CN111081023A - Vehicle curve safety driving early warning system and method - Google Patents
Vehicle curve safety driving early warning system and method Download PDFInfo
- Publication number
- CN111081023A CN111081023A CN201911421066.7A CN201911421066A CN111081023A CN 111081023 A CN111081023 A CN 111081023A CN 201911421066 A CN201911421066 A CN 201911421066A CN 111081023 A CN111081023 A CN 111081023A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- curve
- data
- information
- processing unit
- 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
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses a vehicle curve safety driving early warning system and a method, comprising vehicle-mounted equipment and road test equipment; the vehicle-mounted equipment comprises a vehicle-mounted terminal; the vehicle-mounted terminal comprises a vehicle-mounted communication module, a vehicle-mounted central processing unit and an output unit; the early warning system of the invention adopts a mode that vehicle data information and the early warning system calculate the running speed by combining the vehicle data information and curve data information, and can give the highest speed of a specific vehicle when the vehicle runs on a curve, thereby reminding a driver of the running speed at the position, avoiding the rollover accident caused by the centrifugal moment exceeding the gravitational moment and ensuring the safety of road running.
Description
Technical Field
The invention belongs to the field of road safety, and particularly relates to a vehicle curve safety driving early warning system and a vehicle curve safety driving early warning method.
Background
In the process of road driving, the curve is an indispensable driving condition, and particularly on an expressway, the curve has more potential safety hazards. For a large truck, the truck is one of the frequent accidents of rollover on a curve of a highway due to large load and difficulty in speed control. The source of such accidents is caused by the fact that the vehicle speed does not match the controlled vehicle speed when the vehicle is running on a curve. Therefore, how to intelligently judge by using the parameters (turning radius and road surface condition) of the curve and the vehicle parameter (load and dead weight) terminal forms curve early warning for the driver in advance so as to ensure the curve driving safety of the vehicle.
Therefore, an early warning system is needed, which can provide a warning with pertinence when a vehicle passes through a curve, so that a driver can drive cautiously according to the warning, thereby avoiding rollover on the curve and ensuring the driving safety of the road.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for warning safe driving in a vehicle curve, which provide warning information suitable for different vehicles, so as to remind a driver of a driving speed at the vehicle, avoid a rollover accident caused by a centrifugal moment exceeding a gravitational moment, and ensure safe driving on the road.
The invention relates to a vehicle curve safety driving early warning system, which comprises vehicle-mounted equipment and road test equipment;
the vehicle-mounted equipment comprises a vehicle-mounted terminal;
the vehicle-mounted terminal includes:
the vehicle-mounted communication module is used for receiving and sending data signals;
the vehicle-mounted central processing unit stores vehicle data information and forms communication with the vehicle-mounted communication module;
the output unit is used for executing the instruction sent by the vehicle-mounted central processing unit;
the drive test apparatus includes:
the drive test communication module is used for interactively receiving and sending data signals with the vehicle-mounted communication module;
the road test central processing unit stores curve data information and forms communication with the road test communication module;
further, the drive test apparatus further includes:
and the vehicle information identification unit is used for identifying the vehicle information and sending the vehicle information to the drive test central processing unit.
Further, the in-vehicle apparatus further includes:
the weight sensor is used for detecting loading weight data of the vehicle and transmitting the loading weight data to the vehicle-mounted central processing unit;
the vehicle data information comprises vehicle self information and loading weight data information;
the vehicle-mounted central processing unit calculates the corresponding relation between the vehicle turning speed and the curve data according to the vehicle data information; and the curve data is transmitted to the vehicle-mounted central processing unit by the drive test central processing unit through the drive test communication module and the vehicle-mounted communication module in real time.
Further, the drive test apparatus further includes:
the system comprises an environmental information acquisition unit, a drive test central processing unit and a data processing unit, wherein the environmental information acquisition unit is used for acquiring environmental data information at a curve and sending the environmental data information to the drive test central processing unit;
the curve data includes curve-at-environment data information.
Further, the curve data comprises a turning radius, a curve length, road surface data and environment data, and the environment data is updated in real time and comprises wind level and wind direction and rain and snow conditions.
Further, the vehicle data information includes center-of-gravity position information obtained from the load information and the load height.
Further, the in-vehicle apparatus further includes:
the acceleration sensor is used for acquiring a vehicle running track and sending the running track data to the vehicle-mounted central processing unit;
the vehicle data information includes travel track data.
The invention also discloses a vehicle curve safety driving early warning method, which comprises the following steps:
a. acquiring vehicle data information;
b. acquiring curve data information;
c. acquiring the highest driving speed of the vehicle on the curve according to the curve data information;
d. the highest speed information is output so that the driver knows.
Further, in the step c, the highest driving speed is that the centrifugal moment generated in the turning process is smaller than the gravity moment.
Further, the vehicle data information in the step a comprises vehicle parameters, a gravity center position and driving track data;
the acquisition of the travel track data comprises the following steps:
setting the starting point coordinate X of circular motion1,Y1After the vehicle runs for a set time, acquiring a second point coordinate X on the running track2,Y2After the vehicle continues to run for a set time, acquiring a third point coordinate X on the running track3,Y3Obtaining a first circle radius R determined by the coordinates of the starting point, the second point and the third point1；
II, continuously driving the vehicle for a set time to obtain a fourth coordinate X4,Y4Obtaining a second circle radius R determined by the second point coordinate, the third point coordinate and the fourth point coordinate when the vehicle runs2；
III, according to the method of the step II, continuously obtaining the nth circle radius R of the vehicle runningn；
And d, comparing the driving track data with the curve data in the step b, and sending out warning information according to the comparison condition.
The invention has the beneficial effects that: according to the vehicle curve safety driving early warning system and the vehicle curve safety driving early warning method, the early warning system adopts a mode that the vehicle data information and the curve data information are combined to calculate the driving speed, and can give out the highest speed of a specific vehicle when the vehicle drives on the curve, so that a driver is reminded of the driving speed at the position, rollover accidents caused by the fact that centrifugal moment exceeds gravity moment are avoided, and the road driving safety is guaranteed.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a block flow diagram of the method of the present invention;
fig. 3 is a diagram of a trajectory calculation process.
Detailed Description
Fig. 1 is a schematic diagram of a system according to the present invention, and as shown in the figure, the vehicle curve safety driving early warning system of the present embodiment includes a vehicle-mounted device and a drive test device;
the vehicle-mounted equipment comprises a vehicle-mounted terminal;
the vehicle-mounted terminal includes:
the vehicle-mounted communication module is used for receiving and sending data signals; the vehicle-mounted communication module generally adopts a wireless communication mode to receive and send data signals;
the vehicle-mounted central processing unit stores vehicle data information and forms communication with the vehicle-mounted communication module; the central processing unit is provided with an input/output interface, comprises a CPU, peripheral equipment and a circuit, has the capacity of storing data and calculating and processing, stores a logic operation program, belongs to the existing structure and is not described again;
the on-board central processing unit generally includes:
an interface circuit: and receiving the data signal provided by the vehicle-mounted communication module and outputting the related data signal to the output unit and the vehicle-mounted communication module.
Processing Unit (CPU): receiving parameter data sent by the interface circuit, performing subsequent processing and running a logic operation program, realizing the driving process and logic judgment, and outputting the driving process and the logic judgment to the input and output interface circuit;
a storage module: storing vehicle data information for a processing unit (CPU) to perform calculation and logic judgment;
the output unit is used for executing and outputting the instruction sent by the vehicle-mounted central processing unit (input/output interface circuit), and generally comprises video and audio signal output so as to achieve the purpose of reminding;
the drive test apparatus includes:
the drive test communication module is used for interactively receiving and sending data signals with the vehicle-mounted communication module; the vehicle-mounted terminal is used for timely sending curve information to the vehicle-mounted terminal, and the vehicle-mounted terminal calculates the highest vehicle speed under the condition of corresponding curve information (parameters related to vehicle running, such as curve radius, road materials and the like) according to vehicle data information (parameters related to vehicle running, such as vehicle body parameters, height of center of gravity after loading and the like), so that a driver is reminded to run below the speed, and rollover is avoided;
the road test central processing unit stores curve data information and forms communication with the road test communication module; the on-board central processing unit generally includes:
an interface circuit: receiving a data signal provided by a drive test communication module and outputting a related data parameter to the drive test communication module;
processing Unit (CPU): receiving data from the interface circuit and transmitting curve data information to the interface circuit;
a storage module: and storing curve data information for a processing unit (CPU) to call and send.
The structure and the containing module of the central processing unit are set for realizing the corresponding functions, and are not described herein again.
In this embodiment, the drive test device further includes:
the vehicle information identification unit is used for identifying vehicle information and sending the vehicle information to the drive test central processing unit; the vehicle information recognition unit can adopt the existing license plate recognition system, reads information and then sends the information to the drive test central processing unit for storage and archiving, and simultaneously, the highest vehicle speed of the vehicle which can run on a curve can be preliminarily judged according to the vehicle type.
In this embodiment, the vehicle-mounted device further includes:
the weight sensor is used for detecting loading weight data of the vehicle and transmitting the loading weight data to the vehicle-mounted central processing unit; the weight sensor may adopt the existing detection means capable of detecting the vehicle-mounted weight, for example, the weight sensor is mounted on each wheel to obtain the load-bearing capacity of each part of the carriage, which is not described herein again;
the vehicle data information comprises vehicle self information and loading weight data information;
the vehicle-mounted central processing unit calculates the corresponding relation between the vehicle turning speed and the curve data according to the vehicle data information; the curve data is transmitted to the vehicle-mounted central processing unit by the road test central processing unit through the road test communication module and the vehicle-mounted communication module in real time;
and the vehicle-mounted central processing unit combines the curve data according to the loading weight condition to obtain the vehicle speed to be controlled when the vehicle passes through the curve in the state.
In this embodiment, the drive test device further includes:
the system comprises an environmental information acquisition unit, a drive test central processing unit and a data processing unit, wherein the environmental information acquisition unit is used for acquiring environmental data information at a curve and sending the environmental data information to the drive test central processing unit; generally, the system comprises a rain and snow sensor, a wind speed and direction sensor and the like, which are not described herein again;
the curve data includes curve-position environment data information;
the environmental information has important influence on the running of the vehicle, so that the current environmental information is collected and participates in calculation, and the running safety is guaranteed; for example, rainy and snowy days, freezing days, strong wind days, wind directions and the like all can influence the driving at the curve; the means for collecting environmental information such as rainy and snowy days is the prior art, and is not described herein again.
In this embodiment, the curve data includes a turning radius, a curve length, road surface data and environment data, and the environment data is updated in real time and includes a wind level and a wind direction and a snow and rain condition; in practice, the road test central processing unit sends the curve data to a road side communication module, and the road side communication module sends the curve data to a vehicle-mounted communication module for calculation and logic judgment by the vehicle-mounted central processing unit; the pavement data is typically the smoothness of the pavement, the material (whether cement or asphalt pavement), and so on.
In this embodiment, the vehicle data information further includes center-of-gravity position information obtained from the load information and the load height; inputting the loading height (the structure also comprises a vehicle-mounted input unit which can be a keyboard or a touch screen generally) to a vehicle-mounted central processing unit, and calculating the gravity center position by combining the loading weight and the weight detected by each weight sensor; the corresponding gravity moment can be calculated through the central position, and the maximum value of the centrifugal moment can be calculated, so that the highest vehicle speed can be obtained.
In this embodiment, the vehicle-mounted device further includes:
the acceleration sensor is used for acquiring a vehicle running track and sending the running track data to the vehicle-mounted central processing unit;
the vehicle data information includes travel track data;
the method for acquiring the vehicle running track by using the acceleration sensor (such as a gyroscope) belongs to the prior art and is not described herein again; and when the radius formed by the driving track is larger than or smaller than the radius of the curve, giving an alarm.
As shown in fig. 2, the invention also discloses a vehicle curve safety driving early warning method, which comprises the following steps:
a. acquiring vehicle data information; the vehicle data information generally includes vehicle own information and loading information, as described above; the self information includes unique identification information such as license plate, frame number and the like, and overall structure parameters (length, width and height), dead weight and the like of the vehicle; the loading information comprises load data information, load height and the like;
b. acquiring curve data information; the curve data information generally includes curve radius, road surface state, environmental weather conditions, and the like;
c. acquiring the highest driving speed of the vehicle on the curve according to the curve data information;
the precondition that the vehicle does not turn over is that the centrifugal moment is less than or equal to the gravity moment, namely, the highest running speed is that the centrifugal moment generated in the turning process is equal to the gravity moment;
Mseparation device＝FSeparation device×H；
MHeavy load＝G×h；
FSeparation device＝mv2/r
Wherein:
Mseparation deviceIs a centrifugal moment; fSeparation deviceThe centrifugal force when the vehicle runs on a curve is adopted; h is the height of the center of gravity, which can be calculated from the gross vehicle weight (load weight, body weight and weight distribution) and the load heightCalculation belongs to the prior art, and is not described herein again;
Mheavy loadIs a gravity moment; g is the total weight of the vehicle; h is the distance between the gravity center and a connecting line between the front wheel and the rear wheel of the carriage corresponding to the outer side of the curve, and the connecting line is generally through the contact central point between the front wheel and the rear wheel and the ground;
m is the total mass of the vehicle; v is the linear velocity of the vehicle when passing through a curve; r is the radius of the curve;
by the three formulas, and making MSeparation device＜MHeavy loadThe highest value of v can be obtained, and when v is smaller than the highest value, rollover cannot occur;
of course, when calculating the centrifugal moment, the coefficients of the road surface state and the rainy, snowy and windy weather, namely the rainfall, snowy and windy weather grading, the windy weather and the wind direction grading can be properly added, the corresponding coefficients are set into the formula, and the coefficient of the rainy, snowy weather is set to be KRain water(the coefficient is 1 in rainy or snowy weather), and KRain waterAccording to different rain and snow grades KRain waterAlso different, the more severe the conditions the greater the value; similarly, the coefficient of windy weather can be set to KWind power(the coefficient is 1 in windless weather), and K is different according to the wind direction and the gradeWind powerAlso differently, the larger the value the wind direction is in the radial direction and blowing out represents an adverse condition;
at this time, the formula of the centrifugal moment becomes MSeparation device＝KRain water(KWind power)FSeparation deviceX H; the risk is minimized, and meanwhile, the coefficient of the freezing weather can be set, and the specific mode is not described herein;
d. outputting the highest speed information to enable a driver to know, and informing the driver of alarm information and the highest speed through an output unit of the vehicle-mounted terminal; the maximum vehicle speed of this embodiment is not necessarily the critical speed when rollover occurs, but is only the vehicle speed at which the centrifugal moment is equal to the gravity moment, and is not described herein again;
of course, in order to remind the driver in time, the setting of the drive test terminal needs to be a sufficient distance away from the front end of the turning part, and details are not repeated here.
In this embodiment, the vehicle data information in step a includes vehicle parameters, a center of gravity position, and driving track data;
as shown in fig. 3, the acquisition of the travel track data includes the steps of:
setting the starting point coordinate X of circular motion1,Y1After the vehicle runs for a set time, acquiring a second point coordinate X on the running track2,Y2After the vehicle continues to run for a set time, acquiring a third point coordinate X on the running track3,Y3Obtaining a first circle radius R determined by the coordinates of the starting point, the second point and the third point1；
II, continuously driving the vehicle for a set time to obtain a fourth coordinate X4,Y4Obtaining a second circle radius R determined by the second point coordinate, the third point coordinate and the fourth point coordinate when the vehicle runs2And a third circumferential radius R can be obtained in the same manner3Are not described herein again;
III, according to the method of the step II, continuously obtaining the nth circle radius R of the vehicle runningn；
Step d, comparing the driving track data with the curve data in the step b, and sending out warning information according to the comparison condition;
the coordinate data are obtained through an acceleration sensor (gyroscope), a more accurate driving track can be obtained by utilizing continuous coordinate setting (the continuous driving time of adjacent coordinates is not necessarily equal), the driving track is pre-judged according to adjacent circumferences, and early warning is provided according to the matching degree of the driving track and curve information or straight information, so that safety accidents caused by driving beyond a route are avoided.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a vehicle bend safety traffic early warning system which characterized in that: the system comprises vehicle-mounted equipment and drive test equipment;
the vehicle-mounted equipment comprises a vehicle-mounted terminal;
the vehicle-mounted terminal includes:
the vehicle-mounted communication module is used for receiving and sending data signals;
the vehicle-mounted central processing unit stores vehicle data information and forms communication with the vehicle-mounted communication module;
the output unit is used for executing the instruction sent by the vehicle-mounted central processing unit;
the drive test apparatus includes:
the drive test communication module is used for interactively receiving and sending data signals with the vehicle-mounted communication module;
and the drive test central processing unit stores curve data information and forms communication with the drive test communication module.
2. The vehicle curve safe driving early warning system according to claim 1, characterized in that: the drive test apparatus further includes:
and the vehicle information identification unit is used for identifying the vehicle information and sending the vehicle information to the drive test central processing unit.
3. The vehicle curve safe driving early warning system according to claim 1, characterized in that: the in-vehicle apparatus further includes:
the weight sensor is used for detecting loading weight data of the vehicle and transmitting the loading weight data to the vehicle-mounted central processing unit;
the vehicle data information comprises vehicle self information and loading weight data information;
the vehicle-mounted central processing unit calculates the corresponding relation between the vehicle turning speed and the curve data according to the vehicle data information; and the curve data is transmitted to the vehicle-mounted central processing unit by the drive test central processing unit through the drive test communication module and the vehicle-mounted communication module in real time.
4. The vehicle curve safe driving early warning system according to claim 1, characterized in that: the drive test apparatus further includes:
the system comprises an environmental information acquisition unit, a drive test central processing unit and a data processing unit, wherein the environmental information acquisition unit is used for acquiring environmental data information at a curve and sending the environmental data information to the drive test central processing unit;
the curve data includes curve-at-environment data information.
5. The vehicle curve safe driving early warning system according to claim 4, characterized in that: the curve data comprises a turning radius, a curve length, road surface data and environment data, and the environment data is updated in real time and comprises wind level and wind direction and rain and snow conditions.
6. The vehicle curve safe driving early warning system according to claim 1, characterized in that: the vehicle data information further includes center-of-gravity position information obtained from the load information and the load height.
7. The vehicle curve safe driving early warning system according to claim 1, characterized in that: the in-vehicle apparatus further includes:
the acceleration sensor is used for acquiring a vehicle running track and sending the running track data to the vehicle-mounted central processing unit;
the vehicle data information includes travel track data.
8. A vehicle curve safety driving early warning method is characterized in that: comprises the following steps:
a. acquiring vehicle data information;
b. acquiring curve data information;
c. acquiring the highest driving speed of the vehicle on the curve according to the curve data information;
d. the highest speed information is output so that the driver knows.
9. The vehicle curve safety driving early warning method according to claim 8, wherein: in step c, the highest driving speed is that the centrifugal moment generated in the turning process is equal to the gravity moment.
10. The vehicle curve safety driving early warning method according to claim 8, wherein: the vehicle data information in the step a comprises vehicle parameters, a gravity center position and driving track data;
the acquisition of the travel track data comprises the following steps:
setting the starting point coordinate X of circular motion1,Y1After the vehicle runs for a set time, acquiring a second point coordinate X on the running track2,Y2After the vehicle continues to run for a set time, acquiring a third point coordinate X on the running track3,Y3Obtaining a first circle radius R determined by the coordinates of the starting point, the second point and the third point1；
II, continuously driving the vehicle for a set time to obtain a fourth coordinate X4,Y4Obtaining a second circle radius R determined by the second point coordinate, the third point coordinate and the fourth point coordinate when the vehicle runs2；
III, according to the method of the step II, continuously obtaining the nth circle radius R of the vehicle runningn；
And d, comparing the driving track data with the curve data in the step b, and sending out warning information according to the comparison condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421066.7A CN111081023A (en) | 2019-12-31 | 2019-12-31 | Vehicle curve safety driving early warning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421066.7A CN111081023A (en) | 2019-12-31 | 2019-12-31 | Vehicle curve safety driving early warning system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111081023A true CN111081023A (en) | 2020-04-28 |
Family
ID=70321359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911421066.7A Pending CN111081023A (en) | 2019-12-31 | 2019-12-31 | Vehicle curve safety driving early warning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111081023A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111540224A (en) * | 2020-06-12 | 2020-08-14 | 深圳市元征科技股份有限公司 | Road data processing method and related equipment |
| CN111882885A (en) * | 2020-07-10 | 2020-11-03 | 北京交通大学 | Overload collaborative emergency control method based on remote online monitoring of heavy vehicle emission |
| CN114435429A (en) * | 2022-03-10 | 2022-05-06 | 湖南铁路科技职业技术学院 | Safety management and control system for electric locomotive driving |
-
2019
- 2019-12-31 CN CN201911421066.7A patent/CN111081023A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111540224A (en) * | 2020-06-12 | 2020-08-14 | 深圳市元征科技股份有限公司 | Road data processing method and related equipment |
| CN111882885A (en) * | 2020-07-10 | 2020-11-03 | 北京交通大学 | Overload collaborative emergency control method based on remote online monitoring of heavy vehicle emission |
| CN111882885B (en) * | 2020-07-10 | 2021-08-17 | 北京交通大学 | Overload collaborative emergency control method based on remote online monitoring of heavy vehicle emission |
| CN114435429A (en) * | 2022-03-10 | 2022-05-06 | 湖南铁路科技职业技术学院 | Safety management and control system for electric locomotive driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11327501B1 (en) | Detecting sensor degradation by actively controlling an autonomous vehicle | |
| CN111081023A (en) | Vehicle curve safety driving early warning system and method | |
| CN108737955B (en) | LDW/LKA test evaluation system and method based on virtual lane line | |
| CN101840632B (en) | Method and system for monitoring abnormal driving behavior in vehicle | |
| CN102723001B (en) | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning | |
| US8306740B2 (en) | Vehicle travel assisting system | |
| CN113128303A (en) | Automatic driving method, related equipment and computer readable storage medium | |
| CN105469615A (en) | Device and method for guaranteeing rainy-day driving safety at mountain-wind crossing road section | |
| CN111383465B (en) | Highway danger early warning and speed control system based on car networking | |
| CN104973052A (en) | Speed bump detection apparatus and navigation data updating apparatus and method using the same | |
| CN102963361A (en) | Method of operating a vehicle safety system | |
| CN104768822A (en) | Detecting road weather conditions | |
| CN102288121A (en) | Method for measuring and pre-warning lane departure distance based on monocular vision | |
| CN110264742B (en) | Vehicle-mounted information monitoring device suitable for expressway and warning method thereof | |
| CN107844120A (en) | A kind of unmanned mine wide-body car | |
| CN103164962A (en) | Mountain road sharp turn section real-time vehicle speed early warning method | |
| JP2023525681A (en) | ROAD CONDITION DETECTION DEVICE AND SYSTEM, AND ROAD CONDITION DETECTION METHOD USING THE SAME | |
| CN112150848A (en) | Automatic early warning and prompting method for severe weather of expressway based on sensor detection | |
| CN111292528B (en) | Method for early warning overhigh bending speed of large truck | |
| CN106627356A (en) | Warning robot capable of achieving automatic storage and automobile with same | |
| CN211742264U (en) | Vehicle curve safety driving early warning system | |
| CN113793509B (en) | Road condition analysis method, device, equipment and medium based on motion sensor | |
| CN109895766A (en) | A kind of automatic obstacle avoidance system of electric car | |
| CN219474677U (en) | Posture monitoring system of beam transporting vehicle based on Beidou positioning | |
| CN114813157A (en) | Test scene construction method and device |
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 |