CN109484394B - System and method for acquiring safe driving speed of automobile - Google Patents
System and method for acquiring safe driving speed of automobile Download PDFInfo
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- CN109484394B CN109484394B CN201811435960.5A CN201811435960A CN109484394B CN 109484394 B CN109484394 B CN 109484394B CN 201811435960 A CN201811435960 A CN 201811435960A CN 109484394 B CN109484394 B CN 109484394B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 41
- 230000002093 peripheral effect Effects 0.000 claims abstract description 15
- 230000003993 interaction Effects 0.000 claims description 7
- 230000002596 correlated effect Effects 0.000 claims description 6
- 239000004568 cement Substances 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
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Classifications
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
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- 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
-
- 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
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- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Abstract
The invention discloses a system and a method for acquiring the safe driving speed of an automobile, and belongs to the field of automobile driving. The system comprises: the device comprises a monitoring module, a control module and a prompt module. The monitoring module includes: a rainfall sensor, an adhesion condition sensor, and a surrounding environment sensor. And the rainfall sensor is used for identifying weather condition information around the automobile. And the adhesion condition sensor is used for monitoring the adhesion coefficient of the automobile and the ground. And the peripheral environment sensor is used for monitoring the peripheral environment information of the automobile. And the control module is used for acquiring the speed limit value according to the weather condition information, the attachment coefficient and the surrounding environment information. And the prompting module is used for prompting the speed limit value. According to the invention, real-time data acquisition is carried out through the monitoring module, the control module obtains the speed limit value according to the monitoring information and then prompts the speed limit value through the prompting module, so that a user can know the safe driving speed under the current condition under different driving conditions, the probability of safety accidents is reduced, and the driving safety is improved.
Description
Technical Field
The invention relates to the field of automobile driving, in particular to a system and a method for acquiring safe driving speed of an automobile.
Background
With the popularization of vehicles, the road safety problem is more and more emphasized by customers. Particularly, in severe weather such as rain, snow, fog and the like, visibility is low in rain, fog and the like, and road safety accidents are more prone to occur due to wet and slippery road surfaces in snow.
The reason for the occurrence of the road safety accident is generally that the driving speed is too high, and the driver does not have sufficient reaction time and deceleration time when encountering an emergency due to the too high speed, so that the safety accident is caused.
Disclosure of Invention
The embodiment of the invention provides a system and a method for acquiring the safe driving speed of an automobile, which can solve the technical problem. The specific technical scheme is as follows:
provided is a system for acquiring a safe driving speed of an automobile, comprising: a monitoring module, a control module and a prompt module,
the monitoring module includes: the rainfall sensor, the attachment condition sensor and the surrounding environment sensor are arranged on an automobile and are respectively connected with the control module, and the control module is connected with the prompt module;
the rainfall sensor is used for identifying weather condition information around the automobile and sending the weather condition information to the control module;
the adhesion condition sensor is used for monitoring the adhesion coefficient of the automobile and the ground and sending the adhesion coefficient to the control module;
the peripheral environment sensor is used for monitoring peripheral environment information of the automobile and sending the peripheral environment information to the control module;
the control module is used for acquiring a speed limit value according to the weather condition information, the attachment coefficient and the surrounding environment information and sending the speed limit value to the prompt module;
and the prompting module is used for prompting the speed limit value.
In one possible design, the system further comprises a vehicle speed monitoring unit and an alarm unit, wherein the vehicle speed monitoring unit and the alarm unit are respectively connected with the control module;
the vehicle speed monitoring unit is used for monitoring the running speed of the automobile and sending the running speed to the control module;
and the control module is used for sending an instruction to control the alarm unit to give an alarm when the running speed exceeds the speed limit value.
In one possible design, the system further comprises an interaction module, wherein the interaction module is connected with the control module and used for acquiring a target speed of a user and adjusting the speed limit value to the target speed.
In one possible design, the system further comprises an execution module, and the execution module is connected with the control module and used for adjusting the running speed of the automobile to be less than or equal to the speed limit value when the running speed of the automobile exceeds the speed limit value.
There is provided a method for obtaining a safe driving speed of an automobile by using the system of any one of the above items, the method comprising:
acquiring weather condition information around the automobile through a rainfall sensor;
acquiring an adhesion coefficient of the automobile and the ground through an adhesion condition sensor;
acquiring surrounding environment information of the automobile through a surrounding environment sensor;
acquiring a speed limit value according to the weather condition information, the attachment coefficient and the surrounding environment information;
and prompting the speed limit value through a prompting module.
In one possible design, the surrounding environment information includes road conditions of driving conditions of the automobile, visibility around the automobile, and a distance between the automobile and an obstacle.
In one possible design, the adhesion coefficient is positively correlated with the rate limiting value.
In one possible design, the weather condition information includes a rainfall, and the rainfall is inversely related to the speed limit value.
In one possible design, the visibility is positively correlated to the speed limit.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the monitoring module is used for acquiring real-time data, and the control module is used for acquiring the speed limit value according to the monitoring information and then prompting the speed limit value through the prompting module, so that a user can know the safe driving speed under the current condition under different driving conditions, the probability of safety accidents is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a system for acquiring a safe driving speed of an automobile according to an embodiment of the present invention.
Detailed Description
Unless defined otherwise, all technical terms used in the examples of the present invention have the same meaning as commonly understood by one of ordinary skill in the art. In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a system for acquiring a safe driving speed of an automobile, where the system includes: the device comprises a monitoring module, a control module and a prompt module.
The monitoring module includes: the rainfall sensor, the attachment condition sensor and the surrounding environment sensor are arranged on the automobile and are respectively connected with the control module, and the control module is connected with the prompt module;
the rainfall sensor is used for identifying weather condition information around the automobile and sending the weather condition information to the control module;
the adhesion condition sensor is used for monitoring the adhesion coefficient of the automobile and the ground and sending the adhesion coefficient to the control module;
the peripheral environment sensor is used for monitoring the peripheral environment of the automobile and sending the peripheral environment information to the control module;
the control module is used for acquiring a speed limit value according to the weather condition information, the attachment coefficient and the surrounding environment information and sending the speed limit value to the prompt module;
and the prompting module is used for prompting the speed limit value.
The following explains the working principle of the system for acquiring the safe driving speed of the automobile provided by the embodiment of the invention:
the rainfall sensor, the adhesion condition sensor and the surrounding environment sensor are arranged on the automobile to collect data. The rainfall sensor identifies weather conditions around the automobile and sends the weather condition information to the control module. The adhesion condition sensor monitors the adhesion coefficient of the automobile and the ground and sends the adhesion coefficient to the control module. The ambient environment sensor monitors the ambient environment of the vehicle and sends ambient environment information to the control module. The control module obtains a speed limit value by using a preset program according to the received weather condition information, the adhesion coefficient and the surrounding environment information, sends the speed limit value to the prompt module, and prompts the speed limit value through the prompt module, wherein the speed limit value is the safe driving speed of the automobile, and the driving safety is higher when the automobile runs at a speed not exceeding the speed limit value.
According to the system for acquiring the safe driving speed of the automobile, provided by the embodiment of the invention, real-time data acquisition is carried out through the monitoring module, the control module acquires the speed limit value according to the monitoring information and then prompts the speed limit value through the prompting module, so that a user can acquire the safe driving speed under the current condition under different driving conditions, the probability of safety accidents is reduced, and the driving safety is improved.
Wherein, the rainfall sensor can be through monitoring weather information such as precipitation and air humidity to give control module with this weather condition information transmission, control module judges weather and is rain, snow or fog etc..
The adhesion condition sensor can be a traction control system loaded on the automobile or a ground adhesion condition monitoring device additionally arranged on the automobile and used as an adhesion condition sensor, and the adhesion condition sensor measures the ground adhesion and sends the ground adhesion to the control module.
The peripheral environment sensor can be a 360-degree holographic image device installed on the automobile, the holographic image device shoots image information around the automobile and sends the image information to the control module, and the control module acquires information such as road conditions of the ground where the automobile is located and distances between the automobile and peripheral obstacles from the image information.
The prompting module can prompt the speed limit value in a voice broadcast and/or screen display mode.
The system provided by the embodiment of the invention further comprises a vehicle speed monitoring unit and an alarm unit, wherein the vehicle speed monitoring unit and the alarm unit are respectively connected with the control module. And the vehicle speed monitoring unit is used for monitoring the running speed of the automobile and sending the running speed to the control module. And the control module is used for sending an instruction to control the alarm unit to give an alarm when the running speed exceeds the speed limit value.
By arranging the vehicle speed monitoring unit and the alarming unit, when the vehicle speed exceeds the speed limit value, the vehicle speed monitoring unit alarms to remind a user that the vehicle speed exceeds the speed limit value, so that the overspeed problem caused by the user not concentrating on attention is avoided, and the driving safety is further improved.
In order to improve the user experience, the system further comprises an interaction module, wherein the interaction module is connected with the control module and used for acquiring the target speed of the user and adjusting the speed limit value to the target speed. With the arrangement, when the deviation between the speed limit value sent to the user by the prompting module and the target speed expected by the user psychology is large, for example, in a section or time period with few vehicles and under the condition that the driving experience of the user is rich, the user wants to improve the speed limit value; when the driving technology of the user is poor, the user wants to reduce the speed limit value. Under the two conditions, the user can adjust the speed limit value to the target speed through the interaction module, so that the speed limit value is more humanized, and the user experience is improved.
Optionally, the system further comprises an execution module, connected to the control module, for adjusting the driving speed of the vehicle to be less than or equal to the speed limit value when the driving speed of the vehicle exceeds the speed limit value.
The control module obtains the running speed of the automobile through the automobile speed monitoring unit, compares the running speed with the speed limit value, and sends an instruction to the execution module if the running speed exceeds the speed limit value, and the execution module executes the speed reduction operation. By arranging the execution module, the driving speed is enabled not to exceed the speed limit value all the time, and the driving safety is improved.
The embodiment of the invention provides a method for acquiring the safe driving speed of an automobile by using any one of the systems, which comprises the following steps:
acquiring weather condition information around the automobile through a rainfall sensor;
acquiring an adhesion coefficient between the automobile and the ground through an adhesion condition sensor;
acquiring peripheral environment information of the automobile through a peripheral environment sensor;
acquiring a speed limit value according to the weather condition information, the attachment coefficient and the surrounding environment information;
and prompting the speed limit value through a prompting module.
The rainfall sensor, the adhesion condition sensor and the surrounding environment sensor are arranged on the automobile and used for collecting data. The rainfall sensor identifies weather conditions around the automobile and sends the weather condition information to the control module. The adhesion condition sensor monitors the adhesion coefficient of the automobile and the ground and sends the adhesion coefficient to the control module. The ambient environment sensor monitors the ambient environment of the vehicle and sends ambient environment information to the control module. The control module obtains a speed limit value by using a preset program according to the received weather condition information, the adhesion coefficient and the surrounding environment information, sends the speed limit value to the prompting module, outputs the speed limit value to a user through the prompting module, and the speed limit value is the safe driving speed of the automobile, so that the driving safety is high when the automobile runs at a speed not exceeding the speed limit value.
According to the method for acquiring the safe driving speed of the automobile, provided by the embodiment of the invention, real-time data acquisition is carried out through the monitoring module, the control module acquires the speed limit value according to the monitoring information and then prompts the speed limit value through the prompting module, so that a user can acquire the safe driving speed under the current condition under different driving conditions, the probability of safety accidents is reduced, and the driving safety is improved.
The surrounding environment information monitored by the surrounding environment sensor comprises road conditions of a driving road of the automobile, visibility around the automobile and the distance between the automobile and an obstacle. The surrounding environment sensor monitors that the road surface is a muddy road, a cement road or a highway and the like, and the speed limit values output by the control module under different road conditions are different. For example, when the other conditions are the same, the speed limit value corresponding to the expressway is larger than the speed limit value corresponding to the cement road and is larger than the speed limit value corresponding to the muddy road. The visibility is positively correlated with the speed limit value, namely, the higher the visibility is, the larger the speed limit value is under the same other conditions. The distance of the vehicle from the obstacle may include the distance of the vehicle from a fixed obstacle (such as a curb, a barricade, etc.) and the distance of the vehicle from the remaining vehicles. The closer the distance between the automobile and other vehicles is, the denser the automobile is, and the smaller the corresponding speed limit value is.
The ground adhesion sensor is used for monitoring the adhesion coefficient, and the adhesion coefficient is positively correlated with the speed limit value. The higher the adhesion coefficient is, the larger the friction force between the automobile and the ground is, the stronger the grip force of the automobile tire is, and the larger the corresponding speed limit value is.
The weather conditions monitored by the rainfall sensor comprise rainfall, and the rainfall is inversely related to the speed limit value, namely, the larger the rainfall is, the smaller the corresponding speed limit value is when the other conditions are the same.
As for how the control module obtains the speed limit value according to the weather condition information, the attachment coefficient, and the surrounding environment information, an example of how the control module determines the speed limit value according to the obtained rainfall, visibility, average obstacle distance, and ground attachment coefficient is given below:
presetting a group of reference sequences in the control module, wherein the reference speed limit value in the reference sequences is V0(in km/h) corresponding to the reference rainfall Q0(in mm), reference visibility S0(in m) and a reference mean obstacle distance L0(unit is m) and reference ground adhesion coefficient K0。
According to the obtained rainfall Q1Visibility S1Average barrier distance L1Coefficient of ground adhesion K1The reference speed limit value is V0Corresponding reference rainfall Q0Reference visibility S0The reference average obstacle distance is L0And a reference ground adhesion coefficient K0Obtaining the speed limit value V by using the following formula I1：
The formula I is as follows:
in the formula, V1Representing a speed limit value with the unit of km/h;
Q1the unit is mm for the obtained rainfall;
S1for the visibility obtained, the unit is m;
L1obtaining the average obstacle distance in m;
K1the coefficient of ground adhesion is dimensionless;
V0the unit is km/h, which is a reference speed limit value;
Q0the standard rainfall is the unit of mm;
S0reference visibility in m;
L0is the baseline mean obstacle distance in m;
K0is a reference ground adhesion coefficient and has no dimension.
The above description is only an illustrative embodiment of the present invention, and should not be taken as limiting the scope of the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A system for obtaining a safe driving speed of an automobile, the system comprising: a monitoring module, a control module, a prompt module, an interactive module and an execution module,
the monitoring module includes: the rainfall sensor, the attachment condition sensor and the surrounding environment sensor are arranged on an automobile and are respectively connected with the control module, and the control module is connected with the prompt module; the interaction module is connected with the control module; the execution module is connected with the control module;
the rainfall sensor is used for identifying weather condition information around the automobile and sending the weather condition information to the control module, and comprises: detecting the air humidity around the automobile and sending the air humidity to the control module;
the adhesion condition sensor is used for monitoring the adhesion coefficient of the automobile and the ground and sending the adhesion coefficient to the control module, wherein the adhesion condition sensor is a traction control system loaded on the automobile or a ground adhesion condition monitoring device on the automobile;
the peripheral environment sensor is used for monitoring peripheral environment information of the automobile and sending the peripheral environment information to the control module;
the control module is used for determining a speed limit value based on the weather condition information, the attachment coefficient and the surrounding environment information, and sending the speed limit value to the prompt module, wherein the surrounding environment information comprises road conditions of a driving road of an automobile, visibility around the automobile and the distance between the automobile and an obstacle; the road conditions comprise muddy roads, cement roads and highways;
the prompt module is used for prompting the speed limit value in a voice broadcast and/or screen display mode;
the interaction module is used for acquiring the target speed of a user and adjusting the speed limit value to the target speed;
the execution module is used for adjusting the running speed of the automobile to be less than or equal to the speed limit value when the running speed of the automobile exceeds the speed limit value;
the system also comprises a rainfall Q according to the obtained rainfall1Visibility S1Average barrier distance L1Coefficient of ground adhesion K1The reference speed limit value is V0Corresponding reference rainfall Q0Reference visibility S0The reference average obstacle distance is L0And a reference ground adhesion coefficient K0And preset
Determining a speed limit value; wherein, V1Indicating the speed limit value, Q1For the amount of rainfall obtained, S1For the visibility obtained, L1For the average obstacle distance obtained, K1Is the ground adhesion coefficient, V0Is a reference limit value, Q0As a reference rainfall, S0For reference visibility, L0In order to be the reference average obstacle distance,K0is the reference ground adhesion coefficient.
2. The system of claim 1, further comprising a vehicle speed monitoring unit and an alarm unit, the vehicle speed monitoring unit and the alarm unit being connected to the control module, respectively;
the vehicle speed monitoring unit is used for monitoring the running speed of the automobile and sending the running speed to the control module;
and the control module is used for sending an instruction to control the alarm unit to give an alarm when the running speed exceeds the speed limit value.
3. Method for obtaining the safe driving speed of a vehicle using the system according to any one of claims 1 to 2, characterized in that the method comprises:
acquiring weather condition information around the automobile through a rainfall sensor;
acquiring an adhesion coefficient of the automobile and the ground through an adhesion condition sensor;
acquiring surrounding environment information of the automobile through a surrounding environment sensor;
and determining a speed limit value based on the weather condition information, the attachment coefficient and the surrounding environment information, wherein the surrounding environment information comprises the road condition of a driving road of the automobile, the visibility around the automobile and the distance between the automobile and an obstacle, and the road condition comprises a muddy road, a cement road and a highway.
4. The method according to claim 3, wherein the adhesion coefficient is positively correlated with the rate limiting value.
5. The method of claim 3, wherein the weather condition information includes a rainfall amount, and wherein the rainfall amount is inversely related to the speed limit value.
6. The method of claim 3, wherein the visibility is positively correlated to the speed limit.
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| CN201811435960.5A CN109484394B (en) | 2018-11-28 | 2018-11-28 | System and method for acquiring safe driving speed of automobile |
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| CN112706612A (en) * | 2019-10-24 | 2021-04-27 | 上海宗保科技有限公司 | Networking positioning system based on automobile driving |
| CN113298346B (en) * | 2021-04-16 | 2023-04-18 | 深圳市普铭智能技术有限公司 | Intelligent public transportation monitoring management system and method based on Internet of things |
| CN113147733B (en) * | 2021-04-30 | 2022-11-01 | 东风汽车集团股份有限公司 | Intelligent speed limiting system and method for automobile in rain, fog and sand dust weather |
| CN116959261B (en) * | 2023-09-20 | 2023-12-15 | 武汉车凌智联科技有限公司 | Vehicle safety driving monitoring and early warning system based on cloud platform |
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| JP3094106B1 (en) * | 1999-10-27 | 2000-10-03 | 建設省土木研究所長 | Lane departure prevention system |
| JP2006172053A (en) * | 2004-12-15 | 2006-06-29 | Nissan Motor Co Ltd | Travel support device for vehicle |
| CN101581659B (en) * | 2009-06-05 | 2011-06-29 | 清华大学 | Tyre-pavement maximum attachment coefficient test method |
| CN102092388B (en) * | 2011-01-20 | 2014-11-26 | 浙江吉利汽车研究院有限公司 | Driving safety control device related to pavement adhesion coefficient |
| SE536399C2 (en) * | 2011-05-16 | 2013-10-08 | Scania Cv Ab | Driver interaction at reference speed regulating cruise control |
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| CN202351162U (en) * | 2011-11-01 | 2012-07-25 | 长安大学 | Road pavement adhesion coefficient detection device |
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| CN103407450A (en) * | 2013-08-28 | 2013-11-27 | 江苏理工学院 | Method and device for detecting attachment coefficient between tyres and ground in real time |
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