CN108162857A - A kind of automobile active safety guard method and device - Google Patents
A kind of automobile active safety guard method and device Download PDFInfo
- Publication number
- CN108162857A CN108162857A CN201810158978.9A CN201810158978A CN108162857A CN 108162857 A CN108162857 A CN 108162857A CN 201810158978 A CN201810158978 A CN 201810158978A CN 108162857 A CN108162857 A CN 108162857A
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- Prior art keywords
- given threshold
- data detected
- module
- active safety
- automobile active
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automobile active safety guard method and devices, its method includes given threshold, to the travel speed from vehicle, it is detected with the relative velocity and spacing and peripheral obstacle of front truck and is compared with given threshold, analyze whether the data detected are more than given threshold, analyze whether the data detected are more than the most danger rank of given threshold and alarm, if the data detected are more than the most danger rank of given threshold, then actively start automobile active safety protective device, and it alarms, if the data detected are more than given threshold and less than the given thresholds for rank of most endangering, then by calculating overspeed condition, the revolution of motor, actively slow down, so that travel speed is not more than safe velocity；The device includes information processing and control unit, signal acquisition module, execution module, storage module and power supply unit, and the present invention can make traffic safety obtain comprehensive promotion.
Description
Technical field
The present invention relates to automotive safety protection technique field, specially a kind of automobile active safety guard method and device.
Background technology
For driver, traffic safety needs to place above the other things always.However, in actual life, due to
Motor traffic accidents is not within minority caused by the bad steering custom or unexpected factors of driver, such as caused by hypervelocity
Accident dies of traffic accident number and alreadys exceed 100,000 every year according to incompletely statistics, and traffic accident accounts for caused by hypervelocity
More than 30% traffic accident sum, since large quantities of Getting Started ignore traffic sign, usually because hypervelocity has little time brake and draws
Rise traffic accident or because automobile during traveling there are blind spot, have little time to slow down or avoid cause it is serious
Traffic accident.These traffic accidents occurred have seriously endangered the safety of life and property of traffic participant, can also cause a system
Row social concern, therefore also receive the extensive attention of insurance association, automaker, scientific research institution.
National regulatory authorities, expert and transport enterprise take certain measure, for example limit is set by road
Speed mark, the methods of headlight GPS positioning system and overspeed alarming, but or because driver not as, satellite covering not
Comprehensively, position inaccurate, speed(-)limit sign not various influences such as science, speed limit effect still unobvious are driven over the speed limit still
It is the number one killer for causing traffic accident, before danger is arrived, existing automotive system has little time to react preceding shortage in driver
Active defencive function, it is impossible to actively slow down and take automatic Protection, the counter-measure to driving over the speed limit, in terms of automobile blind spot
There is also deficiencies, it is impossible to effectively play the role of security protection.
Invention content
(1) the technical issues of solving
In view of the deficiencies of the prior art, it the present invention provides a kind of automobile active safety guard method and device, solves
Automobile cannot actively slow down and take automatic Protection and counter-measure to driving over the speed limit, in terms of automobile blind spot insufficient
Problem.
(2) technical solution
To achieve the above object, the present invention provides following technical solution：A kind of automobile active safety guard method, including：
Given threshold, the given threshold include the setting to the safe velocity from vehicle and the speed relatively with front truck
Degree and spacing and automobile and the setting of peripheral obstacle safe distance between vehicles；
To from vehicle travel speed, be detected with the relative velocity of front truck and spacing and peripheral obstacle and with setting
Threshold value is compared, which includes stationary obstruction and moving obstacle；
Analyze whether the data detected are more than given threshold；
Analyze whether the data detected are more than the most danger rank of given threshold and alarm；
If the data detected are more than the most danger rank of given threshold, actively start automobile active safety protective device,
And it alarms；
If the data detected are more than given threshold and less than the given threshold for rank of most endangering, pass through calculating hypervelocity shape
The revolution of state, motor actively slows down so that travel speed is not more than safe velocity.
Preferably, the active safety protective device includes pop-up air bag, emergency braking etc..
Preferably, when most danger rank of the data detected more than given threshold, then actively start automobile active safety guarantor
Protection unit, and pass through auto-dial unit and alarm, the internal preset of the auto-dial unit has 110.
Preferably, the data detected are more than given threshold and less than the given thresholds for rank of most endangering, when driver does not do
Go out braking deceleration when actions, then by calculating the revolution of overspeed condition, motor, and pass through delays time to control and braking, reach main
The dynamic purpose slowed down, the travel speed of automobile is controlled in the range of the safe velocity.
According to another aspect of the present invention, automobile active safety protective device is provided, which includes：
Information processing and control unit, the data for detecting are more than the most danger rank of given threshold, then actively start
Automobile active safety protective device, and alarm, when the data detected are more than given threshold and less than the setting threshold for rank of most endangering
Value then by calculating the revolution of overspeed condition, motor, is actively slowed down so that travel speed is not more than safe velocity；
Signal acquisition module, the signal acquisition module include sensor assembly and video acquisition module, the sensor
Mould, for from vehicle travel speed, be detected with the relative velocity of front truck and spacing and peripheral obstacle, and with it is described
Information processing is connect with control unit, and the video acquisition module is used to extract the video information of the barrier of motor vehicle environment, and
It is connect with described information processing with control unit；
Execution module, the execution module includes pedal-driven motor module, alarm mechanism and display module, described to step on
Plate driving motor module is used to be more than given threshold and less than the given threshold for rank of most endangering when the data detected, and driver is not
Braking deceleration is made when measures, active brake pedal slows down, and is connect with described information processing with control unit, described
Alarm mechanism is used to alarm when the most danger rank that the data detected are more than given threshold, is set when the data detected are more than
It when determining the most danger rank of threshold value, alarms, the alarm mechanism is connect with described information processing with control unit, the display
Module is for the data detected by the sensor assembly and the video acquisition module to be shown, in order to equipment
Debugging and driver judge safe condition, the display module and described information are handled to be connect with control unit；
Storage module, for the data detected by the sensor assembly and the video acquisition module to be stored up
It deposits, and is connect with described information processing with control unit；
Power supply unit provides stable operating voltage for above system module, ensures the normal of the safety guard
Work.
Preferably, the sensor assembly includes the radar, ultrasonic wave, the equidistant detection of infrared ray being mounted on around vehicle body
Sensor.
Preferably, video acquisition module includes at least four cameras for being arranged on vehicle body surrounding.
Preferably, the pedal-driven motor module includes the pedal-driven motor of connection brake pedal and one is braked
Pedal sensor, the brake pedal sensor are used for whether detecting driver when the data detected are more than given threshold
Braking deceleration measure is taken, to judge whether to need system automatic braking or alarm, the brake pedal sensing under precarious position
Device is connect with described information processing with control unit.
Preferably, the alarm mechanism includes warning lamp and buzzer.
Preferably, the display module includes the buttons such as liquid crystal display and switching, confirmation.
(3) advantageous effect
The present invention provides a kind of automobile active safety guard method and devices.Has following advantageous effect：
(1), the automobile active safety guard method and device are handled and control unit, signal acquisition by setting information
Module, execution module, storage module and power supply unit pass through sensor assembly in signal acquisition module and video acquisition module pair
The relative velocity and spacing and peripheral obstacle of travel speed and front truck from vehicle are carried out without blind-spot detection, and pass through execution
The display module of mechanism is shown, in order to which the debugging of equipment and driver judge safe condition, and the data that will be detected
It is transferred to information processing to be arranged and analyzed with control unit, when the data detected are more than given threshold and less than grade of most endangering
Other given threshold, information processing send out instruction with control unit to execution module, then control alarm mechanism alarm, meanwhile,
When driver does not make braking deceleration when measures, information processing sends out instruction with control unit to execution module, passes through pedal
Driving motor module active brake pedal slows down, and the travel speed of automobile is controlled in the safe velocity range
It is interior, it when the data detected are more than the most danger rank of given threshold, alarms, and actively start automobile active safety protection
Device is protected, and the information data detected is stored by storage module, is carried by power supply unit for system module
For stable operating voltage, ensure the normal work of the safety guard.
Description of the drawings
Fig. 1 is the simple process figure of the present invention；
Fig. 2 is the system principle diagram of the present invention.
In figure：101st, given threshold；102nd, to the travel speed and the relative velocity and spacing and surrounding of front truck from vehicle
Barrier is detected and is compared with given threshold；103rd, whether the data that analysis detects are more than given threshold；104、
Analyze whether the data detected are more than the most danger rank of given threshold, and alarm；105th, actively start automobile active safety guarantor
Protection unit, and alarm；106th, calculate overspeed condition, motor revolution, actively slow down so that travel speed no more than safety traffic
Speed；201st, information processing and control unit；202nd, signal acquisition module；203rd, sensor assembly；204th, video acquisition module；
205th, execution module；206th, pedal-driven motor module；207th, alarm mechanism；208th, display module；209th, storage module；210、
Power supply unit.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of technical solution：A kind of automobile active safety guard method, including：
Given threshold 101, the given threshold 101 include to the setting of the safe velocity from vehicle and with front truck
Relative velocity and spacing and automobile and the setting of peripheral obstacle safe distance between vehicles；
To from vehicle travel speed, be detected with the relative velocity of front truck and spacing and peripheral obstacle and with setting
Threshold value is compared 102, which includes stationary obstruction and moving obstacle；
Analyze whether the data detected are more than given threshold 103；
Analyze most danger rank and alarm 104 that whether the data detected are more than given threshold；
If the data detected are more than the most danger rank of given threshold, actively start automobile active safety protective device,
And alarm 105；
If the data detected are more than given threshold and less than the given threshold for rank of most endangering, pass through calculating hypervelocity shape
The revolution of state, motor actively slows down so that travel speed is not more than safe velocity 106.
Specifically, the active safety protective device includes pop-up air bag, emergency braking etc.；When the number detected
According to the most danger rank more than given threshold, then actively start automobile active safety protective device, and pass through auto-dial unit into
Row alarm, the internal preset of the auto-dial unit have 110；The data detected are more than given threshold and less than ranks of most endangering
Given threshold, when driver does not make braking deceleration when actions, then by calculating the revolution of overspeed condition, motor, and lead to
Delays time to control and braking are crossed, achievees the purpose that actively to slow down, the travel speed of automobile is controlled in the safe velocity model
In enclosing.
As shown in Fig. 2, according to another aspect of the present invention, provide a kind of automobile active safety protective device, the safety
Protective device includes：
Information processing and control unit 201, the data for detecting are more than the most danger rank of given threshold, then actively open
Electrical automobile active safety protective device, and alarm, when the data detected are more than given threshold and less than the setting for rank of most endangering
Threshold value then by calculating the revolution of overspeed condition, motor, is actively slowed down so that travel speed is not more than safe velocity；
Described information processing and the control chip of control unit 201 use microcontroller MC9S12XS128；
Signal acquisition module 202, the signal acquisition module 2 include sensor assembly 203 and video acquisition module 204,
The sensor assembly 203 be used for from vehicle travel speed, with the relative velocity of front truck and spacing and peripheral obstacle into
Row detection, and connect with described information processing with control unit 201, the video acquisition module 204 is used to extract motor vehicle environment
Barrier video information, and connect with described information processing with control unit 201；
Execution module 205, the execution module 205 include pedal-driven motor module 206, alarm mechanism 207 and show
Show module 208, the pedal-driven motor module 206 is used to be more than given threshold and less than rank of most endangering when the data detected
Given threshold, driver do not make braking deceleration when measures, and active brake pedal slows down, and with described information processing
It is connect with control unit 201, the alarm mechanism 207 is used to carry out when the most danger rank that the data detected are more than given threshold
Alarm when the data detected are more than the most danger rank of given threshold, is alarmed, the alarm mechanism 207 and the letter
Breath processing is connect with control unit 201, and the display module 208 is used to that the sensor assembly 203 and the video will to be passed through
The data that acquisition module 204 detects are shown, in order to which the debugging of equipment and driver judge safe condition, the display
Module 208 is connect with described information processing with control unit 201；
Storage module 209, for what will be detected by the sensor assembly 203 and the video acquisition module 204
Data are stored, and are connect with described information processing with control unit 201；
Power supply unit 210 provides stable operating voltage for above system module, is ensureing the safety guard just
Often work.
Specifically, the radar, ultrasonic wave, infrared ray that the sensor assembly 203 includes being mounted on around vehicle body are equidistant
From detection sensor；Video acquisition module 204 includes at least four cameras for being arranged on vehicle body surrounding；The pedal-driven electricity
Machine module 206 includes the pedal-driven motor and a brake pedal sensor of connection brake pedal, and the brake pedal passes
Sensor is used for whether the detection driver when the data detected are more than given threshold to have taken braking deceleration measure, to judge to endanger
Whether system automatic braking or alarm are needed under dangerous state, and the brake pedal sensor is handled with described information and control unit
201 connections；The alarm mechanism 207 includes warning lamp and buzzer；The display module 208 includes liquid crystal display and cuts
The buttons such as change, confirm.
As shown in Figs. 1-2,
During concrete application, by setting information handle with control unit 201, signal acquisition module 202, execution module 205,
Storage module 209 and power supply unit 210 pass through sensor assembly 203 in signal acquisition module 202 and video acquisition module 204
To from vehicle travel speed, with the relative velocity of front truck and spacing and peripheral obstacle carry out it is comprehensive, without blind-spot detection, and
It is shown by the display module 208 of executing agency 205, in order to which the debugging of equipment and driver judge safe condition, and
The data detected are transferred to information processing to be arranged and analyzed with control unit 201, are set when the data detected are more than
Determine threshold value and less than the given threshold for rank of most endangering, information processing sends out instruction with control unit 201 to execution module 205, after
And alarm mechanism 207 is controlled to alarm, meanwhile, when driver does not make braking deceleration when measures, information processing and control unit
Instruction is sent out to 201 execution modules 205, is slowed down by 206 active brake pedal of pedal-driven motor module, by automobile
Travel speed is controlled in the range of the safe velocity, when the data detected are more than the most danger rank of given threshold,
It alarms, and actively starts automobile active safety protective device and protected, by storage module 209 to the information that detects
Data are stored, and stable operating voltage is provided for system module by power supply unit 210, ensures the safety guard
Normal work.
It can to sum up obtain, of the invention compared with traditional teaching pattern, the present invention can arrive or when driving over the speed limit in danger,
Driver take the initiative before not making a response deceleration or safety precautions of taking the initiative, while to automobile carry out it is comprehensive in real time
Monitoring, and timely warning function is provided, caused casualty rate of causing danger effectively is reduced, traffic safety is made to obtain comprehensive carry
It rises.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended, it should be noted that the electric appliance occurred in this article
Element is electrically connected with extraneous main controller and 220V alternating currents, and main controller can be that computer etc. plays the conventionally known of control
Equipment.
Claims (10)
1. a kind of automobile active safety guard method, which is characterized in that including：
Given threshold (101), the given threshold (101) including the setting to the safe velocity from vehicle and with front truck
Relative velocity and spacing and automobile and the setting of peripheral obstacle safe distance between vehicles；
To the travel speed from vehicle and the relative velocity and spacing and peripheral obstacle of front truck are detected and and given threshold
(102) are compared, which includes stationary obstruction and moving obstacle；
Analyze whether the data detected are more than given threshold (103)；
Analyze whether the data detected are more than the most danger rank of given threshold, and alarm (104)；
If the data detected are more than the most danger rank of given threshold, actively start automobile active safety protective device, and report
Alert (105)；
If the data detected are more than given threshold and less than the given thresholds for rank of most endangering, by calculating overspeed condition, electricity
The revolution of machine actively slows down so that travel speed is not more than safe velocity (106).
2. a kind of automobile active safety guard method according to claim 1, it is characterised in that：The active safety protection
Device includes pop-up air bag, emergency braking etc..
3. a kind of automobile active safety guard method according to claim 1, it is characterised in that：When the data detected are big
In the most danger rank of given threshold (101), then actively start automobile active safety protective device, and pass through auto-dial unit into
Row alarm, the internal preset of the auto-dial unit have 110.
4. a kind of automobile active safety guard method according to claim 1, it is characterised in that：The data detected are more than
Given threshold and the given threshold for being less than rank of most endangering are when driver does not make braking deceleration when actions, then super by calculating
The revolution of fast state, motor, and pass through delays time to control and braking, achieve the purpose that actively to slow down, by the travel speed control of automobile
System is in the range of the safe velocity.
5. a kind of automobile active safety protective device, it is characterised in that：The safety guard includes：
Information processing and control unit (201), the data for detecting are more than the most danger rank of given threshold, then actively start
Automobile active safety protective device, and alarm, when the data detected are more than given threshold and less than the setting threshold for rank of most endangering
Value then by calculating the revolution of overspeed condition, motor, is actively slowed down so that travel speed is not more than safe velocity；
Signal acquisition module (202), the signal acquisition module (202) include sensor assembly (203) and video acquisition module
(204), the sensor assembly (203) is for the travel speed and the relative velocity and spacing and surrounding of front truck from vehicle
Barrier is detected, and is connect with described information processing with control unit (201), and the video acquisition module (204) is used for
The video information of the barrier of motor vehicle environment is extracted, and is connect with described information processing with control unit (201)；
Execution module (205), the execution module (205) including pedal-driven motor module (206), alarm mechanism (207) with
And display module (208), the pedal-driven motor module (206) is for when the data detected are more than given threshold and are less than
The given threshold for rank of most endangering, driver do not make braking deceleration when measures, and active brake pedal slows down, and with it is described
Information processing is connect with control unit (201), and the alarm mechanism (207) is for when the data detected are more than given threshold
Most danger rank is alarmed, and when the data detected are more than the most danger rank of given threshold, is alarmed, the alarm mechanism
(207) it is connect with described information processing with control unit (201), the display module (208) will be for will pass through the sensor
The data that module (203) and the video acquisition module (204) detect are shown, debugging and driver in order to equipment
Judge safe condition, the display module (208) connect with described information processing with control unit (201)；
Storage module (209), for by the number detected by the sensor assembly (3) and the video acquisition module (4)
It is connect according to being stored, and with described information processing with control unit (201)；
Power supply unit (210), stable operating voltage is provided for above system module, ensures the normal of the safety guard
Work.
6. a kind of automobile active safety protective device according to claim 5, it is characterised in that：The sensor assembly
(203) the equidistant detection sensor of radar, ultrasonic wave, infrared ray including being mounted on around vehicle body.
7. a kind of automobile active safety protective device according to claim 5, it is characterised in that：Video acquisition module
(204) camera for being arranged on vehicle body surrounding including at least four.
8. a kind of automobile active safety protective device according to claim 5, it is characterised in that：The pedal-driven motor
Pedal-driven motor and a brake pedal sensor of the module (206) including connecting brake pedal, the brake pedal pass
Sensor is used for whether the detection driver when the data detected are more than given threshold to have taken braking deceleration measure, to judge to endanger
Whether system automatic braking or alarm are needed under dangerous state, and the brake pedal sensor is handled with described information and control unit
(201) it connects.
9. a kind of automobile active safety protective device according to claim 5, it is characterised in that：The alarm mechanism
(207) including warning lamp and buzzer.
10. a kind of automobile active safety protective device according to claim 5, it is characterised in that：The display module
(208) including the buttons such as liquid crystal display and switching, confirmation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810158978.9A CN108162857A (en) | 2018-02-26 | 2018-02-26 | A kind of automobile active safety guard method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810158978.9A CN108162857A (en) | 2018-02-26 | 2018-02-26 | A kind of automobile active safety guard method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108162857A true CN108162857A (en) | 2018-06-15 |
Family
ID=62510566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810158978.9A Pending CN108162857A (en) | 2018-02-26 | 2018-02-26 | A kind of automobile active safety guard method and device |
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| Country | Link |
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| CN (1) | CN108162857A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109131185A (en) * | 2018-09-04 | 2019-01-04 | 天津英创汇智汽车技术有限公司 | Air bag and system |
| CN109850039A (en) * | 2019-03-20 | 2019-06-07 | 武汉理工大学 | A kind of electric two-wheel vehicle danger riding condition monitoring system and method |
| CN111114516A (en) * | 2019-12-25 | 2020-05-08 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131185A (en) * | 2018-09-04 | 2019-01-04 | 天津英创汇智汽车技术有限公司 | Air bag and system |
| CN109850039A (en) * | 2019-03-20 | 2019-06-07 | 武汉理工大学 | A kind of electric two-wheel vehicle danger riding condition monitoring system and method |
| CN111114516A (en) * | 2019-12-25 | 2020-05-08 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
| CN111114516B (en) * | 2019-12-25 | 2021-04-13 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
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Application publication date: 20180615 |