detection module is specifically for detecting the travel speed of vehicle, when the travel speed of described vehicle is 0, closes vehicle
Automatic collision avoidance system alarm song.
Vehicle automatic collision avoidance system alarm opening/shutting controller the most according to claim 8, it is characterised in that
Described detection module uses the distance of laser range sensor detection vehicle and front truck.
11. 1 kinds of vehicles, it is characterised in that include that the vehicle automatic collision avoidance system as described in any one of claim 6 to 10 is alert
Report opening/shutting controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610642934.4A CN106080591B (en) | 2016-08-08 | 2016-08-08 | Automatic collision avoidance system alarm opens and closes control method, device and vehicle |
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| CN201610642934.4A CN106080591B (en) | 2016-08-08 | 2016-08-08 | Automatic collision avoidance system alarm opens and closes control method, device and vehicle |
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| CN106080591B CN106080591B (en) | 2019-09-03 |
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| CN108510776A (en) * | 2018-05-24 | 2018-09-07 | 深圳市华慧品牌管理有限公司 | Road congestion prediction technique based on automobile data recorder and device |
| CN108734960A (en) * | 2018-05-23 | 2018-11-02 | 深圳市华慧品牌管理有限公司 | Road congestion prediction technique and its device |
| CN110816540A (en) * | 2019-08-01 | 2020-02-21 | 中国第一汽车股份有限公司 | Traffic jam determining method, device and system and vehicle |
| CN112622847A (en) * | 2020-12-28 | 2021-04-09 | 重庆工商大学 | Automatic parking control method, device and equipment and readable storage medium |
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| CN112622847B (en) * | 2020-12-28 | 2022-01-28 | 重庆工商大学 | Automatic parking control method, device and equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106080591B (en) | 2019-09-03 |
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