CN106240446A - Indicator given precedence to by motor vehicles - Google Patents
Indicator given precedence to by motor vehicles Download PDFInfo
- Publication number
- CN106240446A CN106240446A CN201610877889.0A CN201610877889A CN106240446A CN 106240446 A CN106240446 A CN 106240446A CN 201610877889 A CN201610877889 A CN 201610877889A CN 106240446 A CN106240446 A CN 106240446A
- Authority
- CN
- China
- Prior art keywords
- indicator
- controller
- motor vehicles
- precedence
- comity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/549—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for expressing greetings, gratitude or emotions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
Abstract
Indicator given precedence to by motor vehicles of the present invention, refers to a kind of pedestrian or bicycle safety indicator, the most at the parting of the ways or the pedestrian crossing, gives precedence to indicator and automatically reminds pedestrian or bicycle with acoustooptic form car is outer.Comprising controller, indicator, wireless communication module and power module, wireless communication module is installed in the controller；Controller is connected with motor vehicles OBD system i.e. onboard diagnostic system, and the acceleration or deceleration information of motor vehicles is sent to controller by motor vehicles OBD system, and controller is by being analyzed the speed received, deceleration, it is thus achieved that the driving intention of driver；The power supply of controller uses the power supply of motor vehicles；Indicator is connected with power module, it is thus achieved that the required electric energy of work；Being connected by wireless communication module between indicator and controller, comity information triggering signal is sent to indicator by wireless communication module by controller, and indicator carries out image and shows and auditory tone cues.
Description
Technical field
Indicator given precedence to by motor vehicles of the present invention, refers to a kind of pedestrian or bicycle safety indicator, especially exists
Crossroad or the pedestrian crossing, when automobile driver makes comity behavior, give precedence to indicator automatically outer with acousto-optic shape at car
Formula reminds pedestrian or bicycle, and automobile driver is given precedence to, please the relieved car external indicator passed through.
Background technology
Along with motor vehicles is at improving constantly of recoverable amount of China and deepening constantly of socialism key values, motor vehicles
Driver actively gives precedence to pedestrian and non motorized vehicle is just becoming a kind of civilization virtue.
But according to the report in Ningbo evening paper on July 16th, 2016, the most previous moon, traffic police has outputed nearly 3000 motor vehicles
Penalty note at the infringement of the class's of comity horse line.According to The Beijing News on July 15th, 2016, Yueqing City, Wenzhou is motor-driven in order to advocate
Pedestrian given precedence to by car, takes commerial vehicle driver and actively gives precedence to pedestrian and can obtain 100 yuan every time, but effect causes anxiety.For China
The vehicle guaranteeding organic quantity 2.79 hundred million at 2015 ends compares, and the quantity of news report is minority after all, and in fact major part driver exists
Crossing and the pedestrian crossing can actively give precedence to pedestrian and non motorized vehicle.But owing to minority automobile driver does not give precedence to depositing of behavior
, the motive vehicle meeting making pedestrian and non motorized vehicle driver sail in the unpredictable distant place in crossing or the pedestrian crossing is given precedence to or straight
Connect and quickly cross, thus there is the phenomenon hovered that hesitates at crossing.Meanwhile, automobile driver may be unexpected by pedestrian or
Bicycle can stop in roadside or directly middle mobile toward road.Above-mentioned two kinds of phenomenons all can cause both sides' communication disorders,
Finally make road traffic flow decline, more seriously even can cause vehicle accident.
Summary of the invention
It is an object of the invention to provide a kind of motor vehicles to give precedence to indicator for above-mentioned weak point, solve existing motor-driven
Communication disorders between car driver and bicycle driver and pedestrian, by dividing the driving intention of automobile driver
Analysis, passes to pedestrian or bicycle driver driving intention by sound, pictorial form, drives for pedestrian and non motorized vehicle
Member carries out decision-making, thus improves traffic flow, prior raising traffic safety.
Motor vehicles of the present invention is given precedence to indicator and is taked techniques below scheme to realize:
Motor vehicles is given precedence to indicator and is comprised controller, indicator, wireless communication module and power module, and wireless communication module is installed
In the controller；Controller is connected with motor vehicles OBD system i.e. onboard diagnostic system, motor vehicles OBD system adding motor vehicles
Speed or deceleration are sent to controller, and controller is by being analyzed the speed received, deceleration, it is thus achieved that driver's
Driving intention；The power supply of controller uses the power supply of motor vehicles；Indicator is connected with power module, it is thus achieved that the required electric energy of work；
Being connected by wireless communication module between indicator and controller, comity information is triggered letter by wireless communication module by controller
Number being sent to indicator, indicator carries out image and shows and auditory tone cues.
Described power module uses solaode and rechargeable battery composition, can be continuously the electricity that indicator provides enough
Energy.
Described wireless communication module uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
Described controller uses commercially available CC2530 chip, can meet system processing power requirement, and have low-power consumption, from
The functions such as networking radio communication.
Described indicator includes giving precedence to image indicator and giving precedence to sound indicator；Give precedence to image indicator and include wireless controlled
Molding block, backboard, panel, image instruction power module and image wireless communication module, wireless control module uses and controller
In the CC2530 chip that matches of wireless communication module；Panel is fastened on backboard；Image instruction power module is arranged on gift
Allow image indicator side；Equipped with LED on backboard, panel is provided with comity prompting pattern or word；During use, give precedence to
Image indicator is arranged on the front windshield in motor vehicles or anterior conspicuous position in other cars；The word given precedence to and pattern
Directly can be replaced by extraction on panel printing figuratum transparent material according to consumer taste.
Described image wireless communication module uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
Give precedence to sound indicator and be arranged on engine bin front portion, including acoustic wireless communication module, sound wireless controlled molding
Block and miniature active audio amplifier, sound wireless control module uses the CC2530 core matched with the wireless communication module in controller
Sheet；Give precedence to sound indicator directly to be powered by motor vehicles OBD system or storage battery, give precedence to sound indicator and pass through acoustic wireless communication
Module receives the comity of controller and triggers signal, and sends auditory tone cues by miniature active audio amplifier.
The volume switch of comity sound indicator and volume are by being connected on the controller of motor vehicles OBD system
Sound presses key control, is connected to the controller adjustment state according to sound button of motor vehicles OBD system, directly by with comity
The ZIGBEE wireless network of sound indicator composition carries out the transmission of volume status data, and described volume status data include volume
On off state and the size information of volume；Give precedence to sound indicator and receive after the volume status data of controller, directly
Connect the CC2530 chip controls active audio amplifier given precedence on auditory tone cues device and send sound comity prompting.
Described acoustic wireless communication module uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
The comity reminding method of indicator given precedence to by motor vehicles, comprises the steps:
1) controller obtains system CAN bus data by motor vehicles OBD system；
2) the system CAN bus data described in step 1) is decoded by controller, it is thus achieved that the speed of motor vehicles and brake signal；
3) controller is to step 2) described in GES and brake signal be analyzed, and compare with preset signals；As
Fruit meets this preset signals condition, then be the comity information of driver, enters step 4)；
4) when controller detects preset signals, then automobile driver has the intention of comity, and comity information is touched by controller
Signal and be sent to give precedence to image indicator and give precedence to sound indicator by wireless communication module；
5), after giving precedence to the comity information triggering signal that image indicator receives described in step 4), the LED on backboard, gift are opened
The prompting pattern of the comity in image indicator or word is allowed to be illuminated；Give precedence to sound indicator and receive the comity described in step 4)
After information triggers signal and volume status data, carry out the sound production prompt of corresponding state.
Described system CAN bus data is the data that engine computer transmits.
The default of described preset signals is when speed is less than 50KM/h, gently touches on the brake 3 times, the most persistently deposit in 3 seconds
At brake signal, if meeting this preset signals condition, then it is the comity signal of driver.
The present invention is reasonable in design, simple in construction, easy to use, by gathering the brake signal of automobile driver, goes forward side by side
Row is analyzed, and can realize the communication with pedestrian and non motorized vehicle driving intention, has preferably society and economic benefit, after on probation
Receive the consistent favorable comment of traffic police, pedestrian and non motorized vehicle driver, be suitable for promoting the use of.
Accompanying drawing explanation
Below with reference to accompanying drawing, the invention will be further described:
Fig. 1 is the system architecture diagram that indicator given precedence to by motor vehicles of the present invention；
Fig. 2 be motor vehicles of the present invention give precedence to indicator be embodied as illustration.
In figure: 1, controller, 2, wireless communication module, 3, give precedence to sound indicator, 3-1, active audio amplifier, 4, give precedence to image
Indicator, 4-1, comity prompting pattern or word.
Detailed description of the invention
Referring to the drawings 1, motor vehicles is given precedence to indicator and is comprised controller 1, indicator, wireless communication module 2 and power module,
Controller 1 is connected with motor vehicles OBD system i.e. onboard diagnostic system, and the acceleration or deceleration of motor vehicles is believed by motor vehicles OBD system
Breath is sent to controller 1, and controller 1 is by being analyzed the speed received, deceleration, it is thus achieved that the driving meaning of driver
Figure；The power supply of controller 1 uses the power supply of motor vehicles；Indicator is connected with power module, it is thus achieved that the required electric energy of work；Indicator
And being connected by wireless communication module 2 between controller 1, comity information is triggered signal by wireless communication module 2 by controller 1
Being sent to indicator, indicator carries out image and shows and auditory tone cues.
Described power module uses solaode and rechargeable battery composition, can be continuously the electricity that indicator provides enough
Energy.
Described wireless communication module 2 uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
Described controller 1 uses commercially available CC2530 chip, can meet system processing power requirement, and have low-power consumption,
The functions such as MANET radio communication.
Described indicator includes giving precedence to image indicator 4 and giving precedence to sound indicator 3；Give precedence to image indicator 4 and include nothing
Line traffic control module, backboard, panel, image instruction power module and image wireless communication module, wireless control module uses and control
The CC2530 chip that wireless communication module 2 in device 1 processed matches；Panel is fastened on backboard；Image instruction power module peace
It is contained in comity image indicator 4 side；Equipped with LED on backboard, panel is provided with comity prompting pattern or word 4-1；
During use, give precedence to image indicator 4 and be arranged on the front windshield in motor vehicles or anterior conspicuous position in other cars；Give precedence to
Word and pattern directly can be replaced by extraction on panel printing figuratum transparent material according to consumer taste.
Described image wireless communication module uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
Give precedence to sound indicator 3 and be arranged on engine bin front portion, including acoustic wireless communication module, sound wireless controlled molding
Block and miniature active audio amplifier 3-1, the employing of sound wireless control module and the wireless communication module 2 in controller 1 match
CC2530 chip；Give precedence to sound indicator 3 directly to be powered by motor vehicles OBD system or storage battery, give precedence to sound indicator 3 and pass through sound
Sound wireless communication module receives the comity of controller and triggers signal, and sends auditory tone cues by miniature active audio amplifier 3-1.
The volume switch of comity sound indicator 3 and volume are by being connected on the controller 1 of motor vehicles OBD system
Sound by key control, be connected to the controller 1 adjustment state according to sound button of motor vehicles OBD system, directly by with
The ZIGBEE wireless network giving precedence to sound indicator 3 composition carries out the transmission of volume status data, described volume status packet
Include the on off state of volume and the size information of volume；Give precedence to sound indicator 3 and receive the volume status number from controller 1
According to rear, directly send sound by the CC2530 chip controls active audio amplifier 3-1 on comity auditory tone cues device 3 and give precedence to prompting.
Described acoustic wireless communication module uses Zigbee module, and described Zigbee module uses and microprocessor one
CC2530 chip, supports that one-to-many carries out radio communication.
CC2530 is a real sheet for 2.4-GHz IEEE 802.15.4, ZigBee and RF4CE application
Upper system (SoC) solution.It can set up powerful network node with low-down total material cost.CC2530 ties
Close the premium properties of leading RF transceiver, enhancement mode 8051 CPU of industrywide standard, In-System Programmable flash memory.
CC2430/CC2530 is integrated with 51 single-chip microcomputer kernels.
CC2530 implements IEEE 802.15.4 standard；Therefore it be the extremely strong senior metering of chip of a versatility with
Zigbee intelligent energy, family and being applicable to include consumer electronics and RF4CE remotely control, building automatic, illumination, industry
Control with monitoring, health care and medical treatment etc. in interior many markets.
Controller 1 is directly connected with motor vehicles OBD system, obtains system CAN bus data, by the solution to CAN data
Code, it is thus achieved that the speed of motor vehicles and brake signal；In controller 1, GES and brake signal are analyzed, and with in advance
If signal compares；The default of described preset signals is when speed is less than 50KM/h, gently touches on the brake 3 times, then in 3 seconds
Sustainable existence brake signal is the comity signal of driver；When controller detects preset signals by OBD system, the most motor-driven
Car driver has the intention of comity, and this comity is intended to be sent to indicator by wireless communication module；Indicator receives
After instruction information, opening the LED on backboard, comity prompting pattern or word on indicator board are illuminated, and give precedence to sound and refer to
Show device sound production prompt.
Claims (10)
1. indicator given precedence to by a motor vehicles, it is characterised in that: comprise controller, indicator, wireless communication module and power supply mould
Block, wireless communication module is installed in the controller；Controller is connected with motor vehicles OBD system i.e. onboard diagnostic system, motor vehicles
The acceleration or deceleration information of motor vehicles is sent to controller by OBD system, and controller is by entering the speed received, deceleration
Row is analyzed, it is thus achieved that the driving intention of driver；The power supply of controller uses the power supply of motor vehicles；Indicator and power module phase
Even, it is thus achieved that the required electric energy of work；Being connected by wireless communication module between indicator and controller, controller passes through radio communication
Comity information triggering signal is sent to indicator by module, and indicator carries out image and shows and auditory tone cues.
Indicator given precedence to by motor vehicles the most according to claim 1, it is characterised in that: described power module uses solar-electricity
Pond and rechargeable battery composition, can be continuously the electric energy that indicator provides enough.
Indicator given precedence to by motor vehicles the most according to claim 1, it is characterised in that: described wireless communication module uses
Zigbee module, described Zigbee module uses and the CC2530 chip of microprocessor one, supports that one-to-many carries out channel radio
Letter；Described controller uses CC2530 chip.
Indicator given precedence to by motor vehicles the most according to claim 1, it is characterised in that: described indicator includes that giving precedence to image refers to
Show device and give precedence to sound indicator；Give precedence to image indicator and include that wireless control module, backboard, panel, image indicate power supply mould
Block and image wireless communication module, wireless control module uses the CC2530 core matched with the wireless communication module in controller
Sheet；Panel is fastened on backboard；Image instruction power module is arranged on comity image indicator side；Equipped with LED on backboard
Lamp, is provided with comity prompting pattern or word on panel；During use, give precedence to the front windshield that image indicator is arranged in motor vehicles
Anterior conspicuous position on glass or in other cars；The word given precedence to and pattern can be according to consumer tastes, figuratum transparent for print
Material is directly replaced by extraction on panel.
Indicator given precedence to by motor vehicles the most according to claim 4, it is characterised in that: described image wireless communication module uses
Zigbee module, described Zigbee module uses and the CC2530 chip of microprocessor one, supports that one-to-many carries out channel radio
Letter.
Indicator given precedence to by motor vehicles the most according to claim 4, it is characterised in that: described comity sound indicator is arranged on
Engine bin is anterior, including acoustic wireless communication module, sound wireless control module and miniature active audio amplifier, sound controlled in wireless
Module uses the CC2530 chip matched with the wireless communication module in controller；Give precedence to sound indicator by motor vehicles OBD
System or storage battery are directly powered, and give precedence to sound indicator and are received the comity triggering letter of controller by acoustic wireless communication module
Number, and send auditory tone cues by miniature active audio amplifier.
7. give precedence to indicator according to the motor vehicles described in claim 4 or 6, it is characterised in that: described comity sound indicator
Volume switch and volume by key control, are connected to motor-driven by the sound that is connected on the controller of motor vehicles OBD system
The controller of car OBD system is according to the adjustment state of sound button, directly by the ZIGBEE with comity sound indicator composition
Wireless network carries out the transmission of volume status data, and described volume status data include the on off state of volume and the size of volume
Information；Give precedence to sound indicator and receive after the volume status data of controller, directly by giving precedence on auditory tone cues device
CC2530 chip controls active audio amplifier send sound give precedence to prompting.
Indicator given precedence to by motor vehicles the most according to claim 6, it is characterised in that: described acoustic wireless communication module uses
Zigbee module, described Zigbee module uses and the CC2530 chip of microprocessor one, supports that one-to-many carries out channel radio
Letter.
9. use motor vehicles described in claim 1 to give precedence to indicator, carry out giving precedence to reminding method, it is characterised in that include as
Lower step:
1) controller obtains system CAN bus data by motor vehicles OBD system；
2) the system CAN bus data described in step 1) is decoded by controller, it is thus achieved that the speed of motor vehicles and brake signal；
3) controller is to step 2) described in GES and brake signal be analyzed, and compare with preset signals；As
Fruit meets this preset signals condition, then be the comity information of driver, enters step 4)；
4) when controller detects preset signals, then automobile driver has the intention of comity, and comity information is touched by controller
Signal and be sent to give precedence to image indicator and give precedence to sound indicator by wireless communication module；
5), after giving precedence to the comity information triggering signal that image indicator receives described in step 4), the LED on backboard, gift are opened
The prompting pattern of the comity in image indicator or word is allowed to be illuminated；Give precedence to sound indicator and receive the comity described in step 4)
After information triggers signal and volume status data, carry out the sound production prompt of corresponding state；
Described system CAN bus data is the data that engine computer transmits.
The comity reminding method of indicator given precedence to by motor vehicles the most according to claim 9, it is characterised in that: described default
The default of signal is when speed is less than 50KM/h, gently touches on the brake 3 times in 3 seconds, then sustainable existence brake signal, if full
This preset signals condition of foot, then be the comity signal of driver.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877889.0A CN106240446B (en) | 2016-10-09 | 2016-10-09 | Motor vehicle gives precedence to indicator |
| PCT/CN2017/071461 WO2018064874A1 (en) | 2016-10-09 | 2017-01-18 | Motor vehicle giving-way indicator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610877889.0A CN106240446B (en) | 2016-10-09 | 2016-10-09 | Motor vehicle gives precedence to indicator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106240446A true CN106240446A (en) | 2016-12-21 |
| CN106240446B CN106240446B (en) | 2018-10-16 |
Family
ID=57612399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610877889.0A Active CN106240446B (en) | 2016-10-09 | 2016-10-09 | Motor vehicle gives precedence to indicator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106240446B (en) |
| WO (1) | WO2018064874A1 (en) |
Cited By (7)
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| CN107054211A (en) * | 2017-02-15 | 2017-08-18 | 岳金顺 | Automobile-used comity pedestrian's direction board |
| WO2018064874A1 (en) * | 2016-10-09 | 2018-04-12 | 无锡职业技术学院 | Motor vehicle giving-way indicator |
| CN107989927A (en) * | 2017-12-06 | 2018-05-04 | 无锡职业技术学院 | The portable self-adapted device of the double clutch gearboxes of popular dry type |
| CN108346304A (en) * | 2018-04-12 | 2018-07-31 | 杭州后博科技有限公司 | A kind of pedestrian, which goes across the road, reminds vehicle to give way device |
| CN109484288A (en) * | 2018-10-31 | 2019-03-19 | 北京车和家信息技术有限公司 | A kind of display methods, car-mounted terminal and vehicle |
| CN110371021A (en) * | 2018-09-30 | 2019-10-25 | 长城汽车股份有限公司 | Projecting method, system and the vehicle of pedestrian's index line |
| WO2020206709A1 (en) * | 2019-04-12 | 2020-10-15 | 变衣（北京）科技有限公司 | Vehicle information interaction apparatus |
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| CN107054211A (en) * | 2017-02-15 | 2017-08-18 | 岳金顺 | Automobile-used comity pedestrian's direction board |
| CN107989927A (en) * | 2017-12-06 | 2018-05-04 | 无锡职业技术学院 | The portable self-adapted device of the double clutch gearboxes of popular dry type |
| CN108346304A (en) * | 2018-04-12 | 2018-07-31 | 杭州后博科技有限公司 | A kind of pedestrian, which goes across the road, reminds vehicle to give way device |
| CN110371021A (en) * | 2018-09-30 | 2019-10-25 | 长城汽车股份有限公司 | Projecting method, system and the vehicle of pedestrian's index line |
| CN109484288A (en) * | 2018-10-31 | 2019-03-19 | 北京车和家信息技术有限公司 | A kind of display methods, car-mounted terminal and vehicle |
| WO2020206709A1 (en) * | 2019-04-12 | 2020-10-15 | 变衣（北京）科技有限公司 | Vehicle information interaction apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106240446B (en) | 2018-10-16 |
| WO2018064874A1 (en) | 2018-04-12 |
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