CN111951605A - Active safety control system and control method for semitrailer - Google Patents
Active safety control system and control method for semitrailer Download PDFInfo
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- 238000005299 abrasion Methods 0.000 claims description 9
- 230000008447 perception Effects 0.000 abstract description 3
- 230000006855 networking Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
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- 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
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- 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]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
Abstract
The invention discloses an active safety control system and a control method for a semitrailer, which belong to the field of vehicle safety and are used for the semitrailer, wherein the semitrailer comprises a collection node server, a vehicle-mounted node server and a master server, and the master server is used for receiving data of the collection node server and transmitting the collected data of the collection node server to the vehicle-mounted node server through a communication line according to a data label; the collection node servers are respectively connected with the collection terminals through communication lines, and the vehicle-mounted node servers are respectively connected with the vehicle-mounted sensors through communication lines. It can realize the perception of semitrailer to the road condition in the region of passing through based on big data and thing networking, in time carries out the perception to the danger factor that probably exists, improves the security that the semitrailer navigating mate drove to supply the navigating mate to combine the condition of self vehicle of driving in time to take suitable driving strategy.
Description
Technical Field
The invention belongs to the field of vehicle safety, and particularly relates to an active safety control system and method for a semitrailer.
Background
The semitrailer plays a dominant role in the logistics industry of China, compared with a single automobile, the transportation efficiency of the semitrailer can be improved by 30-50%, the cost is reduced by about 30-40%, the oil consumption is reduced by about 20-30%, and the use of the semitrailer plays a certain role in promoting the logistics organization form of China. Because the semitrailer belongs to heavy-duty transportation means, the safety control performance of the semitrailer is particularly important.
The traditional semitrailer safety control system is additionally arranged on a semitrailer body, the safety control system in the form is mostly passive, the judgment on the self condition of the vehicle can be realized only by a driver according to a vehicle sensor, effective countermeasures can be taken, active prejudgment except the self performance of the vehicle can not be carried out according to the peripheral actual condition, and the safety control system is not beneficial to predicting the dangerous factors on the driving route of the vehicle in advance.
Disclosure of Invention
The invention aims to provide an active safety control system and a control method for a semitrailer, which can realize the perception of the semitrailer on the condition of a route in a passing area based on big data and the Internet of things, can timely perceive possible dangerous factors, and can improve the driving safety of a driver of the semitrailer so that the driver can timely adopt a proper driving strategy by combining the condition of a vehicle driven by the driver.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the semitrailer active safety control system comprises an acquisition node server, a vehicle-mounted node server and a main server, wherein the acquisition node server is used for acquiring and analyzing data of a road node unit and transmitting the acquired and analyzed data to the main server through a communication line; the vehicle-mounted node server is used for acquiring the information of the semitrailer sensor, analyzing the information of the semitrailer sensor to judge the vehicle state, and transmitting the analyzed data to the main server through a communication line; the general server is used for receiving the data of the acquisition node server and transmitting the collected data of the acquisition node server to the vehicle-mounted node server through a communication line according to the data label; the collection node servers are respectively connected with the collection terminals through communication lines, and the vehicle-mounted node servers are respectively connected with the vehicle-mounted sensors through communication lines.
Furthermore, the acquisition terminal at least comprises a camera for traffic facilities arranged at the intersection, security cameras arranged at two sides of the road, a camera arranged on a portal frame of the expressway, and a vehicle-mounted node server arranged on other semitrailer vehicles in the area range with the vehicle-mounted node server.
Furthermore, the vehicle-mounted sensor at least comprises a brake pad abrasion alarm sensor for acquiring the brake state of the vehicle, a CCD (charge coupled device) collector for acquiring the face information of a driver in a cab, an early warning sensor for early warning of vehicle rollover, a stress sensor for acquiring vehicle collision, a vehicle coordinate collector and a tire pressure sensor.
Further, the communication line of the present invention includes a wired mode and/or a wireless mode.
Further, the data tag added to the data of the collection node server in the invention comprises a timestamp under the coordinate of the collection terminal, the position coordinate of the collection terminal and the code of the collection terminal.
A semitrailer active safety control method using the semitrailer active safety control system, which comprises the following steps,
s1, acquiring the coordinates of a self vehicle by a vehicle coordinate acquisition device of a vehicle-mounted node server carried in the semi-trailer, judging the vehicle state according to the acquired state of a brake pad abrasion alarm sensor, the driver face information acquired by a CCD acquisition device, a vehicle rollover early warning sensor, a stress sensor and a tire pressure sensor, adding a timestamp and coordinate information to the vehicle state data information, and transmitting the vehicle state data information to a main server through a communication line;
s2, after receiving the information from the vehicle-mounted node server, the main server analyzes the timestamp and the current coordinate information, and defines the position information according to the coordinate information provided by the vehicle-mounted node server;
s3, the main server acquires the collection node server within the square circle 5KM of the position information according to the acquired position information, and sends an information sharing request to the collection node server, wherein the information sharing request is accompanied by a secret key and a password;
s4, after receiving the information sharing request from the main server, the collection node server calls the collection terminal data connected with the collection node server after verifying the secret key and the password;
s5, the collection node server obtains the road surface condition of the coordinate position where the collection terminal is located according to the data of the collection terminal, and the road surface condition is divided into A, B, C three state grades according to the grades;
s6, the acquisition node server adds a timestamp, coordinate information and acquisition terminal coding information to the acquired state grade and transmits the state grade to a main server;
and S7, the main server transmits the information fed back by the collection node server to the vehicle-mounted node server, and feeds back the information to the driver in a display or acousto-optic mode.
Further, the road conditions corresponding to the A, B, C three state levels are divided into safety, caution and risk, and when the road conditions are smooth and vehicles pass in order, the collection node server marks the road under the time and the coordinate node as safe according to the collected road conditions; when the road condition is that the vehicle slowly travels and part of vehicles have a lane crossing behavior, the collection node server marks the road under the time and the coordinate node as cautious according to the collected road condition; and when the road condition is that the vehicle stops for a long time and a certain lane is vacated, the acquisition node server identifies the road section as a risk.
Further, in the status levels described in the present invention, the priority of C is higher than the priority of B, and the priority of B is higher than the priority of a.
Compared with the prior art, the invention has the beneficial effects that:
according to the semi-trailer road condition pre-judging system and method, the condition of the road in the area where the semi-trailer passes is pre-judged dynamically in real time on the basis of big data and the Internet of things, and the semi-trailer road condition pre-judging system and method can be combined with a sensor of the semi-trailer, and external factors and internal factors of the semi-trailer provide full reference for safe driving of the semi-trailer and active defense in safety control, so that drivers can drive normally, safety of the semi-trailer is improved, and superposition of dangerous factors on the road in the same area is avoided.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The technical solution of the present invention will be further described and illustrated with reference to the following examples. It should be noted that the following paragraphs may refer to terms of orientation, including but not limited to "upper, lower, left, right, front, rear" and the like, which are all based on the visual orientation shown in the drawings corresponding to the specification, and should not be construed as limiting the scope or technical aspects of the present invention, but merely as facilitating better understanding of the technical aspects of the present invention by those skilled in the art.
In the description of the present specification, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
A semitrailer active safety control system comprises an acquisition node server, a vehicle-mounted node server and a main server, wherein the acquisition node server is used for acquiring and analyzing data of a road node unit and transmitting the acquired and analyzed data to the main server through a communication line; the vehicle-mounted node server is used for acquiring the information of the semitrailer sensor, analyzing the information of the semitrailer sensor to judge the vehicle state, and transmitting the analyzed data to the main server through a communication line; the general server is used for receiving the data of the acquisition node server and transmitting the collected data of the acquisition node server to the vehicle-mounted node server through a communication line according to the data label; the collection node servers are respectively connected with the collection terminals through communication lines, and the vehicle-mounted node servers are respectively connected with the vehicle-mounted sensors through communication lines.
Example 2
A semitrailer initiative safety control system, wherein the said acquisition terminal includes the camera for traffic facilities that is set up in the crossing at least, the security camera that sets up in both sides of the road, the camera that sets up on the expressway portal frame, and with the vehicle carried node server on other semitrailer vehicles in the regional scope of node server; the vehicle-mounted sensor at least comprises a brake pad abrasion alarm sensor for acquiring the brake state of the vehicle, a CCD (charge coupled device) collector for acquiring the face information of a driver in a cab, an early warning sensor for vehicle rollover early warning, a stress sensor for vehicle collision acquisition, a vehicle coordinate collector and a tire pressure sensor; the communication line comprises a wired mode and/or a wireless mode; the data label added to the data of the collection node server comprises a timestamp under the coordinate of the collection terminal, the position coordinate of the collection terminal and the code of the collection terminal. The structure and connection relationship of the rest parts are the same as those described in any of the foregoing embodiments, and are not described herein again to avoid the tedious text.
Example 3
A semitrailer active safety control method utilizing the semitrailer active safety control system comprises the following steps,
s1, acquiring the coordinates of a self vehicle by a vehicle coordinate acquisition device of a vehicle-mounted node server carried in the semi-trailer, judging the vehicle state according to the acquired state of a brake pad abrasion alarm sensor, the driver face information acquired by a CCD acquisition device, a vehicle rollover early warning sensor, a stress sensor and a tire pressure sensor, adding a timestamp and coordinate information to the vehicle state data information, and transmitting the vehicle state data information to a main server through a communication line;
s2, after receiving the information from the vehicle-mounted node server, the main server analyzes the timestamp and the current coordinate information, and defines the position information according to the coordinate information provided by the vehicle-mounted node server;
s3, the main server acquires the collection node server within the square circle 5KM of the position information according to the acquired position information, and sends an information sharing request to the collection node server, wherein the information sharing request is accompanied by a secret key and a password;
s4, after receiving the information sharing request from the main server, the collection node server calls the collection terminal data connected with the collection node server after verifying the secret key and the password;
s5, the collection node server obtains the road surface condition of the coordinate position where the collection terminal is located according to the data of the collection terminal, and the road surface condition is divided into A, B, C three state grades according to the grades;
s6, the acquisition node server adds a timestamp, coordinate information and acquisition terminal coding information to the acquired state grade and transmits the state grade to a main server;
and S7, the main server transmits the information fed back by the collection node server to the vehicle-mounted node server, and feeds back the information to the driver in a display or acousto-optic mode.
Example 4
A semitrailer initiative safe control method, the road surface situation that the three state grades of said A, B, C correspond to is divided into safety, prudent, risk, when the road surface situation is unblocked and the vehicle passes in order, gather the road marking under node server and coordinate node as safe according to the road surface situation gathered; when the road condition is that the vehicle slowly travels and part of vehicles have a lane crossing behavior, the collection node server marks the road under the time and the coordinate node as cautious according to the collected road condition; when the road condition is that the vehicle stops for a long time and a certain lane is vacated, the acquisition node server identifies the road section as a risk; in the status levels, the priority of C is higher than that of B, and the priority of B is higher than that of A.
On the basis of the above embodiments, the present invention continues to describe the technical features and functions of the technical features in the present invention in detail to help those skilled in the art fully understand the technical solutions of the present invention and reproduce them.
In the invention, the semitrailer active safety control system comprises a vehicle-mounted node server for monitoring and feeding back the self state of the semitrailer, wherein the vehicle-mounted node server can acquire the component operation conditions of the semitrailer, which play a main role in safely driving the semitrailer, through various types of sensors or equipment. For example, in the present invention, the on-board node server can collect wear alarm sensor data installed in the brake system of the automobile. The abrasion alarm sensor can detect the abrasion condition of the brake pad in the running process of the vehicle, and can convert the acquired data into temperature data so as to monitor and feed back the temperature of the brake disc. When the thickness of the brake disc is reduced to a threshold value or the temperature is increased to the threshold value, the brake disc needs to be fed back to a driving area where a driver is located in a display or acousto-optic mode, the brake disc is fed back to a main server through a communication line of a communication module in the vehicle-mounted node server, and the main server records the situation and marks the vehicle state as key monitoring. After the driver or the vehicle holder processes the factors, the vehicle state is changed from 'important monitoring' to 'normal'.
In the invention, the vehicle-mounted node server can also realize the recognition of the face of the driver through a CCD collector (CCD camera) arranged in the cab. The vehicle-mounted node server can realize continuous multiple images in a fixed time interval through the CCD collector, judge whether a driver is in fatigue driving according to the identification of the images (particularly in an eye region), judge whether the driver is in the state of fatigue driving after the images collected by the CCD collector are processed, send a signal with a danger mark to the main server through a communication line of a communication module except for reminding the driver through a display device or an audible and visual alarm device arranged in a cab, analyze timestamp data and coordinate data of the signal after the main server receives the signal, transmit the information to a competent department gathering in the system, and assign patrol force on a route of a nearby region to intervene in the fatigue driving.
In the present invention, the stress sensors of the semitrailer are typically located on the front bumper and the rear bumper of the semitrailer, which are typically areas of easy impact. After the semitrailer collides due to uncontrollable factors, the vehicle-mounted node server can receive the signal, add a timestamp, coordinate information and equipment information to the signal and transmit the signal to the main server, the main server receives the signal and analyzes the timestamp data and the coordinate data of the signal and transmits the information to a competent department gathered in the system, and the competent department can assign patrol force on a nearby area route to intervene in fatigue driving.
That is to say, the sensors loaded on the semitrailer and used for the vehicle need to transmit data to the main server besides providing early warning information for drivers of the vehicle, the main server sends broadcast information to the vehicle-mounted node servers of the heavy vehicles (including the semitrailer) in the line of the location area, and the information containing the marks of danger, key monitoring and the like is highlighted or acousto-optic displayed to remind the drivers of other heavy vehicles to pay attention to careful driving.
In the invention, the main server further needs to send an instruction to the collection node server according to the coordinate information of the vehicle, so that the collection node server transmits the nearby road condition information to the main server for distribution by the main server. In the invention, the collection node server is preferentially connected with a camera for traffic facilities of a traffic police department or a road administration department and a security camera of a security department in a network, and only the system needs to feed back current road information, such as whether a road is smooth, whether vehicles are in slow traffic jam, whether accidents of civil small vehicles exist and the like, without collecting real-time image information. Of course, in the invention, the unobstructed road and the annular congestion can be obtained by using the interface of the commercial navigation software. However, the traffic information provided by the traffic police department is preferentially adopted for the acquisition of the real-time traffic characteristics.
In the invention, when the semi-trailer vehicle runs on the highway, the total server acquires the information of the acquisition node server by preferentially utilizing the data of the cameras arranged on the portal frames due to the relatively closed running environment and the relatively high running speed of the highway, and the front road information is judged according to the passing number and the passing speed of the vehicles of one portal frame in unit time and the passing number and the passing speed of the vehicles passing through the adjacent portal frames in unit time. In case of a general road or an expressway, if a vehicle is shown to creep or the number of vehicles is continuously increased in data collected over a period of time, the road surface information at that time should be fed back to the general server and marked as a B-level. If an accident happens in the road section of the driving area of the vehicle, the road surface is marked as the grade C, and information is fed back to a semitrailer cab through a general server so as to remind a driver of cautiously driving or selecting other road sections and avoid potential risks possibly caused by congestion.
Of course, besides the road conditions, the collecting terminal can also judge the weather condition of the road section according to the real-time collected images, if the regional route where the semi-trailer passes contains the foggy road, the weather condition of the road section should be fed back to the driver in time, the driver is reminded to drive cautiously, and the risk caused by the foggy road or the frozen road section is avoided.
In the invention, the active safety control method of the semitrailer comprises the following steps: s1, acquiring the coordinates of a self vehicle by a vehicle coordinate acquisition device of a vehicle-mounted node server carried in the semi-trailer, judging the vehicle state according to the acquired state of a brake pad abrasion alarm sensor, the driver face information acquired by a CCD acquisition device, a vehicle rollover early warning sensor, a stress sensor and a tire pressure sensor, adding a timestamp and coordinate information to the vehicle state data information, and transmitting the vehicle state data information to a main server through a communication line;
s2, after receiving the information from the vehicle-mounted node server, the main server analyzes the timestamp and the current coordinate information, and defines the position information according to the coordinate information provided by the vehicle-mounted node server;
s3, the main server acquires the collection node server within the square circle 5KM of the position information according to the acquired position information, and sends an information sharing request to the collection node server, wherein the information sharing request is accompanied by a secret key and a password;
s4, after receiving the information sharing request from the main server, the collection node server calls the collection terminal data connected with the collection node server after verifying the secret key and the password;
s5, the collection node server obtains the road surface condition of the coordinate position where the collection terminal is located according to the data of the collection terminal, and the road surface condition is divided into A, B, C three state grades according to the grades;
s6, the acquisition node server adds a timestamp, coordinate information and acquisition terminal coding information to the acquired state grade and transmits the state grade to a main server;
and S7, the main server transmits the information fed back by the collection node server to the vehicle-mounted node server, and feeds back the information to the driver in a display or acousto-optic mode.
In the above steps, the road conditions corresponding to the A, B, C three state levels are divided into safe, cautious and risky, when the road conditions are smooth and the vehicles pass in order, the collection node server marks the road under the time and the coordinate node as safe according to the collected road conditions; when the road condition is that the vehicle slowly travels and part of the vehicles have lane crossing behavior (accidents or extreme weather may exist), the collection node server marks the road under the time and the coordinate node as cautious according to the collected road condition; when the road condition is that the vehicle stops for a long time and a certain lane is vacated, the acquisition node server identifies the road section as a risk; in the status levels, the priority of C is higher than that of B, and the priority of B is higher than that of A.
Finally, although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description of the present description is for clarity reasons only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims (8)
1. The utility model provides a semitrailer initiative safety control system which characterized in that: the system comprises an acquisition node server, a vehicle-mounted node server and a main server, wherein the acquisition node server is used for acquiring and analyzing data of a road node unit and transmitting the acquired and analyzed data to the main server through a communication line; the vehicle-mounted node server is used for acquiring the information of the semitrailer sensor, analyzing the information of the semitrailer sensor to judge the vehicle state, and transmitting the analyzed data to the main server through a communication line; the general server is used for receiving the data of the acquisition node server and transmitting the collected data of the acquisition node server to the vehicle-mounted node server through a communication line according to the data label; the collection node servers are respectively connected with the collection terminals through communication lines, and the vehicle-mounted node servers are respectively connected with the vehicle-mounted sensors through communication lines.
2. The active safety control system of a semitrailer of claim 1, wherein: the acquisition terminal at least comprises a camera arranged at the intersection for traffic facilities, security cameras arranged at two sides of the road, a camera arranged on the high-speed road portal frame and a vehicle-mounted node server arranged on other semi-trailer vehicles in the area range with the vehicle-mounted node server.
3. The active safety control system of a semitrailer of claim 1, wherein: the vehicle-mounted sensor at least comprises a brake pad abrasion alarm sensor for acquiring the brake state of the vehicle, a CCD (charge coupled device) collector for acquiring the face information of a driver in a cab, an early warning sensor for vehicle rollover early warning, a stress sensor for vehicle collision acquisition, a vehicle coordinate collector and a tire pressure sensor.
4. The active safety control system of a semitrailer of claim 1, wherein: the communication line comprises a wired mode and/or a wireless mode.
5. The active safety control system of a semitrailer of claim 1, wherein: the data label added to the data of the collection node server comprises a timestamp under the coordinate of the collection terminal, the position coordinate of the collection terminal and the code of the collection terminal.
6. An active safety control method for a semitrailer by using the active safety control system for a semitrailer according to any one of claims 1 to 5, characterized in that: the method comprises the following steps of,
s1, acquiring the coordinates of a self vehicle by a vehicle coordinate acquisition device of a vehicle-mounted node server carried in the semi-trailer, judging the vehicle state according to the acquired state of a brake pad abrasion alarm sensor, the driver face information acquired by a CCD acquisition device, a vehicle rollover early warning sensor, a stress sensor and a tire pressure sensor, adding a timestamp and coordinate information to the vehicle state data information, and transmitting the vehicle state data information to a main server through a communication line;
s2, after receiving the information from the vehicle-mounted node server, the main server analyzes the timestamp and the current coordinate information, and defines the position information according to the coordinate information provided by the vehicle-mounted node server;
s3, the main server obtains the collecting node server in the square circle 5KM in the position information according to the obtained position information,
sending an information sharing request to the acquisition node server, wherein the information sharing request is attached with a secret key and a password;
s4, after receiving the information sharing request from the main server, the collection node server calls the collection terminal data connected with the collection node server after verifying the secret key and the password;
s5, the collection node server obtains the road surface condition of the coordinate position where the collection terminal is located according to the data of the collection terminal, and the road surface condition is divided into A, B, C three state grades according to the grades;
s6, the collection node server adds the time stamp, the coordinate information and the collection terminal coding information to the acquired state grade,
transmitting to the general server;
and S7, the main server transmits the information fed back by the collection node server to the vehicle-mounted node server, and feeds back the information to the driver in a display or acousto-optic mode.
7. The active safety control method of a semitrailer according to claim 6, characterized in that: the road surface conditions corresponding to the A, B, C three state levels are divided into safety, caution and risk, and when the road surface conditions are smooth and vehicles pass in order, the collection node server marks the road under the time and the coordinate node as safety according to the collected road surface conditions; when the road condition is that the vehicle slowly travels and part of vehicles have a lane crossing behavior, the collection node server marks the road under the time and the coordinate node as cautious according to the collected road condition; and when the road condition is that the vehicle stops for a long time and a certain lane is vacated, the acquisition node server identifies the road section as a risk.
8. The active safety control method of a semitrailer according to claim 7, characterized in that: in the status levels, the priority of C is higher than that of B, and the priority of B is higher than that of A.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117058885A (en) * | 2023-10-11 | 2023-11-14 | 广州扬名信息科技有限公司 | Vehicle condition information feedback sharing service system |
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