CN110136441A - Vehicle limit for height control method, device, storage medium and automobile controlling terminal - Google Patents
Vehicle limit for height control method, device, storage medium and automobile controlling terminal Download PDFInfo
- Publication number
- CN110136441A CN110136441A CN201910414714.XA CN201910414714A CN110136441A CN 110136441 A CN110136441 A CN 110136441A CN 201910414714 A CN201910414714 A CN 201910414714A CN 110136441 A CN110136441 A CN 110136441A
- Authority
- CN
- China
- Prior art keywords
- height
- vehicle
- roof
- headroom
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Abstract
This application involves field of automobile control, and in particular to a kind of vehicle limit for height control method, device, storage medium and automobile controlling terminal, which comprises the traffic information for obtaining road ahead, according to the traffic information obtain road ahead can headroom；Obtain the ride height of vehicle according to can headroom and ride height, confirmation driving control vehicle in the hole responds the precarious position.The application improves response and treatment effeciency of the vehicle to limit for height section, it is ensured that the traffic safety of vehicle.
Description
Technical field
This application involves field of automobile control, and in particular to a kind of vehicle limit for height control method, device, storage medium and vapour
Vehicle controlling terminal.
Background technique
With the development of car networking technology, automobile industry is developed more also based on Internet technology conducive to vehicle drive
Function, and road traffic system provides more data also through the data of real-time collecting road and vehicle for vehicle driving
And information reminding, for example the speed of vehicle is reminded, the casting of the passage road conditions of road ahead, and current automotive control system for
The travel situations of vehicle itself and road actual conditions are not combined consideration, especially for vehicle by the traveling of vehicle
The safe altitude of traveling can not accurately and in time control vehicle limit for height.
Summary of the invention
To overcome the above technical problem, the especially prior art not to be controlled accurately and in time vehicle limit for height
Problem, spy propose following technical scheme:
In a first aspect, this application provides a kind of vehicle limit for height control methods, comprising:
The traffic information for obtaining road ahead, according to the traffic information obtain road ahead can headroom；
Obtain the ride height of vehicle；
According to it is described can headroom and ride height, confirmation driving it is in the hole；
Control vehicle responds the precarious position.
Further, the traffic information for obtaining road ahead, according to the traffic information obtain road ahead can
Headroom, comprising:
It acquires the anterior height restricted information of vehicle heading and/or obtains the height letter of barrier in road ahead
Breath；
The height that passes through of road ahead is calculated according to the elevation information of the anterior height restricted information and/or barrier
Degree.
Further, the anterior height restricted information of the acquisition vehicle heading, comprising:
The digital information that the front limit for height mark of vehicle heading is acquired by forward sight camera, limits as anterior height
Information processed；
The elevation information of barrier in the acquisition road ahead, comprising:
In the road ahead for obtaining the stadia surveying being mounted in road ahead below barrier by car networking module
The elevation information of barrier；
The elevation information according to the anterior height restricted information and/or barrier calculates leading to for road ahead
Row height, comprising:
The anterior height restricted information and the elevation information are subjected to algorithm fusion, meter by limit for height pilot controller
Calculate road ahead can headroom.
Further, it is described by forward sight camera acquire vehicle heading front limit for height mark digital information it
Afterwards, further includes:
Compare the limit of the limit for height information in the numerical value of the digital information of the front limit for height mark and the section of system intialization
High numerical value；
If they are the same, digital information front limit for height identified is as anterior height restricted information；
If it is different, the limit for height numerical value for updating the section limit for height information of system intialization is the number of front limit for height mark
The numerical value of information.
Further, the ride height for obtaining vehicle, comprising:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
Further, the acquisition roof object height, comprising:
Judge whether vehicle roof skylight is opened；
If it is not, the height for the object placed on acquisition roof, as roof object height；
If so, judging whether to detect that passenger leans out vehicle roof skylight；If it is not, the height for the object placed on acquisition roof
Degree, no to be as roof object height, acquisition passenger leans out the height for the object placed in the height and roof of skylight, chooses
The larger value in the two height, as roof object height.
Further, it is described according to can headroom and ride height, confirmation driving it is in the hole, comprising:
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in level-one precarious position；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and does not detect that passenger visits
Vehicle roof skylight out, confirmation driving are in secondary threat state；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is not turned on, and confirmation driving is in
Secondary threat state；
If the ride height be less than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in three-level precarious position.
Further, it is described according to can headroom and ride height, confirmation driving it is in the hole, comprising:
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be greater than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in level-one precarious position；
If the sum of the height for the object placed on the roof and height of car be greater than it is described can headroom, and do not examine
It measures passenger and leans out vehicle roof skylight, confirmation driving is in secondary threat state；
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be less than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in three-level precarious position.
Further, the control vehicle responds the precarious position, comprising:
If the driving is in level-one precarious position, prompting message is braked and issued to control vehicle；
If the driving is in secondary threat state, prompting message is braked and/or issued to control vehicle；
If the driving is in three-level precarious position, control vehicle issues prompting message.
Second aspect, the application provide a kind of vehicle limit for height control device, comprising:
Acquisition module: for obtaining the traffic information of road ahead, according to the traffic information obtain road ahead can
Headroom；
Obtain module: for obtaining the ride height of vehicle；
Processing module: for according to can headroom and ride height, confirmation drive a vehicle it is in the hole；
Respond module: the precarious position is responded for controlling vehicle.
Further, the acquisition module further includes executing:
It acquires the anterior height restricted information of vehicle heading and/or obtains the height letter of barrier in road ahead
Breath；
The height that passes through of road ahead is calculated according to the elevation information of the anterior height restricted information and/or barrier
Degree.
Further, the acquisition module further includes executing:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
The third aspect, present invention also provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with computer program, which realizes above-mentioned vehicle limit for height control method when being executed by processor.
Fourth aspect, present invention also provides a kind of automobile controlling terminal, the automobile controlling terminal includes one or more
A processor, memory, one or more computer program, wherein one or more of computer programs be stored in it is described
It in memory and is configured as being executed by one or more of processors, one or more of programs are configured to carry out
The vehicle limit for height control method stated.
The application compared with prior art, has the advantages that
This application provides one kind to be based on road information and vehicle driving information, limit for height control when to vehicle driving
Method, by obtain road ahead traffic information, then according to the traffic information obtain road ahead can headroom,
The ride height of vehicle is obtained again, and the ride height ride height illustrates minimum constructive height required when vehicle driving, then
When according to can headroom and ride height confirmation driving it is in the hole after, control vehicle to the precarious position into
Row response, including control vehicle is slowed down, controls vehicle unlatching hydropac lamp, sending vehicle operating is reminded, to control vehicle
Driving states be not at precarious position, it is ensured that the traffic safety of vehicle, thus improve vehicle to the response in limit for height section and
Processing improves traffic safety and interior intelligence experience.
The additional aspect of the application and advantage will be set forth in part in the description, these will become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is an embodiment flow diagram of the application vehicle limit for height control method；
Fig. 2 is another embodiment flow diagram of the application vehicle limit for height control method；
Fig. 3 is an embodiment schematic diagram of the application vehicle limit for height control device；
Fig. 4 is an example structure schematic diagram of the application automobile controlling terminal.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and cannot be construed to the limitation to the application.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in the description of the present application
Diction " comprising " refers to that there are the feature, integer, step, operations, but it is not excluded that in the presence of or addition it is one or more other
Feature, integer, step, operation.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
The embodiment of the present application provides a kind of vehicle limit for height control method, as shown in Figure 1, the described method comprises the following steps:
S10: obtaining the traffic information of road ahead, according to the traffic information obtain road ahead can headroom.
Vehicle travels on road, and road ahead needs to understand in real time there may be different barriers or emergency case
The road conditions of road ahead in the present embodiment, obtain the traffic information of road ahead, then obtain front according to the traffic information
Road can headroom, specifically, install several onboard sensors on vehicle, including camera sensing device, distance pass
Sensor, velocity sensor, the traffic information of those sensor real-time collecting road aheads, then obtain according to those traffic informations
The road ahead of the present embodiment can headroom.
S20: the ride height of vehicle is obtained.
Since vehicle may accumulate article by placed in repacking or vehicle roof on article or road, vehicle row
It sails by possible possessed highly different when different sections of highway, in the present embodiment, not only passing through for acquisition road ahead is believed in real time
Breath, so as to obtain road ahead can headroom, also obtain the ride height of vehicle in real time, ride height illustrates vehicle row
Required minimum constructive height when sailing.
S30: according to it is described can headroom and ride height, confirmation driving it is in the hole.
Obtain road ahead can after headroom and the current ride height of vehicle, according to it is described can headroom and
Ride height can judge whether vehicle current driving is safe, an embodiment of the present embodiment, if described can headroom
Less than ride height, confirm that the driving of vehicle at this time is in the hole；The another embodiment of the present embodiment, if described can
Headroom is bigger than the ride height, and can the difference of headroom and ride height be less than default safety value, confirmation is at this time
The driving of vehicle is in the hole；Another embodiment of the present embodiment, if it is described can headroom than it is described driving it is high
Degree it is big, and can the difference of headroom and ride height be greater than default warning value, the driving of confirmation vehicle at this time is in safety
State；The present embodiment highlights the vehicle control for driving under in the hole.
S40: control vehicle responds the precarious position.
After the current driving of confirmation vehicle is in the hole, vehicle is needed to change current driving states in time, really
Protect vehicle can security row cross front section, in the present embodiment, after confirmation vehicle is in the hole, control vehicle to institute
It states precarious position to be responded, the driving for reducing vehicle as early as possible is dangerous, specifically, it includes control that the control vehicle, which carries out response,
Vehicle is slowed down, controls vehicle unlatching hydropac lamp, issues vehicle operating prompting, is not located with controlling the driving states of vehicle
In precarious position, it is ensured that the traffic safety of vehicle.
Present embodiments provide a kind of based on road information and vehicle driving information, limit for height control when to vehicle driving
Then method processed obtains the height that passes through of road ahead according to the traffic information by obtaining the traffic information of road ahead
Degree, then the ride height of vehicle is obtained, the ride height ride height illustrates minimum constructive height required when vehicle driving, so
Afterwards when according to can headroom and ride height confirmation driving it is in the hole after, control vehicle to the precarious position
It is responded, including control vehicle is slowed down, controls vehicle unlatching hydropac lamp, issues vehicle operating prompting, with control
The driving states of vehicle are not at precarious position, it is ensured that the traffic safety of vehicle, to improve response of the vehicle to limit for height section
And processing, improve traffic safety and interior intelligence experience.
A kind of embodiment of the application, as shown in Fig. 2, the traffic information for obtaining road ahead, according to the passage
What information obtained road ahead can headroom, comprising:
S11: acquiring the anterior height restricted information of vehicle heading and/or obtains the height of barrier in road ahead
Information；
S12: leading to for road ahead is calculated according to the elevation information of the anterior height restricted information and/or barrier
Row height.
In the present embodiment, during vehicle driving, the traffic information of the road ahead includes the height of road ahead
The obstacle information of restricted information and road ahead, specifically, the traffic information for obtaining road ahead includes collecting vehicle
The anterior height restricted information of driving direction, such as certain sections define the maximum height of driving, which is this reality
The anterior height restricted information of example is applied, the traffic information of the acquisition road ahead further includes obtaining barrier in road ahead
Elevation information, road ahead not only have fixed barrier such as height-limiting bar, tunnel, and there are also the cargos gone together on vehicle also can be considered
Barrier in road ahead in the present embodiment, can individually acquire the anterior height restricted information of vehicle heading, or single
The elevation information for taking barrier in road ahead is independently won, or acquires the anterior height restricted information of vehicle heading simultaneously and obtains
The elevation information of barrier in road ahead is taken, is then believed according to the height of the anterior height restricted information and/or barrier
Breath calculate road ahead can headroom, in conjunction with real road situation quickly calculate road ahead can headroom,
Accurately react road ahead can passage situation.
A kind of embodiment of the application, the anterior height restricted information of the acquisition vehicle heading, comprising:
The digital information that the front limit for height mark of vehicle heading is acquired by forward sight camera, limits as anterior height
Information processed；
The elevation information of barrier in the acquisition road ahead, comprising:
In the road ahead for obtaining the stadia surveying being mounted in road ahead below barrier by car networking module
The elevation information of barrier；
The elevation information according to the anterior height restricted information and/or barrier calculates leading to for road ahead
Row height, comprising:
The anterior height restricted information and the elevation information are subjected to algorithm fusion, meter by limit for height pilot controller
Calculate road ahead can headroom.
In the present embodiment, the anterior height restricted information is identified as reference, the limit for height mark packet with the limit for height in front
Limit for height Sign Board is included, specifically, the digital information of the front limit for height mark of vehicle heading is acquired by forward sight camera, it will
For the digital information of front limit for height mark as anterior height restricted information, the forward sight camera may be mounted at the preceding wind of vehicle
It keeps off at glass, the digital information of the front limit for height mark on real-time collecting vehicle heading；Barrier in the road ahead
Elevation information pass through car networking (V2X, Vehicle to Everything) module obtain, the friendship of car networking module and city
Way system networking, can obtain the elevation information of the barrier of the stadia surveying being mounted on road below barrier, survey
Distance meter is mounted on the lowest part of barrier, the height of the barrier is gone out by measuring the range measurement with ground, more preferably, if ground
There is deposit on face, the height of the barrier can reduce accordingly.Then pass through limit for height pilot controller for the anterior height
The elevation information of restricted information and the barrier carries out algorithm fusion, and limit for height pilot controller can take minimum between the two
Value as can headroom maximum value, can also take minimum value among the two, then subtracting reserved safe altitude conduct can
The maximum value of headroom, thus calculate road ahead can headroom, based on forward sight camera and car networking module
In conjunction with more accurately calculate road ahead can headroom.
A kind of embodiment of the application, the front limit for height mark that vehicle heading is acquired by forward sight camera
After digital information, further includes:
Compare the limit of the limit for height information in the numerical value of the digital information of the front limit for height mark and the section of system intialization
High numerical value；
If they are the same, digital information front limit for height identified is as anterior height restricted information；
If it is different, the limit for height numerical value for updating the section limit for height information of system intialization is the number of front limit for height mark
The numerical value of information.
In order to more accurately determine anterior height restricted information, in the present embodiment, before above-described embodiment is by acquisition
After the digital information of square limit for height mark, the limit for height in the section of the digital information and system intialization of the front limit for height mark
Information presets the limit for height information in each section in system, and if they are the same, the digital information that front limit for height is identified is as anterior height
Restricted information can more accurately determine the height limitation information in front；If it is different, then updating the section limit of system intialization
The limit for height numerical value of high information is the numerical value of the digital information of front limit for height mark, guarantees the limit for height in the section of system intialization
Information can with it is actual synchronous, to guarantee that later vehicle can quickly determine the anterior height restricted information of current road segment,
Promote treatment effeciency.
A kind of embodiment of the application, the ride height for obtaining vehicle, comprising:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
In actual use in view of vehicle, vehicle roof may be placed with the case where article, in the present embodiment, pass through acquisition
Roof object height and height of car, the then row by the sum of the height of car and the roof object height as vehicle
Height, more preferably, in order to more accurately acquire roof object height, in one embodiment, above acquisition vehicle roof
The height of opposing stationary object is kept with vehicle, in another embodiment, the object above acquisition vehicle roof is most
Big height not only considers the height of vehicle itself, it is also contemplated that the height of object in vehicle roof is more in line with the field actually driven
Scape improves the accuracy of ride height judgement.
A kind of embodiment of the application, the acquisition roof object height, comprising:
Judge whether vehicle roof skylight is opened；
If it is not, the height for the object placed on acquisition roof, as roof object height；
If so, judging whether to detect that passenger leans out vehicle roof skylight；If it is not, the height for the object placed on acquisition roof
Degree, no to be as roof object height, acquisition passenger leans out the height for the object placed in the height and roof of skylight, chooses
The larger value in the two height, as roof object height.
In the present embodiment, the phenomenon that opening when vehicle is used there may be sunroofs, and there is interior article and wear
The phenomenon that sunroofs or passenger lean out sunroofs out judges vehicle vehicle when acquiring roof object height based on this
Whether top skylight is opened, if vehicle roof skylight is not turned on, the case where being pierced by sunroofs without the concern for interior article,
At this point, directly by the height for the object placed on collected roof, as roof object height；If vehicle roof skylight has been beaten
It opens, needs more complicated judgement, at this point, judging whether to detect that passenger leans out vehicle roof skylight, if leaning out vehicle without passenger
Sunroofs, at this time still directly by the height for the object placed on collected roof, as roof object height, the object
Body may be also pierced by skylight by car, can equally collect the height of the object；And if vehicle roof skylight is opened and is detected
Sunroofs are leant out to passenger, needs to acquire passenger at this time simultaneously and leans out the object prevented in the height and roof of sunroofs
Height, and the larger value in the two height is chosen, as roof object height.By judging whether skylight is opened, with
And acquisition leans out the article of skylight or the height of passenger, so that minimum constructive height required for vehicle driving is accurately calculated, really
Protect vehicle driving safety.
A kind of embodiment of the application, it is described according to can headroom and ride height, confirmation driving in danger
State, comprising:
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in level-one precarious position；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and does not detect that passenger visits
Vehicle roof skylight out, confirmation driving are in secondary threat state；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is not turned on, and confirmation driving is in
Secondary threat state；
If the ride height be less than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in three-level precarious position.
It can be after headroom and the current ride height of vehicle, in the present embodiment, if sentencing be determined road ahead
The ride height that breaks be greater than it is described can headroom, and vehicle roof skylight is not turned on, and illustrates that road ahead can not be for mesh
Preceding vehicle safety passes through, and confirmation driving at this time is in secondary threat state；If the ride height is greater than the height that can pass through
Degree, and vehicle roof skylight is opened, and does not detect that passenger leans out vehicle roof skylight, similarly illustrates that road ahead can not be for
Current vehicle safety passes through, and confirmation driving at this time is in secondary threat state；If the ride height can pass through described in being greater than
Highly, and vehicle roof skylight is opened, and detects that passenger leans out vehicle roof skylight, and not only road ahead can not be at this time
Current vehicle safety passes through, and passenger lean out sunroofs behavior it is more dangerous, at this time confirmation driving in level-one endanger
Dangerous state needs emergency operation, far from front obstacle, to guarantee vehicle safe driving by vehicle；If the ride height is less than institute
State can headroom, vehicle roof skylight opens, and detects that passenger leans out vehicle roof skylight, illustrate road ahead for mesh
Preceding vehicle safety passes through, but passenger leans out sunroofs at present, may cause danger at any time, and confirmation driving at this time is in three
Grade precarious position, needs reminding passengers no longer to lean out sunroofs.By by the precarious position of the ride height under different scenes
Grade is divided, and the convenient response processing to different precarious positions is planned as a whole, managed.
A kind of embodiment of the application, it is described according to can headroom and ride height, confirmation driving in danger
State, comprising:
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be greater than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in level-one precarious position；
If the sum of the height for the object placed on the roof and height of car be greater than it is described can headroom, and do not examine
It measures passenger and leans out vehicle roof skylight, confirmation driving is in secondary threat state；
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be less than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in three-level precarious position.
Obtained road ahead can headroom and the current ride height of vehicle, the ride height include
Height of car and/or passenger lean out the height of the height of skylight, the object placed on roof, then can headroom according to
And ride height, confirmation driving it is in the hole, specifically, in the present embodiment, it is assumed that can headroom be a, height of car
For h, the height for the object placed on roof is b, and the height that passenger leans out skylight is c,；If the passenger leans out the height of skylight
And the sum of the larger value of the height for the object placed on roof and height of car be greater than it is described can headroom, max (b, c)+h >
A, and detect that passenger leans out vehicle roof skylight, not only road ahead can not pass through for current vehicle safety at this time, but also
The behavior that passenger leans out sunroofs is more dangerous, and confirmation driving at this time is in level-one precarious position, needs emergency operation by vehicle
Far from front obstacle, guarantee vehicle safe driving；If the sum of the height for the object placed on the roof and height of car
Greater than it is described can headroom, i.e. max (b, c)+h > a, and do not detect that passenger leans out vehicle roof skylight, illustrate front road
Road can not pass through for current vehicle safety, and confirmation driving is in secondary threat state；If the passenger leans out the height of skylight
And the sum of the larger value of the height for the object placed on roof and height of car can headrooms, i.e. max (b, c)+h less than described in
< a, and detect that passenger leans out vehicle roof skylight, illustrate that road ahead passes through for current vehicle safety, but at present
Passenger leans out sunroofs, may cause danger at any time, and confirmation driving is in three-level precarious position, and reminding passengers is needed no longer to visit
Sunroofs out.
A kind of embodiment of the application, the control vehicle respond the precarious position, comprising:
If the driving is in level-one precarious position, prompting message is braked and issued to control vehicle；
If the driving is in secondary threat state, prompting message is braked and/or issued to control vehicle；
If the driving is in three-level precarious position, control vehicle issues prompting message.
In the present embodiment, for different driving precarious positions, controls vehicle and carry out different responses, specifically, if described
Driving is in level-one precarious position, and prompting message is braked and issued to control vehicle, and priority acccess control vehicle slows down, then sends out
Prompting message reminds driver out, issues prompting message and driver is reminded to select other traffic route；If the driving is in
Prompting message is braked and/or issued to secondary threat state, control vehicle, and degree of danger at this time is not very serious, can be with
Control vehicle slowed down or controlled vehicle issue prompting message, remind driver select other traffic route, by driver
Voluntarily judge and selects；If the driving is in three-level precarious position, main danger at this time is to lean out multiplying for sunroofs
Visitor then controls vehicle and issues prompting message, and reminding passengers return to car, so as to section in front of safety.
As shown in figure 3, in another embodiment, this application provides a kind of vehicle limit for height control devices, comprising:
Acquisition module 10: for obtaining the traffic information of road ahead, road ahead is obtained according to the traffic information
It can headroom；
Obtain module 20: for obtaining the ride height of vehicle；
Processing module 30: for according to can headroom and ride height, confirmation drive a vehicle it is in the hole；
Respond module 40: the precarious position is responded for controlling vehicle.
A kind of embodiment of the application, the acquisition module 10 further include executing；
It acquires the anterior height restricted information of vehicle heading and/or obtains the height letter of barrier in road ahead
Breath；
The height that passes through of road ahead is calculated according to the elevation information of the anterior height restricted information and/or barrier
Degree.
A kind of embodiment of the application, the acquisition module 10 further include；
Forward sight camera: the digital information that the front limit for height for acquiring vehicle heading identifies, as anterior height
Restricted information；
Car networking module: for obtaining the road ahead for the stadia surveying being mounted in road ahead below barrier
The elevation information of barrier；
Limit for height assistor: it for the anterior height restricted information and the elevation information to be carried out algorithm fusion, calculates
Out road ahead can headroom.
A kind of embodiment of the application, the acquisition module 10 further include executing:
Compare the limit of the limit for height information in the numerical value of the digital information of the front limit for height mark and the section of system intialization
High numerical value；
If they are the same, digital information front limit for height identified is as anterior height restricted information；
If it is different, the limit for height numerical value for updating the section limit for height information of system intialization is the number of front limit for height mark
The numerical value of information.
A kind of embodiment of the application, the acquisition module 20 further include executing:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
A kind of embodiment of the application, the acquisition module 20 further include executing:
Judge whether vehicle roof skylight is opened；
If it is not, the height for the object placed on acquisition roof, as roof object height；
If so, judging whether to detect that passenger leans out vehicle roof skylight；If it is not, the height for the object placed on acquisition roof
Degree, no to be as roof object height, acquisition passenger leans out the height for the object placed in the height and roof of skylight, chooses
The larger value in the two height, as roof object height.
A kind of embodiment of the application, the processing module 30 further include executing:
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in level-one precarious position；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and does not detect that passenger visits
Vehicle roof skylight out, confirmation driving are in secondary threat state；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is not turned on, and confirmation driving is in
Secondary threat state；
If the ride height be less than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle
Sunroofs, confirmation driving are in three-level precarious position.
A kind of embodiment of the application, the processing module 30 further include executing:
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be greater than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in level-one precarious position；
If the sum of the height for the object placed on the roof and height of car be greater than it is described can headroom, and do not examine
It measures passenger and leans out vehicle roof skylight, confirmation driving is in secondary threat state；
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and height of car it
Be less than it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in three-level precarious position.
A kind of embodiment of the application, the respond module 40 further include executing:
If the driving is in level-one precarious position, prompting message is braked and issued to control vehicle；
If the driving is in secondary threat state, prompting message is braked and/or issued to control vehicle；
If the driving is in three-level precarious position, control vehicle issues prompting message.
In another embodiment, this application provides a kind of computer readable storage medium, computer-readable storage mediums
Computer program is stored in matter, which realizes vehicle limit for height control described in above-described embodiment when being executed by processor
Method processed.Wherein, the computer readable storage medium includes but is not limited to any kind of disk (including floppy disk, hard disk, light
Disk, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, read-only memory), RAM (Random AcceSS
Memory, immediately memory), EPROM (EraSable Programmable Read-Only Memory, erasable programmable
Read-only memory), EEPROM (Electrically EraSable Programmable Read-Only Memory, electrically erasable
Programmable read only memory), flash memory, magnetic card or light card.It is, storage equipment includes by equipment (for example, calculating
Machine, mobile phone) with any medium for the form storage or transmission information that can be read, it can be read-only memory, disk or CD etc..
A kind of computer readable storage medium provided by the embodiments of the present application is, it can be achieved that obtain the current letter of road ahead
Breath, according to the traffic information obtain road ahead can headroom；Obtain the ride height of vehicle；It is passed through according to described
Height and ride height, confirmation driving are in the hole；Control vehicle responds the precarious position.By providing one
Kind is based on road information and vehicle driving information, and limit for height control method when to vehicle driving passes through and obtains road ahead
Traffic information, then according to the traffic information obtain road ahead can headroom, then obtain the ride height of vehicle,
The ride height ride height illustrates minimum constructive height required when vehicle driving, then when according to can headroom and
Ride height confirmation driving it is in the hole after, control vehicle the precarious position is responded, including control vehicle into
Row, which slows down, control vehicle opens hydropac lamp, issues vehicle operating reminds, and is not at danger to control the driving states of vehicle
State, it is ensured that the traffic safety of vehicle improves traffic safety and vehicle to improve response and processing of the vehicle to limit for height section
Interior intelligence experience.
The reality of above-mentioned vehicle limit for height control method may be implemented in computer readable storage medium provided by the embodiments of the present application
Example is applied, concrete function realizes the explanation referred in embodiment of the method, and details are not described herein.
In addition, the application also provides a kind of automobile controlling terminal in another embodiment, as shown in figure 4, the automobile
Controlling terminal includes the devices such as processor 403, memory 405, input unit 407 and display unit 409.Those skilled in the art
Member is appreciated that the structure devices shown in Fig. 4 do not constitute the restriction to all automobile controlling terminals, may include than illustrating more
More or less component, or the certain components of combination.The memory 405 can be used for storing computer program 401 and each function
Energy module, the processor 403 runs the computer program 401 for being stored in memory 405, thereby executing the various functions of equipment
Using and data processing.The memory 405 can be built-in storage or external memory, or including built-in storage and external memory
Both reservoirs.Built-in storage may include read-only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM),
Electrically erasable programmable ROM (EEPROM), flash memory or random access memory.
Input unit 407 is used to receive the input of signal and receives the input of user, and input unit 407 may include touch surface
Plate and other input equipments, touch panel collect the touch operation of user on it or nearby, and according to preset
The corresponding attachment device of driven by program.Display unit 409 can be used for showing the information of user's input or be supplied to the information of user
And the various menus of computer equipment.The forms such as liquid crystal display, Organic Light Emitting Diode can be used in display unit 409.Place
Reason device 403 is that the control centre of computer equipment passes through fortune using the various pieces of various interfaces and the entire computer of connection
Row executes the software program and/or module being stored in memory 403, and calls the data being stored in memory, holds
The various functions of row and processing data.
In one embodiment, the automobile controlling terminal includes one or more processors 403 and one or more
A memory 405, one or more computer programs 401, wherein one or more of computer programs 401 are stored in and deposit
In reservoir 405 and it is configured as being executed by one or more of processors 403, one or more of computer programs 401
It is configured to carry out vehicle limit for height control method described in above embodiments.403 energy of one or more processors shown in Fig. 4
It is enough to execute, realize acquisition module 10 shown in Fig. 3, obtain module 20, processing module 30, the function of respond module 40.
A kind of automobile controlling terminal provided by the embodiments of the present application, it can be achieved that obtain road ahead traffic information, according to
What the traffic information obtained road ahead can headroom；Obtain the ride height of vehicle；According to it is described can headroom and
Ride height, confirmation driving are in the hole；Control vehicle responds the precarious position.It is based on by providing one kind
Road information and vehicle driving information, limit for height control method when to vehicle driving, by the passage for obtaining road ahead
Information, then according to the traffic information obtain road ahead can headroom, then obtain the ride height of vehicle, the row
Height ride height illustrates minimum constructive height required when vehicle driving, then when according to can headroom and driving it is high
Degree confirmation driving it is in the hole after, control vehicle the precarious position is responded, including control vehicle slowed down,
It controls vehicle to open hydropac lamp, issue vehicle operating prompting, is not at precarious position to control the driving states of vehicle, really
The traffic safety of vehicle is protected, to improve response and processing of the vehicle to limit for height section, improves traffic safety and car intelligence
Experience.
The reality of the vehicle limit for height control method of above-mentioned offer may be implemented in automobile controlling terminal provided by the embodiments of the present application
Example is applied, concrete function realizes the explanation referred in embodiment of the method, and details are not described herein.
The above is only some embodiments of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (14)
1. a kind of vehicle limit for height control method, which comprises the following steps:
The traffic information for obtaining road ahead, according to the traffic information obtain road ahead can headroom；
Obtain the ride height of vehicle；
According to it is described can headroom and ride height, confirmation driving it is in the hole；
Control vehicle responds the precarious position.
2. the method according to claim 1, wherein it is described obtain road ahead traffic information, according to described
What traffic information obtained road ahead can headroom, comprising:
It acquires the anterior height restricted information of vehicle heading and/or obtains the elevation information of barrier in road ahead；
According to the elevation information of the anterior height restricted information and/or barrier calculate road ahead can headroom.
3. according to the method described in claim 2, it is characterized in that, the anterior height of the acquisition vehicle heading limits letter
Breath, comprising:
The digital information that the front limit for height mark of vehicle heading is acquired by forward sight camera, limits as anterior height and believes
Breath；
The elevation information of barrier in the acquisition road ahead, comprising:
Obstacle in the road ahead for the stadia surveying being mounted in road ahead below barrier is obtained by car networking module
The elevation information of object；
The elevation information according to the anterior height restricted information and/or barrier calculates the height that passes through of road ahead
Degree, comprising:
The anterior height restricted information and the elevation information are subjected to algorithm fusion by limit for height pilot controller, calculated
Road ahead can headroom.
4. according to the method described in claim 3, it is characterized in that, described acquire vehicle heading by forward sight camera
After the digital information of front limit for height mark, further includes:
Compare the limit for height number of the limit for height information in the numerical value of the digital information of the front limit for height mark and the section of system intialization
Value；
If they are the same, digital information front limit for height identified is as anterior height restricted information；
If it is different, the limit for height numerical value for updating the section limit for height information of system intialization is the digital information of front limit for height mark
Numerical value.
5. the method according to claim 1, wherein the ride height for obtaining vehicle, comprising:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
6. according to the method described in claim 5, it is characterized in that, the acquisition roof object height, comprising:
Judge whether vehicle roof skylight is opened；
If it is not, the height for the object placed on acquisition roof, as roof object height；
If so, judging whether to detect that passenger leans out vehicle roof skylight；If it is not, the height for the object placed on acquisition roof,
No to be as roof object height, acquisition passenger leans out the height of the object placed in the height and roof of skylight, choose this two
The larger value in a height, as roof object height.
7. according to the method described in claim 6, it is characterized in that, it is described according to can headroom and ride height, really
It is in the hole to recognize driving, comprising:
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle vehicle
Skylight is pushed up, confirmation driving is in level-one precarious position；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is opened, and does not detect that passenger leans out vehicle
Sunroofs, confirmation driving are in secondary threat state；
If the ride height be greater than it is described can headroom, and vehicle roof skylight is not turned on, and confirmation driving is in second level
Precarious position；
If the ride height be less than it is described can headroom, and vehicle roof skylight is opened, and detects that passenger leans out vehicle vehicle
Skylight is pushed up, confirmation driving is in three-level precarious position.
8. according to the method described in claim 6, it is characterized in that, it is described according to can headroom and ride height, really
It is in the hole to recognize driving, comprising:
If it is big that the passenger leans out the sum of the larger value and height of car of the height for the object placed in the height and roof of skylight
In it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in level-one precarious position；
If the sum of the height for the object placed on the roof and height of car be greater than it is described can headroom, and do not detect
Passenger leans out vehicle roof skylight, and confirmation driving is in secondary threat state；
If the passenger lean out the height for the object placed in the height and roof of skylight the larger value and the sum of height of car it is small
In it is described can headroom, and detect that passenger leans out vehicle roof skylight, confirmation driving is in three-level precarious position.
9. method according to claim 7 or 8, which is characterized in that the control vehicle rings the precarious position
It answers, comprising:
If the driving is in level-one precarious position, prompting message is braked and issued to control vehicle；
If the driving is in secondary threat state, prompting message is braked and/or issued to control vehicle；
If the driving is in three-level precarious position, control vehicle issues prompting message.
10. a kind of vehicle limit for height control device characterized by comprising
Acquisition module: for obtaining the traffic information of road ahead, passing through for road ahead is obtained according to the traffic information
Highly；
Obtain module: for obtaining the ride height of vehicle；
Processing module: for according to can headroom and ride height, confirmation drive a vehicle it is in the hole；
Respond module: the precarious position is responded for controlling vehicle.
11. device according to claim 10, the acquisition module executes the traffic information for taking road ahead, according to described
What traffic information obtained road ahead can headroom, comprising:
It acquires the anterior height restricted information of vehicle heading and/or obtains the elevation information of barrier in road ahead；
According to the elevation information of the anterior height restricted information and/or barrier calculate road ahead can headroom.
12. device according to claim 10, the module that obtains executes the ride height for obtaining vehicle, comprising:
Acquire roof object height；
Obtain height of car；
Ride height by the sum of the height of car and the roof object height as vehicle.
13. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes claim 1 to 9 described in any item vehicle limit for height controlling parties when the computer program is executed by processor
Method.
14. a kind of automobile controlling terminal characterized by comprising
One or more processors；
Memory；
One or more computer programs, wherein one or more of computer programs are stored in the memory and quilt
It is configured to be executed by one or more of processors, one or more of computer programs are configured to carry out according to right
It is required that 1 to 9 described in any item vehicle limit for height control methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414714.XA CN110136441A (en) | 2019-05-17 | 2019-05-17 | Vehicle limit for height control method, device, storage medium and automobile controlling terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414714.XA CN110136441A (en) | 2019-05-17 | 2019-05-17 | Vehicle limit for height control method, device, storage medium and automobile controlling terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110136441A true CN110136441A (en) | 2019-08-16 |
Family
ID=67571198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910414714.XA Pending CN110136441A (en) | 2019-05-17 | 2019-05-17 | Vehicle limit for height control method, device, storage medium and automobile controlling terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110136441A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111539279A (en) * | 2020-04-14 | 2020-08-14 | 杭州鸿泉物联网技术股份有限公司 | Road height limit height detection method, device, equipment and storage medium |
| CN111661044A (en) * | 2020-06-29 | 2020-09-15 | 浙江吉利新能源商用车集团有限公司 | Vehicle anti-collision control method and system and vehicle |
| CN111815984A (en) * | 2020-06-21 | 2020-10-23 | 王亚鹏 | Vehicle height limit early warning method and system based on Internet of things and vehicle |
| CN112373469A (en) * | 2020-11-12 | 2021-02-19 | 浙江吉利控股集团有限公司 | Vehicle control method, control system and vehicle |
| CN112721799A (en) * | 2019-10-12 | 2021-04-30 | 上海博泰悦臻电子设备制造有限公司 | Reminding method and device and computer storage medium |
| CN113570903A (en) * | 2020-04-28 | 2021-10-29 | 华为技术有限公司 | Vehicle height limit early warning method, electronic equipment and chip system |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5617086A (en) * | 1994-10-31 | 1997-04-01 | International Road Dynamics | Traffic monitoring system |
| CN2711829Y (en) * | 2004-03-12 | 2005-07-20 | 井立春 | Dynamic ultrahigh automatic alarm device |
| CN2935181Y (en) * | 2006-07-20 | 2007-08-15 | 中国人民武装警察部队学院 | Height alarm device for fire vehicle |
| CN203346816U (en) * | 2013-06-25 | 2013-12-18 | 舟山市智海技术开发有限公司 | Adjustable expressway height limiting frame |
| CN105047020A (en) * | 2015-08-26 | 2015-11-11 | 惠州华阳通用电子有限公司 | Method and apparatus based on radar for preventing collision while passing under a bridge |
| CN105825711A (en) * | 2016-02-01 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Vehicle obstacle early warning method and device |
| CN106043121A (en) * | 2016-07-21 | 2016-10-26 | 乐视控股（北京）有限公司 | Height detection early warning system and method and vehicle |
| CN106251632A (en) * | 2016-07-28 | 2016-12-21 | 南京理工大学 | A kind of height of car detection and superelevation alarm device and method |
| CN107507458A (en) * | 2017-08-18 | 2017-12-22 | 攀枝花学院 | Intelligent vehicle-carried limit for height early warning system |
| CN107662541A (en) * | 2017-08-23 | 2018-02-06 | 六六房车有限公司 | A kind of height of car obstacle caution system |
| CN207302343U (en) * | 2017-08-11 | 2018-05-01 | 张海亮 | A kind of road height limiter |
| CN109410643A (en) * | 2018-09-06 | 2019-03-01 | 惠州市德赛西威汽车电子股份有限公司 | A kind of limit for height frame monitoring system and can preventing car open by mistake the method into limit for height frame |
| CN109532668A (en) * | 2018-12-19 | 2019-03-29 | 重庆长安新能源汽车科技有限公司 | A kind of road height-limiting bar safety prompting system and method |
-
2019
- 2019-05-17 CN CN201910414714.XA patent/CN110136441A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5617086A (en) * | 1994-10-31 | 1997-04-01 | International Road Dynamics | Traffic monitoring system |
| CN2711829Y (en) * | 2004-03-12 | 2005-07-20 | 井立春 | Dynamic ultrahigh automatic alarm device |
| CN2935181Y (en) * | 2006-07-20 | 2007-08-15 | 中国人民武装警察部队学院 | Height alarm device for fire vehicle |
| CN203346816U (en) * | 2013-06-25 | 2013-12-18 | 舟山市智海技术开发有限公司 | Adjustable expressway height limiting frame |
| CN105047020A (en) * | 2015-08-26 | 2015-11-11 | 惠州华阳通用电子有限公司 | Method and apparatus based on radar for preventing collision while passing under a bridge |
| CN105825711A (en) * | 2016-02-01 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Vehicle obstacle early warning method and device |
| CN106043121A (en) * | 2016-07-21 | 2016-10-26 | 乐视控股（北京）有限公司 | Height detection early warning system and method and vehicle |
| CN106251632A (en) * | 2016-07-28 | 2016-12-21 | 南京理工大学 | A kind of height of car detection and superelevation alarm device and method |
| CN207302343U (en) * | 2017-08-11 | 2018-05-01 | 张海亮 | A kind of road height limiter |
| CN107507458A (en) * | 2017-08-18 | 2017-12-22 | 攀枝花学院 | Intelligent vehicle-carried limit for height early warning system |
| CN107662541A (en) * | 2017-08-23 | 2018-02-06 | 六六房车有限公司 | A kind of height of car obstacle caution system |
| CN109410643A (en) * | 2018-09-06 | 2019-03-01 | 惠州市德赛西威汽车电子股份有限公司 | A kind of limit for height frame monitoring system and can preventing car open by mistake the method into limit for height frame |
| CN109532668A (en) * | 2018-12-19 | 2019-03-29 | 重庆长安新能源汽车科技有限公司 | A kind of road height-limiting bar safety prompting system and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112721799A (en) * | 2019-10-12 | 2021-04-30 | 上海博泰悦臻电子设备制造有限公司 | Reminding method and device and computer storage medium |
| CN111539279A (en) * | 2020-04-14 | 2020-08-14 | 杭州鸿泉物联网技术股份有限公司 | Road height limit height detection method, device, equipment and storage medium |
| CN111539279B (en) * | 2020-04-14 | 2023-08-15 | 杭州鸿泉物联网技术股份有限公司 | Road height limit detection method, device, equipment and storage medium |
| CN113570903A (en) * | 2020-04-28 | 2021-10-29 | 华为技术有限公司 | Vehicle height limit early warning method, electronic equipment and chip system |
| CN111815984A (en) * | 2020-06-21 | 2020-10-23 | 王亚鹏 | Vehicle height limit early warning method and system based on Internet of things and vehicle |
| CN111661044A (en) * | 2020-06-29 | 2020-09-15 | 浙江吉利新能源商用车集团有限公司 | Vehicle anti-collision control method and system and vehicle |
| CN112373469A (en) * | 2020-11-12 | 2021-02-19 | 浙江吉利控股集团有限公司 | Vehicle control method, control system and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110136441A (en) | Vehicle limit for height control method, device, storage medium and automobile controlling terminal | |
| JP6907266B2 (en) | Output device, map information storage device, automatic operation control device, output method, program and storage medium | |
| CN110533900B (en) | Method for assisting the driving of at least one motor vehicle, assistance system and motor vehicle | |
| CN109753058B (en) | Autonomous vehicle | |
| US10296796B2 (en) | Video capturing device for predicting special driving situations | |
| CN104859649B (en) | Autonomous driving sensing system and method | |
| CN104477167B (en) | A kind of intelligent driving system and its control method | |
| CN110070744A (en) | Use the method and system of aviation UAV auxiliary operation road vehicle | |
| US9417080B2 (en) | Movement trajectory generator | |
| US20120245756A1 (en) | Driver assistance system | |
| CN103842232B (en) | Method for activating driver assistance system | |
| CN102822628B (en) | The assessment of cartographic information | |
| CN104608772B (en) | System and method for judging environmental failure of automatic aided driving | |
| CN107103774A (en) | A kind of vehicle monitoring method and device for monitoring vehicle | |
| CN111361572B (en) | Vehicle control apparatus, vehicle control method, and vehicle control system | |
| EP3416147B1 (en) | Method for providing drowsiness alerts in vehicles | |
| WO2012129437A2 (en) | Driver assistance system | |
| CN107807634A (en) | Drive assistance device for vehicle | |
| US20090306852A1 (en) | Driving operation support device for a vehicle | |
| KR101995892B1 (en) | Method for displaying driving information of autonomous vehicle capable of providing customized user interface, therminal for the vehicle, and therminal for manager | |
| CN108819952A (en) | Automated vehicle control system | |
| CN106541947A (en) | Vehicle active Ride Control System and control method and vehicle, intelligent vehicle machine | |
| JP2020111223A (en) | Vehicle control device and vehicle control method | |
| CN107408338A (en) | Driver assistance system | |
| CN112464229A (en) | Method and apparatus for detecting spoofing attacks against autonomous driving systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190816 |