CN107650786A - Front road conditions detection method and system - Google Patents

Front road conditions detection method and system Download PDF

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Publication number
CN107650786A
CN107650786A CN201610607862.XA CN201610607862A CN107650786A CN 107650786 A CN107650786 A CN 107650786A CN 201610607862 A CN201610607862 A CN 201610607862A CN 107650786 A CN107650786 A CN 107650786A
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CN
China
Prior art keywords
vehicle
distance
current vehicle
barrier
determined
Prior art date
Application number
CN201610607862.XA
Other languages
Chinese (zh)
Inventor
张蓓蓓
Original Assignee
滴滴(中国)科技有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 滴滴(中国)科技有限公司 filed Critical 滴滴(中国)科技有限公司
Priority to CN201610607862.XA priority Critical patent/CN107650786A/en
Publication of CN107650786A publication Critical patent/CN107650786A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00805Detecting potential obstacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143Alarm means

Abstract

The present invention relates to road conditions detection method in front of one kind and system, this method to include:Measure the distance between Current vehicle and the first vehicle;Wherein, first vehicle is to be in identical track and closest front vehicles with the Current vehicle;If it is determined that the distance is more than pre-determined distance, then the Current vehicle is gathered to the pavement image between the pre-determined distance in front;According to the pavement image, judge that the Current vehicle to whether there is barrier between the pre-determined distance in front, if it is determined that barrier be present, then sends the first prompting message to the driver of the Current vehicle.In the present invention, when distance is more than pre-determined distance between Current vehicle and the first vehicle, the pavement image in front is obtained by way of IMAQ, and judged to whether there is barrier in road surface ahead according to pavement image, and send prompting message to driver when there may be barrier, driver is informed, so as to improve the security in driving procedure.

Description

Front road conditions detection method and system

Technical field

The present invention relates to technical field of transportation, more particularly to a kind of front road conditions detection method and system.

Background technology

At present, the route that the gps coordinate and driver that navigation system can upload according to driver select provides currently for driver Traffic information, such as road whether congestion, but can not provide whether road surface ahead there may be emergency situations, example for driver As whether road surface ahead has barrier, if user can not have found the burst shape of similar failure thing etc in time in driving procedure Condition, it is likely that cause the accident.

The content of the invention

Therefore, the present invention provides a kind of front road conditions detection method and system, in the driving procedure that can improve user Security.

In a first aspect, road conditions detection method in front provided by the invention includes:

Measure the distance between Current vehicle and the first vehicle;Wherein, first vehicle be with the Current vehicle In identical track and closest front vehicles;

If it is determined that the distance is more than pre-determined distance, then the Current vehicle is gathered between the pre-determined distance in front Pavement image;

According to the pavement image, judge the Current vehicle to whether there is obstacle between the pre-determined distance in front Thing, if it is determined that barrier be present, then send the first prompting message to the driver of the Current vehicle.

Optionally, it is described according to the pavement image, judge the Current vehicle between the pre-determined distance in front With the presence or absence of barrier, including:

According to image recognition algorithm, judge the Current vehicle to whether there is obstacle between the pre-determined distance in front Thing.

Optionally, described image recognizer is gray value check algorithm.

Optionally, measurement the distance between the Current vehicle and the first vehicle, including:

The distance between Current vehicle and the first vehicle are measured using trailer-mounted radar device.

Optionally, first prompting message includes:The prompt message of barrier prompting message and/or changing Lane.

Optionally, methods described also includes:

If it is determined that the distance is less than or equal to the pre-determined distance, then the motion state of first vehicle is detected, and When the motion state is deceleration regime, the second prompting message is sent to the driver of the Current vehicle.

Optionally, the motion state of detection first vehicle, including:

Radar signal is sent to first vehicle according to predetermined period using trailer-mounted radar device, and according to radar signal Feedback signal determine the motion state of first vehicle.

Second aspect, the present invention provide a kind of front road condition detection system, including:

Distance-measurement module, for measuring the distance between Current vehicle and the first vehicle;Wherein, first vehicle is Identical track and closest front vehicles are in the Current vehicle;

Image capture module, for if it is determined that the distance is more than pre-determined distance, then gathering the Current vehicle to front The pre-determined distance between pavement image;

First prompting module, for according to the pavement image, judge the Current vehicle to front it is described it is default away from It whether there is barrier between, if it is determined that barrier be present, then send the first prompting message to the driver of the Current vehicle.

Optionally, first prompting module is specifically used for:According to image recognition algorithm, judge the Current vehicle to preceding It whether there is barrier between the pre-determined distance of side.

Optionally, described image recognizer is gray value check algorithm.

Optionally, the distance-measurement module is specifically used for:Current vehicle and the first car are measured using trailer-mounted radar device The distance between.

Optionally, first prompting message includes the prompt message of barrier prompting message and/or changing Lane.

Optionally, the system also includes:

State detection module, for when judging that the distance is less than or equal to the pre-determined distance, detecting described first The motion state of vehicle, and when the motion state is deceleration regime, the second prompting is sent to the driver of the Current vehicle Information.

Optionally, the state detection module is specifically used for:Using trailer-mounted radar device according to predetermined period to described One vehicle sends radar signal, and the motion state of first vehicle is determined according to the feedback signal of radar signal.

According to above technical scheme, when distance is more than pre-determined distance between Current vehicle and the first vehicle, pass through image The mode of collection obtains the pavement image in front, and is judged according to pavement image to whether there is barrier in road surface ahead, and Prompting message is issued the user with when there may be barrier, informs user, so as to improve the security in the driving procedure of user.

Brief description of the drawings

, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical scheme of the prior art There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some disclosed embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these figures.

Fig. 1 shows the schematic flow sheet of front road conditions detection method in the embodiment of the disclosure one;

Fig. 2 shows the schematic flow sheet of front road conditions detection method in another embodiment of the disclosure;

Fig. 3 shows the structured flowchart of front road condition detection system in the another embodiment of the disclosure.

Fig. 4 shows the structured flowchart of front road condition detection system in the another embodiment of the disclosure.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present disclosure, the technical scheme in the embodiment of the present disclosure is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the disclosure, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of disclosure protection.

The embodiment of the disclosure one provides a kind of front road conditions detection method, as shown in figure 1, this method includes:

S101, measurement the distance between Current vehicle and the first vehicle;

Wherein, first vehicle is to be in identical track and closest front vehicles with the Current vehicle;

It will be appreciated that so-called front vehicles, refer to the vehicle being in along travel direction in front of Current vehicle.

In the specific implementation, various ways measurement the distance between Current vehicle and front vehicles can be used, wherein one Planting optional mode is:Using trailer-mounted radar device ranging, it is specially:Radar is sent to the first vehicle by trailer-mounted radar device Signal, according to the time interval sent between time and the time for receiving feedback signal of radar signal determine Current vehicle with The distance between first vehicle.Wherein, trailer-mounted radar device can be laser radar, ultrasonic radar, microwave radar etc..

S102, if it is determined that the distance is more than pre-determined distance, then gather the Current vehicle to front it is described it is default away from Pavement image between;

Wherein, pre-determined distance, it can be 200 meters using static pre-determined distance, such as in ordinary road, in expressway Upper is 300 meters, when the pre-determined distance is met that the distance between Current vehicle and the first vehicle is more than pre-determined distance as far as possible, currently The risk that knocks into the back is not present in vehicle and the first vehicle, moreover, when the first vehicle drops unknown object, Current vehicle can be in time for Brake or hide.It is, of course, also possible to using dynamic pre-determined distance, for example, the size of pre-determined distance is Current vehicle with current Speed travels 20s distance, it is assumed that and present speed is 60 kilometers/hour, i.e. 16.67 meters/s, and the distance for travelling 20s is 333 meters, Can be using 333 meters as current pre-determined distance.

In the specific implementation, camera or other image acquisition device pavement images can be used.

S103, according to the pavement image, judge whether the Current vehicle is deposited between the pre-determined distance in front In barrier, if it is determined that barrier be present, then the first prompting message is sent to the driver of the Current vehicle.

In the specific implementation, barrier, one of which can be judged whether using many algorithms according to pavement image Optionally mode is:According to image recognition algorithm, judge whether the Current vehicle is deposited between the pre-determined distance in front In barrier.So-called image recognition algorithm, can be gray value check algorithm or Threshold Segmentation Algorithm, nerve net Network algorithm or Wavelet Transformation Algorithm etc..Wherein gray value check algorithm is identified according to the gray value of each pixel in road surface, If such as in pavement image each pixel grey value difference it is little, i.e., the color of whole pavement image is unified, illustrates on road surface It may be not present barrier, but the gray value of the pixel of the gray value of a part of pixel of certain in pavement image and other parts Differ greatly, then illustrate to there may be barrier on road surface, so judging whether obstacle using gray value check algorithm Thing, there is the advantages of accuracy is high.

In the specific implementation, the first prompting message can be taken various forms, and this present embodiment is not limited, wherein one The optional form of kind is voice broadcast form.First prompting message includes barrier prompting message, may in front of user to remind Barrier is deposited, other information, such as the prompt message of changing Lane can also be included certainly, reminds user to transform to another track On, avoid causing danger.

In the front road conditions detection method that the present embodiment provides, distance is more than default between Current vehicle and the first vehicle Apart from when, obtain the pavement image in front by way of IMAQ, and according to pavement image judge in road surface ahead whether Barrier be present, and prompting message is issued the user with when there may be barrier, inform user, so as to improve the driving of user During security.

Another embodiment of the present invention provides a kind of front road conditions detection method, and the present embodiment is on the basis of a upper embodiment Also include:

S204, if it is determined that the distance is less than or equal to the pre-determined distance, then detect the motion shape of first vehicle State;

It will be appreciated that because the distance between Current vehicle and the first vehicle are less than pre-determined distance, then Current vehicle with Front vehicles there may exist the risk that knocks into the back, or, when having unknown object to drop in the first vehicle, Current vehicle may come not And brake or dodge, it is therefore desirable to pay close attention to the motion state of the first vehicle.

In the specific implementation, the motion state of the first vehicle can be detected using various ways, one of which can The mode of choosing is detected using trailer-mounted radar device, is specially:Using trailer-mounted radar device according to predetermined period to the first vehicle Radar signal is sent, such as often 1s sends primary radar signal, is fed back according to the time that sends of radar signal with correspondence is received The situation of change of time interval between the time of signal, determine that the first vehicle is acceleration mode, or deceleration regime.If when Between be spaced increasingly longer, illustrate between Current vehicle and front vehicles that increasingly far the first vehicle may accelerate;And if when Between be spaced shorter and shorter, illustrate between Current vehicle and the first vehicle increasingly nearer, front vehicles are in deceleration regime.Certainly, The premise for making condition adjudgement is that the running status of Current vehicle is steady.Wherein, trailer-mounted radar device can be laser radar, surpass Sound radar, microwave radar etc..

S205, when the motion state is deceleration regime, send the second prompting message to the driver of the Current vehicle.

It will be appreciated that if the motion state of the first vehicle is deceleration regime, illustrate that road surface ahead or the first vehicle can Emergency case etc. can occur.

In the specific implementation, the second prompting message can be taken various forms, and this present embodiment is not limited, wherein one The optional form of kind is voice broadcast form.

Wherein, step S201, S202 and the S203 shown in Fig. 2 and step S101, S102, S103 in a upper embodiment It is identical, therefore repeat no more in the present embodiment.It is in addition, successively not suitable between S204, S205 and S202, S203 in the present embodiment Sequence.

It is that the present embodiment distance can also be more than in advance between Current vehicle and the first vehicle with upper embodiment identical If apart from when, judge to whether there is barrier in road surface ahead, and prompting message is issued the user with when there may be barrier, User is informed, so as to improve the security in the driving procedure of user.Unlike a upper embodiment, the present embodiment can also When distance is less than or equal to pre-determined distance between Current vehicle and the first vehicle, the motion state of the first vehicle of detection, and Motion state issues the user with prompting message when being and slowing down, and informs that user's road surface ahead or the first vehicle may have emergency situations, So as to further improve the security in the driving procedure of user.

The another embodiment of the disclosure provides a kind of front road condition detection system, as shown in figure 3, the system 300 includes:

Distance-measurement module 301, for measuring the distance between Current vehicle and the first vehicle;Wherein, first car It is with the Current vehicle to be in identical track and closest front vehicles;

Optionally, the distance-measurement module 301 can be specifically used for using trailer-mounted radar device measurement Current vehicle with The distance between first vehicle in same track.

Image capture module 302, for when judging that the distance is more than pre-determined distance, gathering the Current vehicle to preceding Pavement image between the pre-determined distance of side;

First prompting module 303, for according to the pavement image, judging that the Current vehicle to the described of front is preset It whether there is barrier between distance, if it is determined that barrier be present, then send the first prompting letter to the driver of the Current vehicle Breath.

Optionally, the first prompting module 303 is specifically used for according to image recognition algorithm, judges the Current vehicle to front The pre-determined distance between whether there is barrier.

Optionally, described image recognizer is gray value check algorithm.

Optionally, first prompting message can also include the prompting letter of barrier prompting message and/or changing Lane Breath.

The present embodiment is the function structure module of the embodiment corresponding to Fig. 1, the understanding about concept in the present embodiment, certain The content such as the optional embodiment of steps, technique effect can be found in embodiment corresponding to Fig. 1 a bit, will not be repeated here.

The another embodiment of the disclosure discloses road condition detection system in front of one kind, and the present embodiment is on the basis of a upper embodiment Also include:

State detection module 404, for when judging that the distance is less than or equal to the pre-determined distance, described in detection The motion state of first vehicle;

Optionally, the state detection module 404 can be specifically used for:Using trailer-mounted radar device according to predetermined period to First vehicle sends radar signal, and the motion state of first vehicle is determined according to the feedback signal of radar signal.

Second prompting module 405, for when the motion state is deceleration regime, being sent out to the driver of the Current vehicle Go out the second prompting message.

Wherein, the function of the module 401,402 and 403 shown in Fig. 4 and the module 301,302,303 in a upper embodiment Function correspond to respectively identical, therefore repeated no more in the present embodiment.

The present embodiment is the function structure module of the embodiment corresponding to Fig. 2, the understanding about concept in the present embodiment, certain The content such as the optional implementation of modules, technique effect can be found in embodiment corresponding to Fig. 2 a bit, will not be repeated here.

One of ordinary skill in the art will appreciate that:Realizing all or part of step of above method embodiment can lead to The related hardware of programmed instruction is crossed to complete, foregoing program can be stored in computer-readable storage medium, the journey Sequence upon execution, execution the step of including above method embodiment.

In the specification of the present invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with Put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail Art, so as not to obscure the understanding of this description.

The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although with reference to the foregoing embodiments The present invention is described in detail, it will be understood by those within the art that;It still can be to foregoing each implementation Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic;And these modification or Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (14)

  1. A kind of 1. front road conditions detection method, it is characterised in that including:
    Measure the distance between Current vehicle and the first vehicle;Wherein, first vehicle is to be in phase with the Current vehicle With track and closest front vehicles;
    If it is determined that the distance is more than pre-determined distance, then the Current vehicle is gathered to the road between the pre-determined distance in front Face image;
    According to the pavement image, the Current vehicle is judged to whether there is barrier between the pre-determined distance in front, If it is determined that barrier be present, then the first prompting message is sent to the driver of the Current vehicle.
  2. 2. according to the method for claim 1, it is characterised in that it is described according to the pavement image, judge the current vehicle To whether there is barrier between the pre-determined distance in front, including:
    According to image recognition algorithm, judge the Current vehicle to whether there is barrier between the pre-determined distance in front.
  3. 3. according to the method for claim 2, it is characterised in that described image recognizer is gray value check algorithm.
  4. 4. according to the method for claim 1, it is characterised in that it is described measurement Current vehicle and the first vehicle between away from From, including:
    The distance between Current vehicle and the first vehicle are measured using trailer-mounted radar device.
  5. 5. according to the method for claim 1, it is characterised in that first prompting message includes:Barrier prompting message And/or the prompt message of changing Lane.
  6. 6. according to the method for claim 1, it is characterised in that also include:
    If it is determined that the distance is less than or equal to the pre-determined distance, then the motion state of first vehicle is detected, and in institute When to state motion state be deceleration regime, the second prompting message is sent to the driver of the Current vehicle.
  7. 7. according to the method for claim 6, it is characterised in that the motion state of detection first vehicle, including:
    Radar signal is sent to first vehicle according to predetermined period using trailer-mounted radar device, and according to the anti-of radar signal Feedback signal determines the motion state of first vehicle.
  8. A kind of 8. front road condition detection system, it is characterised in that including:
    Distance-measurement module, for measuring the distance between Current vehicle and the first vehicle;Wherein, first vehicle for institute State Current vehicle and be in identical track and closest front vehicles;
    Image capture module, for when judging that the distance is more than pre-determined distance, gathering the Current vehicle to the institute in front State the pavement image between pre-determined distance;
    First prompting module, for according to the pavement image, judge the Current vehicle to front the pre-determined distance it Between whether there is barrier, if it is determined that barrier be present, then send the first prompting message to the driver of the Current vehicle.
  9. 9. system according to claim 8, it is characterised in that first prompting module is specifically used for:Known according to image Other algorithm, judge the Current vehicle to whether there is barrier between the pre-determined distance in front.
  10. 10. system according to claim 9, it is characterised in that described image recognizer is gray value check algorithm.
  11. 11. system according to claim 8, it is characterised in that the distance-measurement module is specifically used for:Utilize vehicle-mounted thunder Up to the distance between measurement device Current vehicle and the first vehicle.
  12. 12. system according to claim 8, it is characterised in that first prompting message includes barrier prompting message And/or the prompt message of changing Lane.
  13. 13. system according to claim 8, it is characterised in that also include:
    State detection module, for when judging that the distance is less than or equal to the pre-determined distance, detecting first vehicle Motion state, and when the motion state is deceleration regime, the second prompting message is sent to the driver of the Current vehicle.
  14. 14. system according to claim 13, it is characterised in that the state detection module is specifically used for:Using vehicle-mounted Radar installations sends radar signal according to predetermined period to first vehicle, and determines institute according to the feedback signal of radar signal State the motion state of the first vehicle.
CN201610607862.XA 2016-07-25 2016-07-25 Front road conditions detection method and system CN107650786A (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

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CN110097783A (en) * 2019-05-15 2019-08-06 芜湖汽车前瞻技术研究院有限公司 Vehicle early warning method and system
CN110133744A (en) * 2018-02-09 2019-08-16 北京康力优蓝机器人科技有限公司 A kind of mobile robot road surface road conditions detection method
CN111186448A (en) * 2020-01-06 2020-05-22 北京小米移动软件有限公司 Intelligent reminding method and device

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CN102927964A (en) * 2012-10-24 2013-02-13 安科智慧城市技术(中国)有限公司 Distance measuring device and method and vehicle
CN104527644A (en) * 2014-12-29 2015-04-22 江苏大学 Self-adaption cruise system and method
CN204845924U (en) * 2015-07-23 2015-12-09 江苏大学 Vertically keep away to hit and remind and follow integrated system automatically

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DE102010051204A1 (en) * 2010-11-12 2012-05-16 Valeo Schalter Und Sensoren Gmbh Method for displaying obstacle for vehicle, involves detecting area surrounding vehicle with camera system, and detecting obstacles with sensor element independent of camera system
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CN110133744A (en) * 2018-02-09 2019-08-16 北京康力优蓝机器人科技有限公司 A kind of mobile robot road surface road conditions detection method
CN110097783A (en) * 2019-05-15 2019-08-06 芜湖汽车前瞻技术研究院有限公司 Vehicle early warning method and system
CN111186448A (en) * 2020-01-06 2020-05-22 北京小米移动软件有限公司 Intelligent reminding method and device

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