CN106428014A - Front automobile driver insecure driving behavior detection device used for automobile - Google Patents
Front automobile driver insecure driving behavior detection device used for automobile Download PDFInfo
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- CN106428014A CN106428014A CN201610620051.3A CN201610620051A CN106428014A CN 106428014 A CN106428014 A CN 106428014A CN 201610620051 A CN201610620051 A CN 201610620051A CN 106428014 A CN106428014 A CN 106428014A
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- automobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
Abstract
The invention provides a front automobile driver insecure driving behavior detection device used for an automobile. The front automobile driver insecure driving behavior detection device comprises automobile speed sensors arranged on wheel rotation speed devices and used for acquiring the automobile speed of the automobile, a lane recognition sensor installed on a front bumper and used for acquiring the distances between a left wheel and a right wheel of a front shaft of the automobile and lane lines, automobile-mounted radar installed right in the center of the front bumper and used for measuring the relative positions of a front automobile and the automobile, a camera installed over a windscreen and used for acquiring the width of the front automobile and the number of the lane lines between the front automobile and the automobile, a data processing unit, an automobile-mounted CAN bus, an image processor and an automobile-mounted alarm installed beside an instrument panel and used for giving an early warning to a driver. By the adoption of the front automobile driver insecure driving behavior detection device, the automobile and the target automobile are detected, the insecure driving behavior of a driver of the front automobile is recognized, the driver can avoid the front automobile in advance, and an accident is prevented from happening.
Description
Technical field
The present invention relates to field of automobile safety, particularly to a kind of front truck driver's unsafe driving behavior for automobile
Detection means.
Background technology
When driver's normal driving automobile, vehicle can keep stable in track, and speed and other car speeds
Will not difference too big, and keep stable.But when driver distraction drives (make a phone call, send short messages or chat when for example driving)
Or during driver experience's deficiency, because driver's energy is not concentrated or poor to vehicles handling abilities, automobile can in track back and forth
Swing, in addition can line ball travel, and speed deviation can ratio larger, in addition driver be ensure traffic safety, typically can drop
Low speed, so that frequently overtaken other vehicles by other vehicles.Although the speed of vehicle is slow in this case, its danger is still
So very big, because now the stress reaction ability of driver is relatively low, and operational error easily occurs, to front vehicle band
Come dangerous, so front vehicle will avoid this vehicle as far as possible.
Content of the invention
For the problem overcoming above-mentioned prior art to exist, the present invention provides a kind of front truck driver for automobile uneasy
Full driving behavior detection means is it is ensured that can avoid front truck, to realize safe driving during front truck driver's unsafe driving.
In order to reach above-mentioned technical purpose, the present invention employs the following technical solutions and is achieved.
A kind of front truck driver's unsafe driving behavioral value device for automobile is it is characterised in that include：
Be arranged on vehicle wheel rotational speed device be used for collection from the vehicle speed sensor of car speed, be installed on front bumper and be used for adopting
Collection from the lane identification sensor of Chinese herbaceous peony axle left and right wheelses and lane line distance, be installed on front bumper centre for measurement before
The trailer-mounted radar of square vehicle and this car relative position, it is installed on directly over windshield and is used for gathering front vehicle-width and front truck and this
The camera of track number of lines, data processing unit, vehicle-mounted CAN bus, an image processor and car alarm between car；
The output end of described vehicle speed sensor electrically connects described vehicle-mounted CAN bus；Described camera output end electrical connection graph
Input as processor；The signal input part of described data processing unit is electrically connected described vehicle-mounted CAN bus, at image
The output end of the output end, the output end of millimetre-wave radar and Lane detection sensor of reason device, described data processing unit
Signal output part electrically connects the input of described car alarm.
Further, described front vehicles and this car relative position include the relative velocity, relative that front truck is with respect to this car
Distance and phase angle, described vehicle speed sensor, vehicle-mounted millimeter radar, lane identification sensor and camera frequency acquisition equal
For 20Hz, every group of data is synchronous acquisition.
Further, described vehicle speed sensor is magneto-electric vehicle speed sensor, and the sampling precision of described vehicle speed sensor is
0.005km/h；
Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.25m, and angle precision is
0.5°；
Described Lane detection sensor is AWS Lane detection sensor；
Described camera is culminant star YJS-01USB2.0 camera；
Described image processor is Freescale series monolithic, and concrete model is S12；
Described car alarm is AD16-22SM type flashing buzzer.
Beneficial effects of the present invention are：The general principle of the present invention is to pass through filled sensor to detect this vehicle speed, this car
Left and right wheelses at a distance of lane line distance, front vehicles with respect to the speed of this car, phase angle and distance, front vehicle-width and front truck with
Track number of lines between this car, comprehensive above parameter, the unsafe driving behavior of identification front vehicles driver, then will identify
Result is sent to car alarm, and car alarm reminds driver's front vehicles to be in dangerous driving after receiving recognition result
Sail state, enable a driver to avoid in advance, Accident prevention occurs.
Brief description
A kind of front truck driver's unsafe driving behavioral value apparatus structure for automobile that Fig. 1 provides for the present invention
Figure；
Fig. 2 is a kind of front truck driver's unsafe driving behavioral value method flow for automobile proposed by the present invention
Figure.
The target vehicle that Fig. 3 proposes for the embodiment of the present invention is apart from lane line apart from schematic diagram.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention will be described in detail.
The general principle of the present invention is to pass through filled sensor to detect this vehicle speed, this car left and right wheelses at a distance of lane line away from
From, front vehicles with respect to the speed of this car, phase angle and distance, track number of lines between front vehicle-width and front truck and this car,
Comprehensive above parameter, the unsafe driving behavior of identification front vehicles driver.Then recognition result is sent to vehicle carried
Device, car alarm reminds driver's front vehicles to be in unsafe driving state after receiving recognition result, enables driver
Enough avoid in advance, Accident prevention occurs.
Referring to Fig. 1, a kind of front truck driver's unsafe driving behavioral value device for automobile providing for the present invention
Structure chart.
As shown in figure 1, a kind of front truck driver's unsafe driving behavioral value device for automobile it is characterised in that
Including：
Be arranged on vehicle wheel rotational speed device be used for collection from the vehicle speed sensor of car speed, be installed on front bumper and be used for adopting
Collection from the lane identification sensor of Chinese herbaceous peony axle left and right wheelses and lane line distance, be installed on front bumper centre for measurement before
The trailer-mounted radar of square vehicle and this car relative position, it is installed on directly over windshield and is used for gathering front vehicle-width and front truck and this
The camera of track number of lines, data processing unit, vehicle-mounted CAN bus, an image processor and be installed on instrument between car
Dial plate side is used for driver is carried out with the car alarm of early warning；
The output end of described vehicle speed sensor electrically connects described vehicle-mounted CAN bus；Described camera output end electrical connection graph
Input as processor；The signal input part of described data processing unit is electrically connected described vehicle-mounted CAN bus, at image
The output end of the output end, the output end of millimetre-wave radar and Lane detection sensor of reason device, described data processing unit
Signal output part electrically connects the input of described car alarm.
Further, described front vehicles and this car relative position include the relative velocity, relative that front truck is with respect to this car
Distance and phase angle.
In the embodiment of the present invention, described vehicle speed sensor is used for the real-time speed of collection vehicle, and is used for the reality of vehicle
Shi Sudu is sent to data processing unit by vehicle-mounted CAN bus；Described camera Real-time Collection front truck and road image, and will
Image sends to image processor；Described image processor is processed to image, obtain front vehicle-width and front truck and this car it
Between track number of lines data, and send it to data processing unit；Described Lane detection sensor is used for gathering this Chinese herbaceous peony
Axle left and right wheelses are apart from left and right lane line distance, and range data is sent to data processing unit；Described millimetre-wave radar passes
Sensor is used for measuring front truck with respect to the relative velocity of this car, relative distance and phase angle, and by these data is activations to data
Processing unit；Described data processing unit identifies described process, and early warning signal is sent to car alarm.
Further, the collection frequency of described vehicle speed sensor, vehicle-mounted millimeter radar, lane identification sensor and camera
Rate is 20Hz, and every group of data is synchronous acquisition.
In the embodiment of the present invention, described vehicle speed sensor is magneto-electric vehicle speed sensor, the sampling of described vehicle speed sensor
Precision is 0.005km/h；Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.25m, angle
Precision is 0.5 °；Described Lane detection sensor is AWS Lane detection sensor；Described camera is culminant star YJS-
01USB2.0 camera；Described image processor is Freescale series monolithic, and concrete model is S12；Described vehicle carried
Device is AD16-22SM type flashing buzzer.
In the embodiment of the present invention, each sensor synchronizes collection to information, and frequency acquisition is 20Hz,
Referring to Fig. 2, it is a kind of front truck driver's unsafe driving behavioral value method for automobile proposed by the present invention
Flow chart.Front truck driver's unsafe driving behavioral value is mainly included：
The collection of data message；
The data message of collection is processed；
The identification of target vehicle state.
In the embodiment of the present invention, the collection of described data message includes：This car vehicle velocity V H；Target vehicle is with respect to this car
Relative distance L, relative velocity VR, phase angle θ；This Chinese herbaceous peony axle left and right wheelses are apart from left and right lane line apart from LL, LR；Target carriage
Number of lines m in track between width HP and target vehicle and this car.
In the embodiment of the present invention, described car vehicle velocity V H is adopted by the vehicle speed sensor being arranged on vehicle wheel rotational speed device
Collection；, with respect to relative distance L of this car, relative velocity VR, phase angle θ is Centromedian by being arranged on front bumper for target vehicle
Trailer-mounted radar is acquired；Described Chinese herbaceous peony axle left and right wheels apart from left and right lane line apart from LL, LR by being arranged on front guarantor
Lane identification sensor on dangerous thick stick is acquired；Track lines between described target vehicle width HP and target vehicle and this car
Number m is by being arranged on the camera collection directly over windshield.
In the embodiment of the present invention, pass through filled sensor and detect this vehicle speed, this Chinese herbaceous peony axle left and right wheelses apart from left and right car
Diatom distance, front vehicles with respect to the relative distance of this car, relative velocity and phase angle, front vehicle-width, front truck and this car it
Between track number of lines, then calculate that the front truck average speed with other vehicles of front within a certain period of time is poor, passed vehicle number of times,
Line ball or cross-line travel for front truck and lane line stable distance, front truck, identify described situation, and early warning signal is sent to
Car alarm, reminds driver's front vehicles driver's unsafe driving, enables a driver to avoid in time, prevents accident and sends out
Raw.
The comprising the following steps that of front truck driver's unsafe driving behavioral value method that the present invention provides：
(1) data acquisition
Pass through filled sensor to gather from car, target vehicle and traffic environment information, wherein vehicle speed sensor is used for gathering
This car vehicle velocity V H；Millimetre-wave radar sensor is used for gathering relative distance L that target vehicle is with respect to this car, relative velocity VR,
Phase angle θ；Lane detection sensor is used for gathering this Chinese herbaceous peony axle left and right wheelses apart from left and right lane line apart from LL, LR；Take the photograph
As head and image processor are used for gathering track number of lines m between target vehicle width HP and target vehicle and this car.Above-mentioned biography
The frequency acquisition of sensor is 20Hz, and every group of data is all synchronous acquisition.
(2) difference of target vehicle and other vehicle average speeds
The all car speeds in front just can be calculated by the above-mentioned data collecting, front vehicles speed is：
V=VH+VR
Hypothesis front vehicles number is K+1, the outer front of removing target vehicle other car speeds respectively Vi (i=1,
2 ... K), then the average speed of other vehicles of front：
Target vehicle velocity is Vb, then the absolute value of the difference of other vehicle average speeds of target vehicle and front is：
Vd=| Va-Vb |
If the difference of other vehicle average speeds of target vehicle and front is excessive, illustrate that target vehicle velocity is excessively prominent, meeting
Affect other vehicle safeties.The difference of other vehicle average speeds of target vehicle and front is classified：
If Vd<V0, is considered as safety, n1=0；
If V0≤Vd<V1, is considered as one-level danger, n1=1；
If Vd >=V1, it is considered as secondary threat, n1=2.
(3) number of times of overtaking other vehicles calculates
If target vehicle in the process of moving speed too low it may appear that frequent passed vehicle, if passed vehicle time
Va=1K Σ i=1KVi]]>
Number is excessive it is believed that target vehicle danger travels.Front Overtaken Vehicle originally with respect to this car distance be L1, surpass
Car vehicle is L2 with respect to the distance of this car, if L1-L2 when starting>0, L1-L2 after a period of time<0 then it is assumed that front vehicles
Passed vehicle is once.
With time t2 as time window, calculate target vehicle passed vehicle number of times a in this time window, and to passed vehicle number of times
It is classified：
a<A0 is then it is assumed that safety, n2=0；
a0≤a<A1, then be considered as one-level danger, n2=1；
A >=a1, then be considered as secondary threat, n2=2.
(3) track Detection of Stability
Referring to Fig. 3, be the target vehicle that proposes of the embodiment of the present invention apart from lane line apart from schematic diagram.
When driver distraction drives or driver experience is not enough, vehicle can swing back and forth in track, if so mesh
Less stable in track for the mark vehicle is then it is assumed that target vehicle driver driving is dangerous.
Assume that this vehicle-width is HH, track line width is w, lane width is W, then the distance away from lane line for the target vehicle
For：
LP=Lsin θ -0.5HH-LR-w-0.5HP-W (m-1)
For institute in the middle of Ben Che and target vehicle, every track number of lines, (right side is that just left side is negative to wherein m, and such as two cars are same
In a track, then m=0；If target vehicle is in this car right side adjacent lane, m=1；If target vehicle phase on the left of this car
Adjacent track, then m=-1) because road is at most generally Four-Lane Road, m=-3, -2, -1,0,1,2,3.
With time t3 as time window, calculate in this time window target vehicle apart from the standard deviation of lane line distance：
Wherein LPi be the t3 time in target vehicle away from lane line range data sequence, be in the t3 time target vehicle away from car
Diatom distance average.Standard deviation is bigger, then the track stability of target vehicle is poorer, and danger is bigger, to target vehicle with
Lane line distance method is classified：
If SS<SS0, then be considered as safety, n3=0；
If SS0≤SS<SS1, then be considered as one-level danger, n3=1；
If SS >=SS1, it is considered as secondary threat, n3=2.
(4) line ball travels detection
Target vehicle meeting cross-line or line ball during lane-change travel a period of time, but because the lane-change time will not be oversize,
So the cross-line running time of target vehicle is also within the specific limits.Cross-line running time if there is target vehicle exceedes rule
Fix time then it is assumed that target vehicle line ball or cross-line travel, this is that one kind is endangered very much
SS=1N2 Σ i=1N2 (LPi-LP＆OverBar；)2]]>
The operating mode of danger, can bring danger to other vehicles.
If target vehicle and lane line meet LP apart from LP<0 or LP>W-HP then it is assumed that target vehicle line ball or cross-line,
Line ball or cross-line time are t, setting time t4：
If t<T4 is then it is assumed that target vehicle lane-change, n4=0；
If t >=t4 is then it is assumed that target vehicle line ball or cross-line travel, n4=2.
(5) target vehicle state identification
After completing above-mentioned judgement, n1, n2, n3, n4 are added up：
N=n1+n2+n3+n4；
If N<2, then it is assumed that target vehicle normally travel, will not bring danger to other vehicles；
If N >=2, it is judged as target vehicle driver's dangerous driving, danger, processor may be brought to other vehicles
Alarm is sent to alarm, warning driver target vehicle driver belongs to dangerous driving, to keep away in advance after identifying described situation
Allow, Accident prevention occurs.
A kind of front truck driver's unsafe driving behavioral value method for automobile provided in an embodiment of the present invention and dress
Put, mainly complete front truck driver's unsafe driving behavioral value, after the completion of detection, driver is reported to the police, remind driver
Front truck belongs to dangerous driving, so that driver is avoided in advance, and Accident prevention occurs.
Above the present invention is described in detail, but the invention is not restricted to above-mentioned embodiment, common in this area
In the ken that technical staff possesses, can also make a variety of changes on the premise of without departing from present inventive concept.Do not take off
Many other can be made from the spirit and scope of the present invention to change and remodeling.It should be appreciated that the invention is not restricted to specific reality
Apply mode, the scope of the present invention is defined by the following claims.
Claims (3)
1. a kind of front truck driver's unsafe driving behavioral value device for automobile is it is characterised in that include：It is arranged at car
Be used on wheel speed device collection from the vehicle speed sensor of car speed, be installed on front bumper and be used for collection car from about Chinese herbaceous peony axle
Wheel and the lane identification sensor of lane line distance, it is installed on that front bumper centre is used for measuring front vehicles and this car is relative
The trailer-mounted radar of position, it is installed on directly over windshield and is used for gathering track number of lines between front vehicle-width and front truck and this car
Camera, data processing unit, vehicle-mounted CAN bus, an image processor and car alarm；Described vehicle speed sensor
Output end electrically connects described vehicle-mounted CAN bus；Described camera output end electrically connects the input of image processor；Described data
The signal input part of processing unit is electrically connected described vehicle-mounted CAN bus, the output end of image processor, millimetre-wave radar
Output end and the output end of Lane detection sensor, the signal output part of described data processing unit electrically connects described vehicle-mounted report
The input of alert device.
2. a kind of front truck driver's unsafe driving behavioral value device for automobile according to claim 1, it is special
Levy and be, described front vehicles and this car relative position include front truck with respect to the relative velocity of this car, relative distance and phase place
Angle, described vehicle speed sensor, the frequency acquisition of vehicle-mounted millimeter radar, lane identification sensor and camera are 20Hz, every group
Data is synchronous acquisition.
3. a kind of front truck driver's unsafe driving behavioral value device for automobile according to claim 1, it is special
Levy and be, described vehicle speed sensor is magneto-electric vehicle speed sensor, the sampling precision of described vehicle speed sensor is 0.005km/h；
Described millimetre-wave radar sensor is ESR millimetre-wave radar, and range measurement accuracy is 0.25m, and angle precision is 0.5 °；
Described Lane detection sensor is AWS Lane detection sensor；
Described camera is culminant star YJS-01USB2.0 camera；
Described image processor is Freescale series monolithic, and concrete model is S12；
Described car alarm is AD16-22SM type flashing buzzer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610620051.3A CN106428014A (en) | 2016-07-30 | 2016-07-30 | Front automobile driver insecure driving behavior detection device used for automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610620051.3A CN106428014A (en) | 2016-07-30 | 2016-07-30 | Front automobile driver insecure driving behavior detection device used for automobile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540546A (en) * | 2018-12-05 | 2019-03-29 | 交通运输部公路科学研究所 | A kind of test macro and test method of unsafe driving behavior monitoring device |
| CN109624975A (en) * | 2018-11-13 | 2019-04-16 | 上海建工集团股份有限公司 | Engineering transportation vehicle traveling monitoring method and system |
| CN110097785A (en) * | 2019-05-30 | 2019-08-06 | 长安大学 | A kind of front truck incision or urgent lane-change identification prior-warning device and method for early warning |
| CN110412556A (en) * | 2019-07-31 | 2019-11-05 | 吉林大学 | A kind of vehicle running state appraisal procedure based on the frequency of overtaking other vehicles |
| CN110648543A (en) * | 2018-06-08 | 2020-01-03 | 丰田自动车株式会社 | Lane change support system, lane change support device, and lane change support method |
| CN113053083A (en) * | 2021-03-22 | 2021-06-29 | 重庆长安汽车股份有限公司 | Early warning method and system for dangerous driving vehicle based on V2X |
-
2016
- 2016-07-30 CN CN201610620051.3A patent/CN106428014A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110648543A (en) * | 2018-06-08 | 2020-01-03 | 丰田自动车株式会社 | Lane change support system, lane change support device, and lane change support method |
| CN109624975A (en) * | 2018-11-13 | 2019-04-16 | 上海建工集团股份有限公司 | Engineering transportation vehicle traveling monitoring method and system |
| CN109540546A (en) * | 2018-12-05 | 2019-03-29 | 交通运输部公路科学研究所 | A kind of test macro and test method of unsafe driving behavior monitoring device |
| CN110097785A (en) * | 2019-05-30 | 2019-08-06 | 长安大学 | A kind of front truck incision or urgent lane-change identification prior-warning device and method for early warning |
| CN110097785B (en) * | 2019-05-30 | 2022-06-07 | 长安大学 | Recognition early warning device and early warning method for front vehicle cut-in or emergency lane change |
| CN110412556A (en) * | 2019-07-31 | 2019-11-05 | 吉林大学 | A kind of vehicle running state appraisal procedure based on the frequency of overtaking other vehicles |
| CN113053083A (en) * | 2021-03-22 | 2021-06-29 | 重庆长安汽车股份有限公司 | Early warning method and system for dangerous driving vehicle based on V2X |
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Application publication date: 20170222 |