CN107749169A - A kind of intelligent transportation system for automatically controlling automobile brake - Google Patents
A kind of intelligent transportation system for automatically controlling automobile brake Download PDFInfo
- Publication number
- CN107749169A CN107749169A CN201711110602.2A CN201711110602A CN107749169A CN 107749169 A CN107749169 A CN 107749169A CN 201711110602 A CN201711110602 A CN 201711110602A CN 107749169 A CN107749169 A CN 107749169A
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- unit
- whistle
- central control
- vehicle
- control unit
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
- B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The present invention provides a kind of intelligent transportation system for automatically controlling automobile brake, including signal lamp state detection unit, vehicle detection unit, Bus- Speed Monitoring unit, GPS positioning unit, automobile brake unit, Noise Acquisition unit of blowing a whistle, noise recognizing unit of blowing a whistle, noise source positioning unit, image acquisition units and central control unit；Bus- Speed Monitoring unit, GPS positioning unit, automobile brake unit and image acquisition units are all connected to central control unit, blow a whistle after Noise Acquisition unit, noise recognizing unit of blowing a whistle and noise source positioning unit are sequentially connected and central control unit is connected to by noise source positioning unit, central control unit communicates to connect through 4G wireless networks and traffic hub administrative unit.The present invention can be braked to over-speed vehicles automatically, captured and blown a whistle and vehicles running red light, solve the problems, such as that automobile easily knocks into the back, makes a dash across the red light and blown a whistle the candid photograph of vehicle, can effectively reduce the generation of security incident, improve resident living environment.
Description
Technical field
The invention belongs to technical field of intelligent traffic, more particularly to a kind of automatic brake and capturing system of blowing a whistle.
Background technology
In order to reduce because of hypervelocity and caused by traffic accident, round-the-clock hypervelocity is assembled with the street of big and medium-sized cities
Monitoring, it is convenient that act of violating regulations is carried out to monitor and handle in real time.Adopt and there is some problems in such a way, for example work as driving
Member know have hypervelocity monitor when, may slow down immediately, if slow down it is too urgent, it is possible to cause vehicle below human pilot come
Not as good as slowing down, so as to cause rear-end collision etc..In addition, not allowing to blow a whistle on the more intensive street of some resident families, but have
Many drivers blow a whistle in violation of rules and regulations, influence the life of city dweller.Therefore it is the generation for slowing down such event, it is necessary to which being related to one kind can
With Braking mode over-speed vehicles, the system blown a whistle with vehicles running red light is captured, facilitates traffic administration personnel to carry out such event
Management, reduce the generation of security incident and improve resident living environment.
The content of the invention
The purpose of the present invention is to solve the problems, such as that automobile easily knocks into the back, makes a dash across the red light and blown a whistle the candid photograph of vehicle, there is provided a kind of
The intelligent transportation system of automobile brake can be automatically controlled, over-speed vehicles can be braked automatically, be captured and blow a whistle and make a dash across the red light
Vehicle, the generation of security incident is effectively reduced, also improve resident living environment.
To reach above-mentioned purpose, the present invention, which adopts the following technical scheme that, to be achieved：
A kind of intelligent transportation system for automatically controlling automobile brake, including
Signal lamp state detection unit, for detecting the state with inputted signal light；
Vehicle detection unit, whether there is car for crossroad under the command detection red light phase according to central control unit
Pass through；
Bus- Speed Monitoring unit, for detecting the travel speed of vehicle；
GPS positioning unit, for positioning over-speed vehicles；
Automobile brake unit, for automatically controlling speed and the control of over-speed vehicles according to the instruction of central control unit
Vehicles running red light stops；
Blow a whistle Noise Acquisition unit, for gathering the acoustic signals of blowing a whistle of automobile；
Blow a whistle noise recognizing unit, for filtering, filter out acoustic signals of blowing a whistle；
Noise source positioning unit, for positioning the source of the acoustic signals of blowing a whistle；
Image acquisition units, for gathering the view data for vehicle of blowing a whistle；
Central control unit, the data for being detected according to above-mentioned each unit make comparative judgments and sent control and refer to
Order, control automobile brake unit are braked to over-speed vehicles and vehicles running red light, and control image acquisition units are grabbed automatically
Clap the vehicle blown a whistle and made a dash across the red light；Central control unit is also associated with the database for data storage, is preset in database
Vehicle compulsory brake area data for limiting vehicle speed data and crossroad of road etc.；
Traffic hub administrative unit, for receiving data of the above-mentioned each unit after central control unit is handled；
Signal lamp state detection unit, vehicle detection unit, Bus- Speed Monitoring unit, GPS positioning unit, automobile brake unit
Central control unit is all connected to image acquisition units, Noise Acquisition unit of blowing a whistle, noise recognizing unit of blowing a whistle and noise source
Positioning unit by noise source positioning unit is connected to central control unit after being sequentially connected, and central control unit is through 4G wireless networks
Communicated to connect with traffic hub administrative unit.
Further, automobile brake unit is arranged on automobile, and automobile brake unit is connected with braking driver element, braking
Driver element is provided with 4G wireless network modules, and central control unit is communicated with 4G wireless network modules by 4G wireless networks
Connection, the braking instruction that central control unit is sent are given braking driver element through 4G wireless network transmissions, are arranged at so as to drive
Automobile brake unit on automobile.
Further, image acquisition units include visibility detection module, image storage module, image denoising module and extremely
A few video capture module, the quantity of video capture module are set according to live actual environment.
Further, video capture module uses ccd video camera, and minimum filming frequency is 20 frames/second, each ccd video camera
Filming frequency difference 5 frames/second.
Further, visibility detection module uses transmission-type visibility detector.
Further, image denoising module uses adaptive wiener filter or morphology scratch filter.
Further, central control unit uses the chip of X86-based.
Further, blow a whistle Noise Acquisition unit, noise recognizing unit of blowing a whistle and noise source positioning unit uses microphone
Auditory localization technology.
Further, image acquisition units are communicated to connect by 4G wireless networks and central control unit.
Compared with prior art, the invention has the advantages that：
1) the present invention uses such scheme, it is possible to while realize that the positioning candid photograph for vehicle of blowing a whistle and overspeed of vehicle are automatic
Braking, avoids the problem of technology of the prior art is more single, and present invention also adds GPS positioning unit, be used for
For the positioning of over-speed vehicles and vehicles running red light, compared to prior art, so can more be accurately positioned, automobile brake unit
The braking instruction that central control unit is sent can be received automatically, by automobile driving speed control preset car speed with
Under, when its speed is again above preset car speed, above braking procedure can be repeated again again, so as to effectively control automobile
Speed；In addition, the central control unit of the present invention is communicated to connect using 4G wireless networks and traffic hub administrative unit, compare
In 3G network of the prior art, hence it is evident that accelerate the transmission rate of data, when the vehicle on street is more, can also provide
Preferable data transport service, and increasingly popularized with the development of economic and technical, 4G wireless networks page, its cost also can be more next
Lower, therefore, the present invention can possess more preferable treatment effeciency, solve vehicle of blowing a whistle on the premise of production cost is ensured
Positioning candid photograph and the problem of overspeed of vehicle Braking mode, facilitate traffic administration personnel to carry out pipe to traffic and resident living environment
Reason and improvement.
2) image acquisition units of the present invention additionally use visibility detection module so that central control unit can root
Suitable ccd video camera, so, the candid photograph to vehicle of blowing a whistle, using the teaching of the invention it is possible to provide more excellent are selected according to the change of live visibility
Shooting effect, adapted to different environment, compared in the prior art may only to blow a whistle vehicle carry out compared with single environment
Capture, technique effect is substantially more preferable.
Brief description of the drawings
The general structure schematic diagram of Fig. 1 present invention；
The image acquisition units of Fig. 2 present invention and the relation schematic diagram of central control unit.
Embodiment
Illustrate embodiments of the invention below in conjunction with the accompanying drawings.
With reference to 1~Fig. 2 of figure, the present invention is to provide a kind of intelligent transportation system for automatically controlling automobile brake, including
Signal lamp state detection unit, for detecting the state with inputted signal light；
Vehicle detection unit, using wagon detector, under the command detection red light phase according to central control unit
Whether crossroad has vehicle process；
Bus- Speed Monitoring unit, the vehicle speed sensor being installed on automobile is employed, for detecting the travel speed of vehicle；
GPS positioning unit, for positioning over-speed vehicles；
Automobile brake unit, for automatically controlling speed and the control of over-speed vehicles according to the instruction of central control unit
Vehicles running red light stops；
Blow a whistle Noise Acquisition unit, for gathering the acoustic signals of blowing a whistle of automobile；
Blow a whistle noise recognizing unit, for filtering, filter out acoustic signals of blowing a whistle；
Noise source positioning unit, for positioning the source of the acoustic signals of blowing a whistle；
Image acquisition units, for gathering the view data for vehicle of blowing a whistle；
Central control unit, the data for being detected according to above-mentioned each unit make comparative judgments and sent control and refer to
Order, control automobile brake unit are braked to over-speed vehicles and vehicles running red light, and control image acquisition units are grabbed automatically
Clap the vehicle blown a whistle and made a dash across the red light；Central control unit is also associated with the database for data storage, is preset in database
Vehicle compulsory brake area data for limiting vehicle speed data and crossroad of road etc.；
Traffic hub administrative unit, for receiving data of the above-mentioned each unit after central control unit is handled；
Signal lamp state detection unit, vehicle detection unit, Bus- Speed Monitoring unit, GPS positioning unit, automobile brake unit
Central control unit is all connected to image acquisition units, Noise Acquisition unit of blowing a whistle, noise recognizing unit of blowing a whistle and noise source
Positioning unit by noise source positioning unit is connected to central control unit after being sequentially connected, and central control unit is through 4G wireless networks
Communicated to connect with traffic hub administrative unit.
With reference to 1~Fig. 2 of figure, the concrete structure and general principle of above-mentioned each unit are as described below：
Automobile brake unit is arranged on automobile, and automobile brake unit is connected with the braking driving being similarly provided on automobile
Unit, braking driver element are provided with 4G wireless network modules, and central control unit passes through 4G wireless networks with 4G wireless network modules
Network is communicatively coupled, and the braking instruction that central control unit is sent gives braking driver element through 4G wireless network transmissions, so as to
Driving is arranged at the automobile brake unit on automobile.
Driver element is braked in addition to 4G wireless network modules, in addition to MCU, MCU are provided with driving automobile brake unit certainly
The drive circuit module of dynamic braking and the power module that power supply support is provided to whole unit；Brake the 4G wireless networks of driver element
Network module receives the braking instruction that central control unit is sent, and the braking instruction is sent into MCU and analyzed and processed, should
After MCU processing, confirmation is braking instruction, passes through the data such as the specific orientation of over-speed vehicles that is obtained from GPS positioning unit, control
Over-speed vehicles braking is made, and can be pre-set in database the total time of braking procedure.
Image acquisition units include visibility detection module, image storage module, image denoising module and at least one figure
As capturing module, the quantity of video capture module is set according to live actual environment.
Each ccd video camera is arranged on the Traffic signal post of crossroad in face of the direction of vehicle traveling.
Visibility detection module uses transmission-type visibility detector, and has the characteristics that：1) Monitoring Datas it is stable,
Timely and accurately；2) sighting device unique；3) lens protecting apparatus of original creation, without carrying out lens cleaning；4) installation and
Debugging is quick, may be selected mobile and fixes two kinds of mounting means；5) die casting aluminum shell, surface plastic spraying, degree of protection IP66；6).
Baseline optional 10M, 15M；7) uses WINDOWS interfaces, easily operated.
Video capture module uses ccd video camera, and minimum filming frequency is 20 frames/second, the filming frequency of each ccd video camera
Differ 5 frames/second, central control unit selects suitable shooting frequency according to the visibility height detected when transmission-type visibility detector
The ccd video camera of rate；Visibility detection module can grab according to the actual conditions of weather, such as fine day, dense fog, heavy rain regulation image
The filming frequency of module is clapped, improves the force trapping of vehicle image.
Image denoising module uses adaptive wiener filter or morphology scratch filter, improves shooting violation vehicle
Image definition；Adaptive wiener filter, the output of wave filter, part side can be adjusted according to the local variance of image
Difference is bigger, and the smoothing effect of wave filter is stronger；Its final goal is to make recovery image f^ (x, y) and original image f (x, y)
Mean square error e2=E [(f (x, y)-f^ (x, y) 2] it is minimum；The filter effect of this method is better than mean filter effect, to protecting
Stay edge and other HFSs of image very useful, but amount of calculation is larger；Wiener filter is to the image with white noise
Filter effect is optimal；And morphology scratch filter, it will open and closure combines and can be used to filter out noise, first to making an uproar
For sound spectrogram as carrying out unlatching operation, optional structure salt matrices are bigger than the size of noise, thus the result opened is by background
Noise remove；It is finally that the image obtained to back carries out closed procedure, the noise on image is removed；According to the method
The characteristics of it is recognised that the applicable image type of the method is that object size in image is all bigger, and without tiny thin
Section, can be relatively good to the effect of such scene image partition.
Central control unit uses the chip of X86-based, and generally central control unit is using ARM frameworks, ARM framves
Structure is typical RISC compared to X86-based, its ARM, and instruction set is simplified, and instruction is isometric, performs the treatment effeciency of simple command
It is higher, but the present invention is needed to being that whether crossroad has vehicle by detecting under " red light " in signal lamp, to blowing a whistle
Positioning is identified in noise, the vehicle for making a dash across the red light and/or blowing a whistle is captured etc., function is comparatively complex；And X86
Framework belongs to typical CISC, and instruction set is enriched, and instructs Length discrepancy, is good at performing complex work, more emphasizes serial performance, then tie
The characteristics of its is cost-effective is closed, selecting the chip of X86-based more can effectively play the features of the present invention.
Blow a whistle Noise Acquisition unit, noise recognizing unit of blowing a whistle and noise source positioning unit uses microphone auditory localization skill
Art, microphone auditory localization technology is to utilize microphones pick up speech signal, and it is divided with Digital Signal Processing
Analysis and processing, then determine and track the locus of sound source；The pickup scope of traditional single microphone is very limited, pickup letter
Number it is of low quality, therefore propose the method that speech processes are carried out with microphone array；Microphone array has denoising, sound source
The function such as positioning and tracking, so as to substantially increase Speech processing quality.
Specifically, it is further elaborated below to blowing a whistle, making a dash across the red light and braking three kinds of situations：
1) blows a whistle：Noise Acquisition unit, the noise recognizing unit of blowing a whistle of blowing a whistle include multiple array pick-ups, array pick up
Device forms the Noise Acquisition unit of blowing a whistle to link together by being sequentially connected to high-pass filter and A/D converter, blows a whistle and make an uproar
Sound recognition unit, noise recognizing unit of blowing a whistle are reconnected in noise source positioning unit, noise source positioning unit using based on
A kind of Combined estimator method of ESPRIT algorithms, the orientation for the automobile that can accurately obtain blowing a whistle；Then central control unit can
State of visibility according to the accurate orientation and at that time sends control instruction, selects the ccd video camera of suitable filming frequency to this
The automobile in orientation is captured, and gives traffic hub administrative unit by 4G network transmissions.
If rule-breaking vehicle is daytime, visibility detection module is automatically made day mode, if day at that time is vaporous
Condition is fine day, ccd video camera shot with the frequency of 20 frames/second violation vehicle image (if being at that time other weather conditions, root
According to the value set, suitable ccd video camera is selected to be captured), the image of storage is entered using morphology scratch filter
Row denoising, and the image after denoising is stored in image storage module；
If rule-breaking vehicle is night, visibility detection module is automatically made night mode, if day at that time is vaporous
Condition is that dense fog, visibility are relatively low, and video capture module then shoots the image of violation vehicle with highest filming frequency, and use is adaptive
Answer Wiener filter to carry out denoising to the image of storage, and the image after denoising is stored in image storage module.
2) makes a dash across the red light：When the traffic lights of crossroad redirect into red, signal lamp state detection unit output " forbidden "
To central control unit, central control unit receives and sends " detection " instruction, vehicle inspection to vehicle detection unit after information information
Survey unit to bring into operation, when having detected running red light for vehicle, this information transmission is received to central control unit, central control unit
" collection " instruction is sent to image acquisition units after to information, the image of image acquisition units shooting violation vehicle is simultaneously handled
Storage, and give traffic hub administrative unit by 4G network transmissions.If rule-breaking vehicle is daytime, visibility detection module is automatic
It is set as day mode, if weather conditions at that time are fine days, ccd video camera shoots violation vehicle with the frequency of 20 frames/second
Image (if being at that time other weather conditions, according to the value that sets, selecting suitable ccd video camera to be captured), adopt
Denoising is carried out to the image of storage with morphology scratch filter, and the image after denoising is stored in image storage module；
When the traffic lights of crossroad redirect into red, signal lamp state input block exports " forbidden " information to center
Control unit, central control unit receive and send " detection " instruction to vehicle detection unit after information, and vehicle detection unit starts
Operation, when having detected running red light for vehicle, by this information transmission to central control unit, it is backward that central control unit receives information
Image acquisition units send " collection " instruction, and the image of image acquisition units shooting violation vehicle simultaneously carries out processing storage, and leads to
Cross 4G network transmissions and give traffic hub administrative unit.If rule-breaking vehicle is night, visibility detection module is automatically made night
Late pattern, if weather conditions at that time are that dense fog, visibility are relatively low, video capture module is then shot with highest filming frequency
The image of violation vehicle, denoising is carried out to the image of storage using adaptive wiener filter, and the image after denoising is stored
In image storage module.
The usual way of above-mentioned denoising and storage image is first to be stored, and then the image after storage is gone again
Make an uproar；And from the above with see of the invention then be first denoising, rear storage, so have and improve image and store mould in principles illustrated
It the features such as service life of block, can also reduce expenses to a certain extent, accelerate treatment effeciency.
In the above situation, the information of vehicles captured can be transferred to traffic hub administrative unit by central control unit,
Administrative staff's can of traffic hub administrative unit is handled accordingly according to the information of vehicles received.
3) is braked：Various data are preset in database, the restriction vehicle speed data in such as street, can be also used for depositing
The data message that storage each unit detects, such as vehicle image, the number-plate number；When running car is in the street, Bus- Speed Monitoring
After unit detects the car speed, central control unit is immediately by the car travel speed and the restriction speed being preset in database
Data are compared analysis, after confirming car hypervelocity, start GPS positioning unit immediately and the car is positioned, then send system
Dynamic instruction；The braking instruction is sent to by the braking driver element on automobile by 4G wireless networks, braking driving is single
Member can drive automobile brake unit to carry out automobile brake, by automobile driving speed control below preset car speed, and
Its braking time can be preset in database, brake the MCU of driver element and analysis can be transferred from database, then with the braking
Time driving automobile brake unit is braked；After braking time has arrived, automobile driving speed also is located at preset automobile speed
Below degree, it can stop braking this moment；When its speed is again above preset car speed, can repeat to brake above again again
Process, so as to effectively control the speed of automobile.
Further, the data of vehicle compulsory brake area, vehicle compulsory braking are also preset in database of the invention
Region is arranged at crossroad, and the vehicle compulsory brake area under vehicle detection unit detection red light phase at crossroad is
It is no to have vehicle process；When vehicle traveling enters vehicle compulsory brake area, central control unit analyzes the shape of signal lamp this moment
State；If signal lamp is red light phase, central control unit determines that what vehicle detection unit detected drives into by GPS positioning unit
The vehicle of vehicle compulsory brake area, cutoff command is then sent, then parking of automobile is controlled by automobile brake unit.Such one
Come, it is possible to avoid ignoring traffic rules by driver, traffic accident caused by making a dash across the red light by force.
In summary, the present invention can be braked to over-speed vehicles, capture and blow a whistle and vehicles running red light automatically, be solved
The candid photograph problem that automobile easily knocks into the back, blown a whistle with vehicles running red light, the generation of security incident can be effectively reduced, improve resident's life
Environment living.
Claims (2)
- A kind of 1. intelligent transportation system for automatically controlling automobile brake, it is characterised in that includingSignal lamp state detection unit, for detecting the state with inputted signal light；Vehicle detection unit, whether there is vehicle warp for crossroad under the command detection red light phase according to central control unit Cross；Bus- Speed Monitoring unit, for detecting the travel speed of vehicle；GPS positioning unit, for positioning over-speed vehicles；Automobile brake unit, for the speed of over-speed vehicles is automatically controlled according to the instruction of central control unit and control rush it is red Lamp vehicle parking；Blow a whistle Noise Acquisition unit, for gathering the acoustic signals of blowing a whistle of automobile；Blow a whistle noise recognizing unit, for filtering, filter out acoustic signals of blowing a whistle；Noise source positioning unit, for positioning the source of the acoustic signals of blowing a whistle；Image acquisition units, for gathering the view data for vehicle of blowing a whistle；Database, preset the vehicle compulsory brake area data for limiting vehicle speed data and crossroad of road；Central control unit, the data for being detected according to above-mentioned each unit make comparative judgments and sent control instruction, control Automobile brake unit processed is braked to over-speed vehicles and vehicles running red light, and control image acquisition units are captured and blown a whistle automatically With the vehicle to make a dash across the red light；Traffic hub administrative unit, for receiving data of the above-mentioned each unit after central control unit is handled；Signal lamp state detection unit, vehicle detection unit, Bus- Speed Monitoring unit, GPS positioning unit, automobile brake unit and figure As collecting unit is all connected to central control unit, Noise Acquisition unit of blowing a whistle, noise recognizing unit of blowing a whistle and noise source positioning Unit by noise source positioning unit is connected to central control unit after being sequentially connected, and central control unit is through 4G wireless networks with handing over Logical central manage-ment unit communication connection.
- A kind of 2. intelligent transportation system for automatically controlling automobile brake as claimed in claim 1, it is characterised in that automobile system Moving cell is arranged on automobile, and automobile brake unit is connected with braking driver element, and braking driver element is provided with 4G wireless networks Module, central control unit are communicatively coupled with 4G wireless network modules by 4G wireless networks.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711110602.2A CN107749169A (en) | 2017-11-12 | 2017-11-12 | A kind of intelligent transportation system for automatically controlling automobile brake |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711110602.2A CN107749169A (en) | 2017-11-12 | 2017-11-12 | A kind of intelligent transportation system for automatically controlling automobile brake |
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| CN107749169A true CN107749169A (en) | 2018-03-02 |
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| CN201711110602.2A Pending CN107749169A (en) | 2017-11-12 | 2017-11-12 | A kind of intelligent transportation system for automatically controlling automobile brake |
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| CN205050342U (en) * | 2015-08-31 | 2016-02-24 | 成都众孚理想科技有限公司 | Car snapshot system that makes a dash across red light that whistles |
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| CN105096607A (en) * | 2015-08-31 | 2015-11-25 | 成都众孚理想科技有限公司 | Intelligent traffic system capable of automatic control of automobile braking |
| CN105096613A (en) * | 2015-08-31 | 2015-11-25 | 成都众孚理想科技有限公司 | Automobile overspeed brake and whistling snapshot system |
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