CN107791943A - The preceding collision warning systems and method for early warning of a kind of pure electric automobile - Google Patents

The preceding collision warning systems and method for early warning of a kind of pure electric automobile Download PDF

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Publication number
CN107791943A
CN107791943A CN201711012617.5A CN201711012617A CN107791943A CN 107791943 A CN107791943 A CN 107791943A CN 201711012617 A CN201711012617 A CN 201711012617A CN 107791943 A CN107791943 A CN 107791943A
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CN
China
Prior art keywords
running data
less
signal
default
front truck
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711012617.5A
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Chinese (zh)
Inventor
李占江
高超
蒋元广
任钢
赵冲冲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Yuebo Electric Drive System Co Ltd
Original Assignee
Nanjing Yuebo Electric Drive System Co Ltd
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.)
Filing date
Publication date
Application filed by Nanjing Yuebo Electric Drive System Co Ltd filed Critical Nanjing Yuebo Electric Drive System Co Ltd
Priority to CN201711012617.5A priority Critical patent/CN107791943A/en
Publication of CN107791943A publication Critical patent/CN107791943A/en
Pending legal-status Critical Current

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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
    • B60Q9/00Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems

Abstract

The invention discloses the preceding collision warning systems and method for early warning of a kind of pure electric automobile, including full-vehicle control subsystem and radar signal collection and processing subsystem, full-vehicle control subsystem is used to gather from car running data, radar signal gathers and processing subsystem is used to gather front truck running data, by front truck running data with being contrasted from car running data, and judge current vehicle away from whether less than default safe distance between vehicles according to comparing result, and whether current collision time is less than default collision time, when judging current vehicle away from less than default safe distance between vehicles alarm signal is sent to driver, when judging that current collision time is less than default collision time dangerous feedback signal is sent to full-vehicle control subsystem, full-vehicle control subsystem is additionally operable to after the dangerous feedback signal is received to being braked from car.The present invention can be reduced effectively because driver neglects or operates caused vehicle rear-end collision accident not in time, improve the security of vehicle traveling.

Description

The preceding collision warning systems and method for early warning of a kind of pure electric automobile
Technical field
The present invention relates to electric vehicle engineering field, more particularly to preceding collision warning systems of a kind of pure electric automobile and pre- Alarm method.
Background technology
With the progress of science and technology and vigorously supporting for government, pure electric automobile industry has obtained quick development, pure electricity The safety problem of electrical automobile also receives the common concern of masses.
In traffic accident, occupation rate highest, cause loss of personal property it is maximum be vehicle rear-end collision collision.For traffic The analysis shows of accident, most traffic accidents are due to that driver's operation not in time collide by caused vehicle rear-end collision.Separately have Research shows:If driver can obtain alarm signal prompting for 0.5 second before danger occurs, 60% can be at least avoided to touch Hit the generation of accident;Danger warning prompting is just obtained if driver can shift to an earlier date 1 to 2 seconds, most traffic accidents are all can With what is avoided.
In the prior art, patent publication No. is that CN202484174U discloses a kind of air bag device.The practicality is new Type purpose is to provide a kind of multi-level safety air bag to play a part of buffering energy-absorbing.When colliding excessively strong, multi-level safety gas Capsule is extruded strongly, and the air bag positioned at multi-level safety air bag front end discharges rapidly the collision that it is absorbed by exploding Energy, so as to reduce the harm caused by collision.But this device can not find danger in advance and danger is sent to driver Dangerous alarm signal, can not fundamentally collision free generation.
Therefore from security standpoint, development can detect vehicle-surroundings information and remind driver to drive with caution, It is very necessary that the preceding collision warning systems of safe driving action can be performed automatically if necessary.
The content of the invention
In order to solve the above-mentioned problems in the prior art, the present invention proposes a kind of preceding anti-collision warning of pure electric automobile System and method for early warning, effectively to reduce because driver neglects or operates caused vehicle rear-end collision accident not in time, improve car Traveling safety and reliability.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that:
A kind of preceding collision warning systems of pure electric automobile, including full-vehicle control subsystem and radar signal collection and processing Subsystem, the full-vehicle control subsystem is used to gather from car running data, and by collection is sent to institute from car running data Radar signal collection and processing subsystem are stated, the radar signal collection and processing subsystem are used to gather front truck running data, The front truck running data is contrasted with described from car running data, and judges current vehicle away from whether small according to comparing result Whether it is less than default collision time, the radar signal collection and processing in default safe distance between vehicles and current collision time System is additionally operable to send alarm signal to driver when judging current vehicle away from less than default safe distance between vehicles, and works as and judge When current collision time is less than default collision time dangerous feedback signal, the vehicle control are sent to the full-vehicle control subsystem Subsystem is additionally operable to after the dangerous feedback signal is received to being braked from car.
Preferably, the full-vehicle control subsystem includes entire car controller, and the entire car controller is used to gather from garage Data are sailed, and collection is sent to by the radar signal collection and processing subsystem from car running data by CAN.
Preferably, the entire car controller includes one group of I/O port, described when the I/O port is inputs effective status Full-vehicle control subsystem receives the dangerous feedback signal.
Preferably, the radar signal collection and processing subsystem include information acquisition unit, warning unit and report Alert execution unit;
Described information collecting unit is used to gather front truck running data, and the front truck running data includes the relatively horizontal of front truck To distance, relative fore-and-aft distance and relative velocity;
The warning unit is used for according to the front truck running data and the comparing result from car running data Current vehicle is judged away from whether being less than default safe distance between vehicles and whether current collision time is less than default collision time, and when sentencing Break to send to the alarm execution unit when current vehicle away from less than default safe distance between vehicles and perform signal, and it is current when judging When collision time is less than default collision time dangerous feedback signal is sent to the full-vehicle control subsystem;
The alarm execution unit is used to send alarm signal to driver after the execution signal is received.
Preferably, described information collecting unit includes frequency modulation continous way millimetre-wave radar, for determining the relatively horizontal of front truck To distance, relative fore-and-aft distance and relative velocity.
Preferably, the warning unit includes single-chip microcomputer.
Preferably, it is described alarm execution unit include acousto-optic warning device, for receive it is described perform signal after with Form of sound and/or flash of light form send alarm signal to driver.
A kind of preceding anti-collision warning method of pure electric automobile, comprises the following steps:
Gather from car running data;
Gather front truck running data;
Contrast the front truck running data with it is described from car running data;
Judge current vehicle away from whether being less than default safe distance between vehicles and whether current collision time is less than according to comparing result Default collision time;
Alarm signal is sent to driver when judging current vehicle away from less than default safe distance between vehicles, and works as and judges to work as Control is braked from car when preceding collision time is less than default collision time.
Preferably, the front truck running data includes the relatively transverse distance of front truck, relative fore-and-aft distance and relative velocity Information.
Preferably, the alarm signal includes voice signal and flashing signal.
Compared with prior art, the invention has the advantages that:
The present invention gathers the running data of front vehicles using radar signal collection and processing subsystem, including relatively transverse Distance, relative fore-and-aft distance and relative velocity, when finding that current distance is shorter than default safe distance between vehicles, then sent to driver Alarm signal, alerting drivers are operated, and prevent from knocking into the back with front truck, when finding that current collision time is less than default collision Between, when driver is possible to have little time reaction, sends danger and feed back signal to full-vehicle control subsystem, by full-vehicle control subsystem Brake hard is carried out, so as to effectively reduce because driver neglects or operates caused vehicle rear-end collision accident not in time, improves car Drive security.
Brief description of the drawings
Fig. 1 is the schematic block diagram of preceding collision warning systems provided in an embodiment of the present invention;
Fig. 2 is the flow chart of preceding anti-collision warning method provided in an embodiment of the present invention;
Fig. 3 is a kind of specific implementation process figure of the inventive method.
In figure:1- full-vehicle control subsystems, 101- entire car controllers, the collection of 2- radar signals and processing subsystem, 201- Information acquisition unit, 202- warning units, 203- alarm execution units.
Embodiment
Below by drawings and examples, technical scheme is described in further detail.
Present invention firstly provides a kind of preceding collision warning systems of pure electric automobile, as shown in figure 1, including full-vehicle control Subsystem 1 and radar signal collection and processing subsystem 2, wherein, full-vehicle control subsystem 1 is used to gather from car running data, And collection is sent to radar signal collection and processing subsystem 2, radar signal collection and processing subsystem from car running data System 2 is used to gather front truck running data, and the front truck running data is contrasted with described from car running data, and according to right Current vehicle is judged away from whether being less than default safe distance between vehicles and whether current collision time is less than default collision time than result, Radar signal gathers and processing subsystem 2 is additionally operable to send to driver when judging current vehicle away from less than default safe distance between vehicles Alarm signal, and send danger to full-vehicle control subsystem 1 when judging that current collision time is less than default collision time Feedback signal, full-vehicle control subsystem 1 are additionally operable to after the dangerous feedback signal is received to being braked from car.
The present invention by gathering and contrasting the running data from car and front truck in real time, when discovery current distance is than default safety Spacing in short-term, then sends alarm signal to driver, and alerting drivers are operated, and prevents from knocking into the back with front truck, current when finding Collision time is less than default collision time, when driver is possible to have little time reaction, then sends danger and feeds back signal to vehicle control Subsystem, brake hard is carried out by full-vehicle control subsystem, so as to effectively reduce because driver neglects or operates not in time Caused vehicle rear-end collision accident, improve the security of vehicle drive.
Preferably, full-vehicle control subsystem 1 includes entire car controller 101, and entire car controller 101 is used to gather to travel from car Data, and collection is sent to by radar signal collection and processing subsystem 2 from car running data by CAN.Vehicle control Device 101 processed is the brain of Intelligent Control System of Electrical Vehicle, is responsible for the control of vehicle operation logic, carries out coordinating pipe to subsystems Reason and diagnosis monitoring, reliable safety guarantee is provided while vehicle is run for it.Specifically, entire car controller 101 is adopted Collect vehicle operation data, the signal fed back according to modules carries out comprehensive descision, so as to respond drive demand, troubleshooting etc. Instruction.
Preferably, entire car controller 101 includes one group of I/O port, when the I/O port is inputs effective status, represents Full-vehicle control subsystem 1 receives the dangerous feedback signal.After receiving the dangerous feedback signal, entire car controller 101 Brake signal is sent, carries out brake hard, is chased after so as to effectively reduce because driver neglects or operates caused vehicle not in time Tail accident, improve the security of driving.
Preferably, radar signal collection and processing subsystem 2 include information acquisition unit 201, the and of warning unit 202 Alarm execution unit 203;
Information acquisition unit 201 is used to gather front truck running data, and the front truck running data includes the relatively horizontal of front truck To distance, relative fore-and-aft distance and relative velocity;
Warning unit 202 is used to be sentenced according to the front truck running data and the comparing result from car running data Whether disconnected current vehicle is away from being less than default safe distance between vehicles and whether current collision time is less than default collision time, and when judging Sent when going out current vehicle away from less than default safe distance between vehicles to alarm execution unit 203 and perform signal, and worked as and judge currently to touch When hitting the time less than default collision time dangerous feedback signal is sent to full-vehicle control subsystem 1;
Alarm execution unit 203 is used to send alarm signal to driver after the execution signal is received.
Further, information acquisition unit 201 includes frequency modulation continous way millimetre-wave radar, for determining the relatively horizontal of front truck To distance, relative fore-and-aft distance and relative velocity.The principle of the radar detects target using Doppler frequency shift principle Relatively transverse distance, relative fore-and-aft distance and relative velocity, then passed information to certainly by the communication mode of CAN Plan prewarning unit 202.
Further, warning unit 202 includes single-chip microcomputer.Used single-chip microcomputer can be DSP28335, and it is made With being the real-time safe distance between vehicles calculated needed for current driving, current vehicle is predicted into dangerous shape away from being compared with safe distance between vehicles State, and 1 one dangerous feedback signals of full-vehicle control subsystem are issued by CAN, while sent to alarm execution unit 203 Signal is performed, it is warned to driver.
Further, alarm execution unit 203 include acousto-optic warning device, for receive it is described perform signal after with Form of sound and/or flash of light form send alarm signal to driver, to cause driver to pay attention to.
Correspondingly, present invention also offers a kind of preceding anti-collision warning method of pure electric automobile, as shown in Fig. 2 this method Comprise the following steps:
S1, gather from car running data;
S2, collection front truck running data;
S3, the contrast front truck running data with it is described from car running data;
S4, judged according to comparing result current vehicle away from whether being less than default safe distance between vehicles and current collision time Less than default collision time;
S5, alarm signal is sent to driver when judging current vehicle away from less than default safe distance between vehicles, and when judgement Go out control when current collision time is less than default collision time to brake from car.
Preferably, the front truck running data includes the relatively transverse distance of front truck, relative fore-and-aft distance and relative velocity Information.
Preferably, the alarm signal includes voice signal and flashing signal.
One specific implementation process of the inventive method is as shown in Figure 3.System passes through the first of the car of Initialize installation two first Beginning motion state and initial relative distance, in the process of moving, read in real time Vehicle Controller collection from car running data And the front truck running data of radar sensor collection, then carry out target following, calculating come from car and front truck it is currently relative away from From d, early warning distance D is remindedA, danger early warning distance DB, collision time TTC, then by d and DAAnd DBCompare, if d≤DA, then it is bright Amber light is simultaneously alarmed;If d≤DB, then send out a warning and alarm;By d and DA、DBWhile comparison, by TTC and default collision time t It is compared, if TTC≤t, radar signal collection and processing subsystem send dangerous feedback signal and passed to by CAN network Full-vehicle control subsystem, full-vehicle control subsystem open auxiliary brake function, carry out brake hard, avoid dangerous generation.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include Within protection scope of the present invention.

Claims (10)

1. the preceding collision warning systems of a kind of pure electric automobile, it is characterised in that including full-vehicle control subsystem and radar signal Collection and processing subsystem, the full-vehicle control subsystem are used to gather from car running data, and collection is travelled into number from car According to the radar signal collection and processing subsystem is sent to, the radar signal collection and processing subsystem are used to gather front truck Running data, the front truck running data is contrasted with described from car running data, and judged currently according to comparing result Whether spacing is less than default safe distance between vehicles and whether current collision time is less than default collision time, and the radar signal is adopted Collection and processing subsystem are additionally operable to send alarm signal to driver when judging current vehicle away from less than default safe distance between vehicles, with And dangerous feedback signal is sent to the full-vehicle control subsystem when judging that current collision time is less than default collision time, The full-vehicle control subsystem is additionally operable to after the dangerous feedback signal is received to being braked from car.
2. the preceding collision warning systems of pure electric automobile according to claim 1, it is characterised in that full-vehicle control System includes entire car controller, and the entire car controller is used to gather from car running data, and by CAN by collection from Car running data is sent to the radar signal collection and processing subsystem.
3. the preceding collision warning systems of pure electric automobile according to claim 2, it is characterised in that the entire car controller Including one group of I/O port, when the I/O port is inputs effective status, the full-vehicle control subsystem receives the danger Feedback signal.
4. the preceding collision warning systems of pure electric automobile according to claim 1, it is characterised in that the radar signal is adopted Collection and processing subsystem include information acquisition unit, warning unit and alarm execution unit;
Described information collecting unit is used to gather front truck running data, the front truck running data include front truck it is relatively transverse away from From, relative fore-and-aft distance and relative velocity;
The warning unit is used to be judged according to the front truck running data and the comparing result from car running data Whether current vehicle is away from being less than default safe distance between vehicles and whether current collision time is less than default collision time, and when judging Sent when current vehicle is away from less than default safe distance between vehicles to the alarm execution unit and perform signal, and worked as and judge currently to collide When time is less than default collision time dangerous feedback signal is sent to the full-vehicle control subsystem;
The alarm execution unit is used to send alarm signal to driver after the execution signal is received.
5. the preceding collision warning systems of pure electric automobile according to claim 4, it is characterised in that described information collection is single Member includes frequency modulation continous way millimetre-wave radar, for the relatively transverse distance for determining front truck, relative fore-and-aft distance and relative velocity Information.
6. the preceding collision warning systems of pure electric automobile according to claim 4, it is characterised in that the warning list Member includes single-chip microcomputer.
7. the preceding collision warning systems of pure electric automobile according to claim 4, it is characterised in that the alarm performs list Member includes acousto-optic warning device, for after the execution signal is received in the form of sound and/or form of glistening is to driver Send alarm signal.
8. a kind of preceding anti-collision warning method of pure electric automobile, it is characterised in that comprise the following steps:
Gather from car running data;
Gather front truck running data;
Contrast the front truck running data with it is described from car running data;
According to comparing result judge current vehicle away from whether be less than default safe distance between vehicles and current collision time whether be less than it is default Collision time;
Alarm signal is sent to driver when judging current vehicle away from less than default safe distance between vehicles, and works as and judges currently to touch Control is braked from car when hitting the time less than default collision time.
9. the preceding anti-collision warning method of pure electric automobile according to claim 8, it is characterised in that the front truck travels number According to the relatively transverse distance including front truck, relative fore-and-aft distance and relative velocity.
10. the preceding anti-collision warning method of pure electric automobile according to claim 8, it is characterised in that the alarm signal Including voice signal and flashing signal.
CN201711012617.5A 2017-10-26 2017-10-26 The preceding collision warning systems and method for early warning of a kind of pure electric automobile Pending CN107791943A (en)

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Application Number Priority Date Filing Date Title
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Cited By (7)

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CN109910879A (en) * 2019-04-03 2019-06-21 大连理工大学 A kind of vehicle safety anticollision control method of combination safe distance and collision time
CN110488235A (en) * 2019-09-25 2019-11-22 武汉极目智能技术有限公司 VRU motion triggers system and method in a kind of automobile AEB test
CN111516496A (en) * 2020-03-24 2020-08-11 浙江合众新能源汽车有限公司 Drive motor casing collision monitoring system and vehicle applying same
CN112428990A (en) * 2020-11-30 2021-03-02 合肥巨一动力系统有限公司 Front collision early warning control method for pure electric vehicle
CN113744562A (en) * 2020-05-29 2021-12-03 南京市德赛西威汽车电子有限公司 V2V communication-based vehicle continuous rear-end collision early warning method and device
CN114038196A (en) * 2021-11-18 2022-02-11 成都车晓科技有限公司 Vehicle forward collision avoidance early warning system and method
CN115056755A (en) * 2022-08-19 2022-09-16 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded

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CN102745194A (en) * 2012-06-19 2012-10-24 东南大学 Self-adaption alarming method for preventing tailgating with front car on expressway
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CN101488290A (en) * 2009-02-27 2009-07-22 清华大学 Pre-alarm method for preventing rear-end collision by following car
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Cited By (9)

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Publication number Priority date Publication date Assignee Title
CN109910879A (en) * 2019-04-03 2019-06-21 大连理工大学 A kind of vehicle safety anticollision control method of combination safe distance and collision time
CN109910879B (en) * 2019-04-03 2020-07-14 大连理工大学 Vehicle safety anti-collision control method combining safe distance and collision time
CN110488235A (en) * 2019-09-25 2019-11-22 武汉极目智能技术有限公司 VRU motion triggers system and method in a kind of automobile AEB test
CN111516496A (en) * 2020-03-24 2020-08-11 浙江合众新能源汽车有限公司 Drive motor casing collision monitoring system and vehicle applying same
CN113744562A (en) * 2020-05-29 2021-12-03 南京市德赛西威汽车电子有限公司 V2V communication-based vehicle continuous rear-end collision early warning method and device
CN112428990A (en) * 2020-11-30 2021-03-02 合肥巨一动力系统有限公司 Front collision early warning control method for pure electric vehicle
CN114038196A (en) * 2021-11-18 2022-02-11 成都车晓科技有限公司 Vehicle forward collision avoidance early warning system and method
CN115056755A (en) * 2022-08-19 2022-09-16 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded
CN115056755B (en) * 2022-08-19 2022-11-15 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded

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Application publication date: 20180313