CN108109434A - Anti-collision warning method and system based on mobile terminal digital map navigation route planning - Google Patents

Anti-collision warning method and system based on mobile terminal digital map navigation route planning Download PDF

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Publication number
CN108109434A
CN108109434A CN201711394367.6A CN201711394367A CN108109434A CN 108109434 A CN108109434 A CN 108109434A CN 201711394367 A CN201711394367 A CN 201711394367A CN 108109434 A CN108109434 A CN 108109434A
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CN
China
Prior art keywords
mobile terminal
data
map
vehicle
map location
Prior art date
Application number
CN201711394367.6A
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Chinese (zh)
Inventor
肖冬瑞
严玉婷
张平
唐巧慧
王珏
王芳芳
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湖南工学院
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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Application filed by 湖南工学院 filed Critical 湖南工学院
Priority to CN201711394367.6A priority Critical patent/CN108109434A/en
Publication of CN108109434A publication Critical patent/CN108109434A/en

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    • 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3407Route searching; Route guidance specially adapted for specific applications

Abstract

Based on the anti-collision warning method and system of mobile terminal digital map navigation route planning, wherein, anti-collision warning method comprises the following steps:Obtain map location data, translational speed data and the navigation route data of current vehicle mobile terminal, again centered on the map location of current vehicle mobile terminal, the map location data of all other vehicle mobile terminal, translational speed data and navigation route data in the range of its certain distance are obtained;According to the current vehicle mobile terminal of acquisition and in the range of its certain distance the map location data of all other vehicle mobile terminal, translational speed data and navigation route data calculate and judge other vehicle mobile terminals and current vehicle mobile terminal whether the situation that will be present with map location and overlap;If so, send vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur;If it is not, vehicle collision alarming information is not sent then;At interval of for a period of time or incessantly, cycle performs above-mentioned steps.

Description

Anti-collision warning method and system based on mobile terminal digital map navigation route planning

Technical field

It is more particularly to a kind of based on mobile terminal digital map navigation route planning the present invention relates to wisdom traffic technical field Anti-collision warning method and system.

Background technology

With the development of science and technology, being equipped with active safety system on more and more automobiles, automobile vendor was for driving a vehicle Active safety in journey is increasingly paid attention to, such as Toyota and Honda Motor just release intelligence row security system respectively(It is auxiliary to evade collision Help suit system)And " HONDA SENSING " active safety system, the active safety system on automobile is by microwave thunder mostly Up to sensing and identifying front vehicles, to always vehicle and pedestrian with video camera, when finding dangerous, vehicle passes through prompt tone, direction The modes such as disc vibration, tightening safety belt, slight braking, remind driver note that when vehicle further to when, system can be implemented Heavy braking is injured so that driver is aided in evade collision and mitigate.Current generation active safety system cost is higher, not yet popularizes Using.

The object that automobile active safety system is directed to is the upcoming traffic participant that radar and video camera can detect, It can play the role of preferable early warning for head-on crash and evade effect, but it is very limited for avoiding side collision.Example Such as in some crosses there are vision dead zone or T-shaped road junction, the direct of travel of two cars intersects vertically, driver can not into See before entering crossing and laterally carry out vehicle, and the active safety system of two vehicles can not also detect each other, if the equal travel speed of two vehicles Comparatively fast, and driver could must have found each other into after among crossing, it is remaining at this time react, braking time it is non- Often limited, side impact events have been difficult to avoid that.

The content of the invention

The technical problem to be solved in the present invention is to provide a kind of collision based on mobile terminal digital map navigation route planning is pre- Alarm method, the process employs the technical thoughts entirely different with active safety system, can largely reduce because of vision Side impact events caused by blind zone problem.

In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that:One kind is based on mobile terminal digital map navigation The anti-collision warning method of route planning, comprises the following steps:

Step 1: map location data, translational speed data and the navigation route data of current vehicle mobile terminal are obtained, then with Centered on the map location of current vehicle mobile terminal, all other vehicle mobile terminal in the range of its certain distance is obtained Map location data, translational speed data and navigation route data;

Step 2: according to the current vehicle mobile terminal and all other vehicle in the range of its certain distance that are obtained in step 1 Map location data, translational speed data and the navigation route data of mobile terminal calculate and judge other vehicle mobile terminals with Whether current vehicle mobile terminal is present with the situation of map location coincidence at a certain moment in the future;If so, by mobile logical Communication network sends vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur;If it is not, it does not send then Vehicle collision alarming information;

It is performed Step 3: just cycling to perform above-mentioned steps one and step 2 or cycle incessantly at interval of a period of time State step 1 and step 2.

Further, in step 1, all vehicle mobile terminals send map position in real time to map navigation service device Put data, translational speed data and navigation route data;The map navigation service device receives current vehicle mobile terminal hair The map position of current vehicle mobile terminal is got after the map location data, translational speed data and the navigation route data that send Data, translational speed data and navigation route data are put, the map navigation service device is receiving all vehicle mobile terminals Map location data, be stored in database after translational speed data and navigation route data;

The map navigation service device is obtained according to the map location data of the current vehicle mobile terminal got from database All other vehicle centered on the map location of current vehicle mobile terminal and in the range of its certain distance is taken to move eventually Map location data, translational speed data and the navigation route data at end.

Further, in step 2, the map navigation service device is moved according to the current vehicle obtained in step 1 It dynamic terminal and the map location data of all other vehicle mobile terminal, translational speed data and is led in the range of its certain distance Boat route data calculates and judges whether other vehicle mobile terminals can go out with current vehicle mobile terminal at a certain moment in the future The situation that existing map location overlaps;If so, the map navigation service device will occur by mobile communications network to foregoing The mobile terminal that map location overlaps sends vehicle collision alarming information;If it is not, vehicle collision alarming information is not sent then.

Preferably, 50m-1000m is referred in the range of the certain distance described in step 1 and step 2.

Preferably, in step 3, just cycled at interval of 0.5s-1s and perform above-mentioned steps one and step 2.

It is furthermore preferred that in step 2, if according to the current vehicle mobile terminal obtained in step 1 and in one spacing The map location data of all other vehicle mobile terminal, translational speed data and navigation route data are calculated and sentenced from the range of Other vehicle mobile terminals that break are present with the situation that map location overlaps with current vehicle mobile terminal at a certain moment in the future, then 20s-30s before being present with the time point that map location overlaps is led in other vehicle mobile terminals and current vehicle mobile terminal It crosses mobile communications network and sends vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur;It is if current The time point deficiency that time point will be present with map location and overlap away from other vehicle mobile terminals and current vehicle mobile terminal 20s-30s then sends vehicle to the foregoing mobile terminal that map location coincidence will occur by mobile communications network at once and touches Hit information warning.

As another aspect of the present invention, a kind of collision warning systems based on mobile terminal digital map navigation route planning, Including map navigation service device and the mobile terminal moved together with vehicle, wherein:

The mobile terminal includes locating module, digital map navigation software and mobile communication module;The locating module is used to determine The position data of the mobile terminal and translational speed data are simultaneously supplied to digital map navigation by the position and movement speed of mobile terminal Software;The position data that the digital map navigation software is provided according to locating module refreshes electronic map so that corresponding mobile terminal Position motion change on the electronic map, the digital map navigation software further include Route guiding computing module, and the path is drawn Computing module is led for cooking up the travel route for going to destination according to user instruction and guiding user along the travel route It advances to destination;The mobile communication module with map navigation service device for communicating, including by the map of the mobile terminal Position data, translational speed data and navigation route data are sent to map navigation service device and receive map navigation service device The vehicle collision alarming information sent;

The map navigation service device includes central processing unit, storage unit and information transmit-receive unit;Described information transmitting-receiving is single Member is used to receive map location data, translational speed data and the navigation route data of mobile terminal transmission and by central processing Unit controls to corresponding mobile terminal and sends vehicle collision alarming information;The storage unit is used to store information transmit-receive unit Mobile terminal map location data, translational speed data and the navigation route data of reception simultaneously form database, the centre Manage map of the unit for all other vehicle mobile terminal according to current vehicle mobile terminal and in the range of its certain distance Position data, translational speed data and navigation route data calculate and judge other vehicle mobile terminals and current vehicle movement eventually It holds whether a certain moment in the future is present with the situation of map location coincidence;

The method of the collision warning systems based on mobile terminal digital map navigation route planning as described above realizes that collision is pre- It is alert.

Anti-collision warning method provided by the invention is by obtaining other vehicles in current vehicle and its surrounding a certain range Travel route(Navigation routine is the subsequent travel route of vehicle), position and travel speed predict vehicle in row afterwards With the presence or absence of the possibility to collide during sailing(If there is the coincidence of two truck positions by current route and speed traveling, Then it is judged to collide), and the collision to that may occur carries out early warning, this method was both seen independent of driver's human eye It surveys, is influenced from blind area, and be limited by system cost unlike active safety system and be difficult to popularize, this method only needs Mobile terminal is configured on vehicle(Such as smart mobile phone or onboard navigation system), application easy to spread.More importantly it is, it should Method not only can to may occur side collision realize early warning, additionally it is possible to as active safety system to head-on crash with And rear-end collision carries out early warning, in warning function also more comprehensively.In addition, active safety system is affected by weather, example Such as dense fog, heavy rain and the weather that snows can cause active safety system detecting accuracy and stability relatively significantly to reduce, and above-mentioned Method is smaller by inside even from weather, and reliability is higher.

Description of the drawings

Fig. 1 is the flow chart of anti-collision warning method involved by the present invention.

Fig. 2 is the overall structure block diagram of collision warning systems involved by the present invention.

Specific embodiment

For the ease of the understanding of those skilled in the art, the present invention is made with reference to specific embodiment and attached drawing further Explanation.

The technical concept of the present invention is based on following scheme, and as shown in Figure 1, one kind is advised based on mobile terminal digital map navigation route The anti-collision warning method drawn, comprises the following steps:

Step 1: map location data, translational speed data and the navigation route data of current vehicle mobile terminal are obtained, then with Centered on the map location of current vehicle mobile terminal, all other vehicle mobile terminal in the range of its certain distance is obtained Map location data, translational speed data and navigation route data;

Step 2: according to the current vehicle mobile terminal and all other vehicle in the range of its certain distance that are obtained in step 1 Map location data, translational speed data and the navigation route data of mobile terminal calculate and judge other vehicle mobile terminals with Whether current vehicle mobile terminal is present with the situation of map location coincidence at a certain moment in the future;If so, by mobile logical Communication network sends vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur;If it is not, it does not send then Vehicle collision alarming information;

It is performed Step 3: just cycling to perform above-mentioned steps one and step 2 or cycle incessantly at interval of a period of time State step 1 and step 2.

Above-mentioned anti-collision warning method is by obtaining the travel routes of other vehicles in current vehicle and its surrounding a certain range (Navigation routine is the subsequent travel route of vehicle), position and travel speed predict vehicle during traveling afterwards With the presence or absence of the possibility to collide(If there is the coincidence of two truck positions by current route and speed traveling, it is determined as It can collide), and the collision to that may occur carries out early warning, this method both independent of driver human eye observation, from regarding Wild blind area influences, and is limited by system cost unlike active safety system and is difficult to popularize, and this method only need to be on vehicle Configure mobile terminal(Such as smart mobile phone or onboard navigation system), application easy to spread.More importantly it is that this method is not only Early warning can be realized to the side collision that may occur, additionally it is possible to head-on crash and the thing that knocks into the back as active safety system Therefore early warning is carried out, in warning function also more comprehensively.In addition, active safety system is affected by weather, for example, it is dense fog, big Rain and the weather that snows can cause active safety system detecting accuracy and stability relatively significantly to reduce, and the above method is by weather Factor influence is smaller, therefore with higher reliability.It should be noted that in the above-described embodiments, if the data of mobile terminal Data transmission bauds between processing capacity and each mobile terminal disclosure satisfy that practical application request, then step 1 to three can be with Implemented by the mobile terminal on vehicle, and mobile terminal may be employed offline in the electronic map that navigation path planning is used Figure.The data transmission bauds between Data Data processing capacity and each mobile terminal for mobile terminal is difficult to meet practical application The situation of demand then needs to handle by possessing the server of powerful data-handling capacity.Those skilled in the art should be bright In vain, when the scheme of embodiment offer is provided on the implementation, suitable application scheme can be selected according to actual conditions.

In a preferred embodiment of the invention, in step 1, current vehicle is got by map navigation service device and is moved Map location data, translational speed data and the navigation route data of dynamic terminal, are exactly all vehicle mobile terminals specifically Map location data, translational speed data and navigation route data are sent in real time to map navigation service device, and digital map navigation Server is received after the map location data of current vehicle mobile terminal transmission, translational speed data and navigation route data i.e. The map location data, translational speed data and navigation route data of current vehicle mobile terminal are got, it is further, above-mentioned Map navigation service device is receiving the map location data, translational speed data and navigation routine number of all vehicle mobile terminals It is also stored according to rear in database;Further, map navigation service device moves eventually according to the current vehicle got The map location data at end, then obtained from database centered on the map location of current vehicle mobile terminal and at it centainly In distance range(The certain distance scope can the data-handling capacity of navigation server according to the map design)It is all its The map location data, translational speed data and navigation route data of its vehicle mobile terminal.

In another embodiment of the present invention, in step 2, by map navigation service device according to being obtained in step 1 Current vehicle mobile terminal and the map location data of all other vehicle mobile terminal, mobile speed in the range of its certain distance Degrees of data and navigation route data calculate and judge other vehicle mobile terminals with current vehicle mobile terminal in certain a period of time in the future Carve the situation for whether being present with map location coincidence;If so, map navigation service device is incited somebody to action by mobile communications network to foregoing The mobile terminal for being present with map location coincidence sends vehicle collision alarming information;If it is not, vehicle collision alarming letter is not sent then Breath.

In the above-described embodiments, the data-handling capacity of navigation server according to the map, described in step 1 and step 2 " certain distance scope " made choice between 50m-1000m and can meet practical application request.It is similarly in digital map navigation The considerations of server data processing pressure, during practical application, in step 3, can recycle at interval of 0.5s-1s and perform State step 1 and step 2.

As preferred application scheme on the basis of previous embodiment, in step 2, if according to being obtained in step 1 Current vehicle mobile terminal and the map location data of all other vehicle mobile terminal, mobile speed in the range of its certain distance Degrees of data and navigation route data calculate and judge other vehicle mobile terminals with current vehicle mobile terminal in certain a period of time in the future The situation for being present with map location coincidence is carved, then will be present with map in other vehicle mobile terminals and current vehicle mobile terminal Position overlap time point before 20s-30s by mobile communications network to it is foregoing will occur map location overlap mobile end End sends vehicle collision alarming information;If current point in time will go out away from other vehicle mobile terminals with current vehicle mobile terminal The time point that existing map location overlaps less than 20s-30s, then will should occur ground by mobile communications network to foregoing at once The mobile terminal that figure position overlaps sends vehicle collision alarming information.

Based on above-mentioned anti-collision warning method, the present invention also provides a kind of based on mobile terminal digital map navigation route planning Collision warning systems, as shown in Figure 2, including map navigation service device and the mobile terminal moved together with vehicle, wherein:

Mobile terminal includes locating module, digital map navigation software and mobile communication module;Locating module is used to determine mobile terminal Position and movement speed and the position data of the mobile terminal and translational speed data are supplied to digital map navigation software;Map The position data that navigation software is provided according to locating module refreshes electronic map so that corresponding mobile terminal is on the electronic map Position motion change, digital map navigation software further include Route guiding computing module, and Route guiding computing module is used for according to user Instruction cooks up the travel route for going to destination and user is guided to advance along the travel route to destination;Mobile communication mould Block with map navigation service device for communicating, including by the map location data, translational speed data and navigation of the mobile terminal Route data is sent to map navigation service device and receives the vehicle collision alarming information that map navigation service device is sent;

Map navigation service device includes central processing unit, storage unit and information transmit-receive unit;Described information Transmit-Receive Unit is used In the map location data, translational speed data and the navigation route data that receive mobile terminal transmission and by central processing unit It controls to corresponding mobile terminal and sends vehicle collision alarming information;The storage unit receives for storing information transmit-receive unit Mobile terminal map location data, translational speed data and navigation route data and form database, the central processing list Member for all other vehicle mobile terminal according to current vehicle mobile terminal and in the range of its certain distance map location Data, translational speed data and navigation route data calculate and judge that other vehicle mobile terminals and current vehicle mobile terminal exist Whether a certain moment is present with the situation of map location coincidence in the future;

The method of the collision warning systems based on mobile terminal digital map navigation route planning as described above realizes that collision is pre- It is alert.

In order to which those of ordinary skill in the art is allowed more easily to understand improvements of the present invention compared with the prior art, this Some attached drawings of invention and description have been simplified, and for the sake of clarity, present specification is omitted some other members Element, those of ordinary skill in the art should be aware that these elements omitted also may make up present disclosure.

Claims (7)

1. the anti-collision warning method based on mobile terminal digital map navigation route planning, which is characterized in that comprise the following steps:
Step 1: map location data, translational speed data and the navigation route data of current vehicle mobile terminal are obtained, then with Centered on the map location of current vehicle mobile terminal, all other vehicle mobile terminal in the range of its certain distance is obtained Map location data, translational speed data and navigation route data;
Step 2: according to the current vehicle mobile terminal and all other vehicle in the range of its certain distance that are obtained in step 1 Map location data, translational speed data and the navigation route data of mobile terminal calculate and judge other vehicle mobile terminals with Whether current vehicle mobile terminal is present with the situation of map location coincidence at a certain moment in the future;If so, by mobile logical Communication network sends vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur;If it is not, it does not send then Vehicle collision alarming information;
It is performed Step 3: just cycling to perform above-mentioned steps one and step 2 or cycle incessantly at interval of a period of time State step 1 and step 2.
2. the anti-collision warning method according to claim 1 based on mobile terminal digital map navigation route planning, feature exist In:
In step 1, all vehicle mobile terminals send map location data, translational speed in real time to map navigation service device Data and navigation route data;The map navigation service device receives the map location number of current vehicle mobile terminal transmission According to the map location data that current vehicle mobile terminal is got after, translational speed data and navigation route data, mobile speed Degrees of data and navigation route data, the map navigation service device are receiving the map location number of all vehicle mobile terminals According to being stored in after, translational speed data and navigation route data in database;
The map navigation service device is obtained according to the map location data of the current vehicle mobile terminal got from database All other vehicle centered on the map location of current vehicle mobile terminal and in the range of its certain distance is taken to move eventually Map location data, translational speed data and the navigation route data at end.
3. the anti-collision warning method according to claim 2 based on mobile terminal digital map navigation route planning, feature exist In:
In step 2, the map navigation service device is according to the current vehicle mobile terminal obtained in step 1 and in one spacing The map location data of all other vehicle mobile terminal, translational speed data and navigation route data are calculated and sentenced from the range of Whether other vehicle mobile terminals that break are present with the feelings that map location overlaps with current vehicle mobile terminal at a certain moment in the future Condition;If so, the map navigation service device by mobile communications network to it is foregoing will occur map location overlap movement Terminal sends vehicle collision alarming information;If it is not, vehicle collision alarming information is not sent then.
4. the anti-collision warning side based on mobile terminal digital map navigation route planning according to any one in claim 1-3 Method, it is characterised in that:
Refer to 50m-1000m in the range of certain distance described in step 1 and step 2.
5. the anti-collision warning side based on mobile terminal digital map navigation route planning according to any one in claim 1-3 Method, it is characterised in that:
In step 3, just cycled at interval of 0.5s-1s and perform above-mentioned steps one and step 2.
6. the anti-collision warning side based on mobile terminal digital map navigation route planning according to any one in claim 1-3 Method, it is characterised in that:
In step 2, if all other according to the current vehicle mobile terminal obtained in step 1 and in the range of its certain distance Map location data, translational speed data and the navigation route data of vehicle mobile terminal calculate and judge other vehicle movements eventually It holds and is present with the situation that map location overlaps at a certain moment in the future with current vehicle mobile terminal, then moved eventually in other vehicles Hold before being present with the time point that map location overlaps with current vehicle mobile terminal 20s-30s by mobile communications network to It is foregoing that the mobile terminal for being present with map location coincidence is sent into vehicle collision alarming information;If current point in time is away from other vehicles Mobile terminal and current vehicle mobile terminal will be present with time point that map location overlaps less than 20s-30s, then pass through at once Mobile communications network sends vehicle collision alarming information to the foregoing mobile terminal that map location coincidence will occur.
7. the collision warning systems based on mobile terminal digital map navigation route planning, which is characterized in that including map navigation service Device and the mobile terminal moved together with vehicle, wherein:
The mobile terminal includes locating module, digital map navigation software and mobile communication module;The locating module is used to determine The position data of the mobile terminal and translational speed data are simultaneously supplied to digital map navigation by the position and movement speed of mobile terminal Software;The position data that the digital map navigation software is provided according to locating module refreshes electronic map so that corresponding mobile terminal Position motion change on the electronic map, the digital map navigation software further include Route guiding computing module, and the path is drawn Computing module is led for cooking up the travel route for going to destination according to user instruction and guiding user along the travel route It advances to destination;The mobile communication module with map navigation service device for communicating, including by the map of the mobile terminal Position data, translational speed data and navigation route data are sent to map navigation service device and receive map navigation service device The vehicle collision alarming information sent;
The map navigation service device includes central processing unit, storage unit and information transmit-receive unit;Described information transmitting-receiving is single Member is used to receive map location data, translational speed data and the navigation route data of mobile terminal transmission and by central processing Unit controls to corresponding mobile terminal and sends vehicle collision alarming information;The storage unit is used to store information transmit-receive unit Mobile terminal map location data, translational speed data and the navigation route data of reception simultaneously form database, the centre Manage map of the unit for all other vehicle mobile terminal according to current vehicle mobile terminal and in the range of its certain distance Position data, translational speed data and navigation route data calculate and judge other vehicle mobile terminals and current vehicle movement eventually It holds whether a certain moment in the future is present with the situation of map location coincidence;
The collision warning systems based on mobile terminal digital map navigation route planning are as described in any one in claim 1-6 Method realizes anti-collision warning.
CN201711394367.6A 2017-12-21 2017-12-21 Anti-collision warning method and system based on mobile terminal digital map navigation route planning CN108109434A (en)

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CN201711394367.6A CN108109434A (en) 2017-12-21 2017-12-21 Anti-collision warning method and system based on mobile terminal digital map navigation route planning

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CN104680838A (en) * 2013-11-28 2015-06-03 三星电子(中国)研发中心 Safety assisting method and system for automobile
CN105070100A (en) * 2015-07-31 2015-11-18 上海斐讯数据通信技术有限公司 Traffic early warning method based on GPS and traffic early warning system based on GPS
US20160161271A1 (en) * 2014-12-09 2016-06-09 Toyota Motor Engineering & Manufacturing North America, Inc. Autonomous vehicle detection of and response to intersection priority
CN106608263A (en) * 2015-10-27 2017-05-03 通用汽车环球科技运作有限责任公司 Algorithms for avoiding automotive crashes at left and right turn intersections

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103492968A (en) * 2011-04-06 2014-01-01 科尔摩根萨罗公司 A collision avoiding method and associated system
CN104680838A (en) * 2013-11-28 2015-06-03 三星电子(中国)研发中心 Safety assisting method and system for automobile
US20160161271A1 (en) * 2014-12-09 2016-06-09 Toyota Motor Engineering & Manufacturing North America, Inc. Autonomous vehicle detection of and response to intersection priority
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Inventor after: Yan Yuting

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Inventor after: Tang Qiaohui

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