CN109383371A - A kind of ADAS product driveway deviation alarming system - Google Patents
A kind of ADAS product driveway deviation alarming system Download PDFInfo
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- CN109383371A CN109383371A CN201811096333.3A CN201811096333A CN109383371A CN 109383371 A CN109383371 A CN 109383371A CN 201811096333 A CN201811096333 A CN 201811096333A CN 109383371 A CN109383371 A CN 109383371A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of ADAS product driveway deviation alarming systems.Utilize driving assistance system, utilize the sensor being installed on vehicle, environmental data inside and outside first time collecting cart, carry out the technical processing such as quiet, dynamic object identification, detecting and tracking, alert process is carried out when prejudging dangerous, so as to allow driver to discover the danger that may occur in the most fast time, to arouse attention and improve safety.In the application in the case where infrared sensor is added to overcome road, weather environment severe in information acquisition module, the difficult problem of driving information acquisition, being calculated using TLC model allows alarm system to carry out alarm behavior within a certain period of time, the sufficient time is provided for traveling amendment, reduces dangerous occurrence probability.
Description
Technical field
The present invention relates to vehicle safety travel technical field, more particularly to a kind of ADAS product deviation report
Alert system.
Background technique
Currently, counting according to Ministry of Communications, the motor traffic accidents there are about 50% is because automobile deviates normal traveling lane
Caused, studying carefully its main cause is mainly driver's irritability, absent minded or driving fatigue.23% car steering
It at least falls asleep on the steering wheel in member one month primary；66% trucker oneself dozes off in driving procedure；28%
Trucker have on the steering wheel sleeping experience in one month, so surprising ratio, which suffices to show that, prevents lane inclined
From significance.
But the deviation of existing driving assistance system (ADAS) product alarm be audible alarm strategy be directly with
The output of alert event is related, is essentially all that the time cross-section chosen in certain vehicle operation is judged, instead
The variation tendency near this case point is not answered, while being researched and developed on the basis of view-based access control model (camera) mode acquires data,
In rain and snow or when the not high road surface of visibility, the accuracy for acquiring Lane Mark can decline for they.
Therefore, how to prejudge vehicle in the period to deviate situation and alarm, and accurate acquisition in the presence of a harsh environment
The problem of road surface lane situation is those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of ADAS product driveway deviation alarming systems.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of ADAS product driveway deviation alarming system characterized by comprising information acquisition module, deviation meter
Calculate module, communication module, host computer；
Wherein, the information acquisition module will directly acquire data transmission to the deviation computing module；The vehicle
Road deviates computing module and receives the acquisition data from information acquisition module and carry out vehicle deviation judgement using TLC model, sentences
Disconnected result is sent to the communication module by electrical connection；The communication module receives the judgement knot of deviation computing module
Fruit makes respective reaction, and sends the host computer for judging result；The communication module includes HUD head up display, sound
Sound alarm and vibration of steering wheel device.
Preferably, vehicle has GPS positioning system, and the information acquisition module carries out vehicle in conjunction with the GPS positioning system
Information collection near, can carry out the accurate positionin of road, vehicle, specify road conditions.
Preferably, the information acquisition module includes CCD camera and infrared sensor, and the CCD camera is mounted on vehicle
Lane is tiltedly directed toward in side, and the infrared sensor is mounted on front bumper two sides, and CCD camera carries out visual manner acquisition
Road information obtains accurate lane figure phenomenon information convenient for image procossing and calculates bias data to obtain judging result, leads to
Infrared sensor collecting signal is crossed to analyze pavement behavior, so that even if can also identify that lane is marked on the road surface of adverse circumstances
Will line, convenient for can remind driver's trap for automobile to deviate state in time under the road conditions of any environment.
Preferably, the CCD camera and the infrared sensor collect information of vehicles and are sent to the deviation
Computing module.
Preferably, the voice guard of the communication module has different sound frequencies, including low frequency is alarmed
Sound and high-frequency alarm sound, different frequency alarm sound represent different alarm conditions, driver are facilitated to judge vehicle by alarm tone
Be in that situation, to carry out vehicle driving amendment in time.
Preferably, the vibration of steering wheel device of the communication module is arranged on the steering wheel, the HUD head up display
It is arranged on instrument desk, shows information MAP on half mirror of holography on windscreen, vibration of steering wheel device occurs in vehicle
It is opened when deviation situation so that vibration of steering wheel, can effectively remind driver to pay attention to vehicle driving situation, if driven
Member is because fatigue is fallen asleep in driving procedure, which can cooperate alarm sound effectively to wake up driver, and HUD head up display makes to drive
The person of sailing does not have to bow it is seen that relevant information, more energy is put on observation surface conditions, it can also at the same time
It is tired to reduce the vision that driver's observation distant road situation and short distance check that navigation, information of vehicles sight frequent transitions cause
Labor improves travel safety.
Preferably, the deviation computing module calculating process:
Obtaining nearest lane line and nearest wheel distance d, vehicle current vehicle speed according to information acquisition module is V running car
The angle theta in direction and nearest lane line, entrance angle θ and deviation time TTLC consecutive variations carry out, then TTLC=d/Vsin
θ；
Safety, which is set aside some time, is spaced t0, presetting TTLC threshold value t1, the starting vehicle velocity V of early warning0, preset nearest lane away from
Nearest wheel safe distance d0；Entrance angle θ when intentional rapidly lane change or steering0, θ0Greater than 15 °；Work as TTLC > t1, and TTLC <
t0, while vehicle velocity V > V0, entrance angle θ < θ0When, then to pass through lane line state in advance, the voice guard exports a low frequency
Alarm sound, the vibration of steering wheel device are opened, and the HUD head up display shows vehicle runout information；
As θ >=θ0, TTLC < t1, and t1<t0, while when away from lane line distance d to derivative (d (d)/dt) < 0 of t, then to wear
More lane line state, the voice guard export high-frequency alarm sound, and the vibration of steering wheel device is opened, and the HUD comes back
Display shows that vehicle runout information, alarm sound are synchronous with the decision content of (d (d)/dt) < 0 with duration of shaking；
As TTLC < t1, and t1<t0, while when away from lane line distance d to derivative (d (d)/dt) > 0 of t, then not pass through vehicle
Diatom state, high-frequency alarm sound release, and the vibration of steering wheel device is closed, and the HUD head up display shows that vehicle deviates
The end of message；
As d < d0When, then to have passed through lane line state, this time deviation terminates, and low frequency alarm sound terminates, described
Vibration of steering wheel device is closed, and the HUD head up display shows that vehicle runout information terminates.
Preferably, the host computer real-time monitoring vehicle lane deviates situation, may be implemented remotely to monitor, real time inspection vehicle
Travel situations, can be applied to traffic department's task of supervision, can quick obtaining danger traveling information of vehicles.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of ADAS product vehicles
Road departure warning system, CCD camera that the acquisition information module of vehicle acquires visual information and infrared sensor to combination,
So that the various road conditions of collecting vehicle information module adaptive and atrocious weather environment, furthermore the application calculates vehicle using TLC model
Road bias data, according to some specific running datas of the vehicle body of the readings such as Vehicle Speed, steering wheel angle, so that calculating
It is more accurate, it just completes deviation alarm in time when vehicle has deviation tendency, carries out vehicle in a period of time
Road deviation warning can effectively prevent peril until vehicle safe driving.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is system structure diagram provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of ADAS product driveway deviation alarming systems characterized by comprising information is adopted
Collect module, deviation computing module, communication module, host computer；
Wherein, information acquisition module will directly acquire data transmission to deviation computing module；Deviation calculates mould
Block, which receives the acquisition data from information acquisition module and carries out vehicle using TLC model, deviates judgement, and judging result passes through electricity
Connection is sent to communication module；Communication module receives the judging result of deviation computing module, makes respective reaction, and will sentence
Disconnected result is sent to host computer；Communication module includes HUD head up display, voice guard and vibration of steering wheel device.
In order to further optimize the above technical scheme, vehicle has GPS positioning system, and information acquisition module combination GPS is fixed
Position system carries out vehicle information collection nearby, can carry out the accurate positionin of road, vehicle, specify road conditions.
In order to further optimize the above technical scheme, information acquisition module includes CCD camera and infrared sensor, CCD
Camera is mounted on vehicular sideview, is tiltedly directed toward lane, and infrared sensor is mounted on front bumper two sides, and CCD camera carries out vision
Mode acquires road information, obtains accurate lane figure phenomenon information convenient for image procossing and calculates bias data to obtain judgement
As a result, pavement behavior is analyzed by infrared sensor collecting signal, so that even if can also identify on the road surface of adverse circumstances
Traffic lane line, convenient for can remind driver's trap for automobile to deviate state in time under the road conditions of any environment.
In order to further optimize the above technical scheme, CCD camera and infrared sensor are collected information of vehicles and are sent to
Deviation computing module.
In order to further optimize the above technical scheme, the voice guard of communication module has different sound frequencies, packet
Low alert frequency and high alert frequency are included, different frequency alarm sound represents different alarm conditions, driver is facilitated to pass through alarm
Sound judges that vehicle is in that situation, to carry out vehicle driving amendment in time.
In order to further optimize the above technical scheme, on the steering wheel, HUD is lifted for the vibration of steering wheel device setting of communication module
Head display is arranged on instrument desk, shows information MAP on half mirror of holography on windscreen, vibration of steering wheel device exists
It is opened when deviation situation occurs in vehicle so that vibration of steering wheel, can effectively remind driver to pay attention to vehicle driving situation,
If driver is because fatigue is fallen asleep in driving procedure, which can cooperate alarm sound effectively to wake up driver, and HUD comes back aobvious
Showing device makes driver not have to bow it is seen that relevant information, more energy are put on observation surface conditions, together with this
When its can also reduce driver observe distant road situation and closely check navigation, information of vehicles sight frequent transitions cause
Visual fatigue, improve travel safety.
In order to further optimize the above technical scheme, deviation computing module calculating process:
Obtaining nearest lane line and nearest wheel distance d, vehicle current vehicle speed according to information acquisition module is V running car
The angle theta in direction and nearest lane line, entrance angle θ and deviation time TTLC consecutive variations carry out, then TTLC=d/Vsin
θ；
Safety, which is set aside some time, is spaced t0, presetting TTLC threshold value t1, the starting vehicle velocity V of early warning0, preset nearest lane away from
Nearest wheel safe distance d0；Entrance angle θ when intentional rapidly lane change or steering0, θ0Greater than 15 °；When the vehicle in traveling has vehicle
When road deviates tendency, i.e. TTLC > t1, and TTLC < t0, while vehicle velocity V > V0, entrance angle θ < θ0When, then it is linear to pass through lane in advance
State, voice guard export a low frequency alarm sound, and vibration of steering wheel device is opened, and HUD head up display shows that vehicle deviates
Information；
When vehicle traveling direction is begun to deviate from, θ >=θ0, and TTLC < t1, and t1<t0, while away from lane line distance d to t
Derivative (d (d)/dt) < 0 when, i.e. distance d be gradually successively decrease, then vehicle becomes closer to deviate the lane line passed through,
To pass through lane line state, voice guard exports high-frequency alarm sound, and vibration of steering wheel device is opened, and HUD head up display is aobvious
Show that vehicle runout information, alarm sound are synchronous with the decision content of (d (d)/dt) < 0 with duration of shaking；
As TTLC < t1, and t1<t0, while when away from lane line distance d to derivative (d (d)/dt) > 0 of t, i.e. distance d be by
Cumulative to add, then vehicle will be more and more far away from that will deviate the lane line passed through, not pass through lane line state, high-frequency alarm sound solution
It removes, vibration of steering wheel device is closed, and HUD head up display shows that vehicle runout information terminates；
As d < d0When, then to have passed through lane line state, this time deviation terminates, and low frequency alarm sound terminates, direction
Disk vibrator is closed, and HUD head up display shows that vehicle runout information terminates.
In order to further optimize the above technical scheme, host computer real-time monitoring vehicle lane deviates situation, may be implemented remote
Range monitoring, real time inspection vehicle driving situation, can be applied to traffic department's task of supervision, can quick obtaining danger traveling vehicle
Information.
Embodiment 1
When due to inadvertent or misoperation, vehicle longitudinal axis and lane line being caused to produce in vehicle straight trip driving process
Raw angle theta is less than θ0When, current TTLC can be calculated by current instantaneous speed V, distance d and angle theta, TTLC and peace at this time
It sets aside some time entirely and is spaced t0Judged, sets aside some time be spaced t safely0It is whether prediction vehicle occurs to deviate and the preset time
Value, presetting TTLC threshold value t1It is further to judge that vehicle has occurred and that lane line deviates preset time value, by above-mentioned
The calculation formula of TTLC can obtain, and when speed V, distance d or bigger angle theta any amount, all may cause vehicle shorter
Deviate in time and pass through lane line, therefore by time TTLC and preset t0、t1It is compared, can consider driving conditions comprehensively,
And alarm, to prevent causing danger, when speed V, distance d are identical, the angle theta more big then time is shorter, therefore t0﹥ t1Pacify when being less than
It is judged as there is deviation tendency when setting aside some time entirely, as passes through lane line state in advance.
Embodiment 2
When vehicle enters turn condition by straight trip, and lane line is straight trip direction parallel lines, at this time θ >=θ0, according to
Information acquisition module available current instantaneous speed V, distance d, are thus calculated TTLC, with t1It is compared, if
TTLC<t1, and as (d (d)/dt) < 0, i.e. distance d is gradually to successively decrease, then vehicle becomes closer to linear with the vehicle longitudinal axis
At angle and apart from the closer lane line of vehicle, if such situation vehicle heading is constant, vehicle can be passed through eventually in vehicle
Diatom, therefore be judged as and pass through lane line state.And when working as (d (d)/dt) ﹥ 0, i.e. distance d is to gradually increase, then vehicle is more next
Further away from the lane line passed through will be deviateed, it is possible to which vehicle has carried out driving direction amendment, to enable distance d increase, then
Vehicle will not pass through lane line；Or lane line is curved, although vehicle is in turn condition, vehicle longitudinal axis with
Lane line angle changes, while distance d is increased, and vehicle will not pass through lane line, therefore be then judged as and do not pass through lane
Linear state.
Embodiment 3
A safe distance value d of the predetermined wheel apart from nearest lane line0, as distance d ﹤ d0When, then vehicle may be at this time
Lane line will be rolled, or has rolled lane line, can not make automotive run-off-road line by correcting direction of traffic,
It passes through lane line and has become certainty, therefore be judged as that vehicle has passed through lane line.
This application provides a kind of ADAS product driveway deviation alarming system, realizes vehicle in the anticipation period and deviate feelings
Condition is simultaneously alarmed, and can carry out the alarm of diversified forms, while showing current deviation situation using HUD head up display
Be adjusted convenient for driver, and can accurately be obtained by infrared sensor in the presence of a harsh environment road surface lane situation into
And carry out deviation calculate the application can accurately carry out in the period deviation alarm, improve travel safety,
Traffic accident odds is effectively reduced.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (8)
1. a kind of ADAS product driveway deviation alarming system characterized by comprising information acquisition module, deviation calculate
Module, communication module, host computer；
Wherein, the information acquisition module will directly acquire data transmission to the deviation computing module；The lane is inclined
It receives the acquisition data from information acquisition module from computing module and vehicle is carried out using TLC model and deviate judgement, judge to tie
Fruit is sent to the communication module by electrical connection；The communication module receives the judging result of deviation computing module, does
Respective reaction out, and the host computer is sent by judging result；The communication module includes HUD head up display, sound report
Alert device and vibration of steering wheel device.
2. a kind of ADAS product driveway deviation alarming system according to claim 1, which is characterized in that vehicle has GPS
Positioning system, the information acquisition module carry out information collection near vehicle in conjunction with the GPS positioning system.
3. a kind of ADAS product driveway deviation alarming system according to claim 2, which is characterized in that the information collection
Module includes CCD camera and infrared sensor, and the CCD camera is mounted on vehicular sideview, is tiltedly directed toward lane, the infrared ray
Sensor is mounted on front bumper two sides.
4. a kind of ADAS product driveway deviation alarming system according to claim 3, which is characterized in that the CCD camera
Information of vehicles is collected with the infrared sensor and is sent to the deviation computing module.
5. a kind of ADAS product driveway deviation alarming system according to claim 1, which is characterized in that the communication module
The voice guard there is different sound frequencies, including low frequency alarm sound and high-frequency alarm sound.
6. a kind of ADAS product driveway deviation alarming system according to claim 5, which is characterized in that the communication module
Vibration of steering wheel device setting on the steering wheel, the HUD head up display is arranged on instrument desk, and the HUD comes back
Information of vehicles is mapped on half mirror of holography on windscreen by display.
7. a kind of ADAS product driveway deviation alarming system according to claim 1, which is characterized in that the deviation
Computing module calculating process:
Obtaining nearest lane line and nearest wheel distance d, vehicle current vehicle speed according to information acquisition module is V vehicle traveling direction
With the angle theta of nearest lane line, entrance angle θ and deviation time TTLC consecutive variations are carried out, then TTLC=d/Vsin θ；
Safety is divided into t between setting aside some time0, presetting TTLC threshold value is t1, the starting speed of early warning is V0, preset nearest lane
It is d away from nearest wheel safe distance0；Entrance angle when intentional rapidly lane change or steering is θ0, θ0Greater than 15 °；Work as TTLC > t1, and
TTLC<t0, while vehicle velocity V > V0, entrance angle θ < θ0When, then to pass through lane line state in advance, the voice guard exports one
Low frequency alarm sound, the vibration of steering wheel device are opened, and the HUD head up display shows vehicle runout information；
As θ >=θ0, TTLC < t1, and t1<t0, while when away from lane line distance d to derivative (d (d)/dt) < 0 of t, then to pass through vehicle
Diatom state, the voice guard export high-frequency alarm sound, and the vibration of steering wheel device is opened, and the HUD, which comes back, to be shown
Device shows that vehicle runout information, alarm sound are synchronous with the decision content of (d (d)/dt) < 0 with duration of shaking；
As TTLC < t1, and t1<t0, while when away from lane line distance d to derivative (d (d)/dt) > 0 of t, then not pass through lane line
State, high-frequency alarm sound release, and the vibration of steering wheel device is closed, and the HUD head up display shows vehicle runout information
Terminate；
As d < d0, then to have passed through lane line state, this time deviation terminates, and low frequency alarm sound terminates, the steering wheel shake
Dynamic device is closed, and the HUD head up display shows that vehicle runout information terminates.
8. a kind of ADAS product driveway deviation alarming system according to claim 1, which is characterized in that the host computer is real
When monitor vehicle deviation situation.
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| CN201811096333.3A CN109383371A (en) | 2018-09-19 | 2018-09-19 | A kind of ADAS product driveway deviation alarming system |
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| CN201811096333.3A CN109383371A (en) | 2018-09-19 | 2018-09-19 | A kind of ADAS product driveway deviation alarming system |
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| CN201811096333.3A Pending CN109383371A (en) | 2018-09-19 | 2018-09-19 | A kind of ADAS product driveway deviation alarming system |
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| CN111002997A (en) * | 2019-12-06 | 2020-04-14 | 武汉中海庭数据技术有限公司 | Lane departure prompting method and device |
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