CN111976592A - Automatic whistle control system for automatic driving vehicle - Google Patents
Automatic whistle control system for automatic driving vehicle Download PDFInfo
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- CN111976592A CN111976592A CN202010625372.9A CN202010625372A CN111976592A CN 111976592 A CN111976592 A CN 111976592A CN 202010625372 A CN202010625372 A CN 202010625372A CN 111976592 A CN111976592 A CN 111976592A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 230000006399 behavior Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses an automatic whistle control system for an automatic driving vehicle, which comprises a control module, a vehicle body sensor module, a GPS (global positioning system) positioning module and an environmental information acquisition module, wherein the control module comprises a comparison module and a storage module, the storage module is used for storing high-precision map information, and the comparison module is used for receiving the information of the vehicle body sensor module and a road condition module. According to the invention, the area where the vehicle is located and the road condition of the road are determined through the high-precision positioning map in the control module, the GPS positioning module and the storage module which are installed on the automatic driving vehicle, the roadside whistling prohibition sign is identified through the environment information acquisition module, whether whistling is permitted or not is judged, the surrounding environment is judged through the vehicle body sensor module, whether whistling is required or not is judged, the safety of the automatic driving vehicle in the driving process is improved, whether whistling is selected automatically according to different areas where the automatic driving vehicle is located or not is also selected, and the environmental noise pollution of the vehicle is reduced.
Description
Technical Field
The invention belongs to the technical field of automatic driving vehicles, and particularly relates to an automatic whistle control system for an automatic driving vehicle.
Background
When the vehicle is driven in a sharp curve or a curve affecting the safe sight distance, a horn is required to sound in addition to slowing down. In addition, in daily driving, the vehicle needs to be warned in order to warn the vehicle or the pedestrian ahead. When current automatic driving vehicle drove on the road, owing to do not control vehicle loudspeaker, lack the warning function, produce the potential safety hazard easily. This patent has designed an automatic control system that whistles suitable for autopilot car, and this system can carry out automatic control to car horn, receives information on every side through automobile body sensor, when meetting the road conditions that needs whistling and remind, can automatic whistling in order to guarantee driving and pedestrian's safety on the road, can also monitor the all ring edge borders simultaneously and whether forbid whistling, reduce environmental noise pollution.
At present automatic driving vehicle, generally only to vehicle light control, this just leads to in the driving process, lacks the whistling warning to roadside pedestrian and peripheral vehicle, has great potential safety hazard.
Therefore, an automatic whistle control system for an autonomous vehicle is provided to solve the problems in the prior art, so that the autonomous vehicle can judge whether whistling is required or not and judge whether whistling is allowed or not according to environmental information.
Disclosure of Invention
The invention aims to provide an automatic whistle control system for an automatic driving vehicle, which aims to solve the problems that the automatic driving vehicle in the prior art provided in the background art generally only controls vehicle light, so that whistle warning for roadside pedestrians and surrounding vehicles is lacked, and great potential safety hazard exists in the driving process.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic whistle control system for an automatic driving vehicle comprises a control module, a vehicle body sensor module, a GPS positioning module and an environmental information acquisition module,
the control module comprises a comparison module and a storage module, wherein the storage module is used for storing high-precision map information, the comparison module is used for receiving the information of the vehicle body sensing module and the road condition module, comparing the received information with the high-precision map in the storage module and judging whether to whistle, and the control module is electrically connected with a whistle system of the automatic driving vehicle;
the vehicle body sensor module comprises a vehicle speed sensor and an ultrasonic detector, the vehicle speed sensor is used for monitoring the vehicle speed of the automatic driving vehicle in real time, the ultrasonic detector is used for detecting obstacle information in a certain area range of the automatic driving vehicle, and the vehicle body sensor module is electrically connected to the control module;
the GPS positioning module is electrically connected with the control module, is used for positioning the running route of the automatic driving vehicle and the position of the vehicle in real time, and is electrically connected with the control module;
the environmental information collection module, environmental information collection module electric connection is in control module, and environmental information collection module is used for gathering road surface identification information to the identification information who will gather transmits for control module and assists the judgement whether can whistle.
Preferably, the speed sensor is a non-contact laser speed sensor, and the speed sensor has two ports: an emission port for emitting an LED light source; one is a high-speed photographing port, high-speed imaging contrast of the CCD area is realized, the moving distance of the measured object is distinguished through image contrast of two times in a very short time, and the speed of the measured object is output in real time by combining an algorithm in a sensor.
Preferably, the environment information acquisition module is specifically configured as an infrared camera rotating by 360 degrees, the wavelength of the infrared camera is 1.5-400 micrometers, the infrared camera comprises a lens, a photosensitive element and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected with the signal processing element, and the output end of the signal processing module outputs an analog signal or a digital signal; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI.
Preferably, the infrared camera further includes a light detection module for detecting ambient light illuminance, the light detection module includes a plurality of scanning lines, a plurality of reading lines, and a plurality of light sensing elements, each light sensing element is coupled to one of the plurality of scanning lines and one of the plurality of reading lines, and the light detection method includes: and simultaneously starting at least two of the plurality of scanning lines to start a plurality of coupled light sensing elements in the plurality of light sensing elements, and acquiring the environmental information of the infrared camera at night with poor illuminance.
Preferably, the ultrasonic detector calculates the actual distance from the transmitting point to the obstacle according to the time difference between the transmitting and receiving of the sound wave, and the formula of the distance measurement is as follows: l ═ cxt, where L is the measured distance length; c is the propagation speed of the ultrasonic wave in the air; t is the time difference of the measured range propagation, specifically half the value of the transmit-to-receive time.
Preferably, the control module further comprises an input module, the input module comprises a keyboard, a mouse and an electronic writing board, and the information output interface supports one or a combination of the following interfaces: the vehicle-mounted intelligent alarm system comprises a universal serial interface, a computer serial port, a computer parallel port, a PCMCIA interface, a PS/2 interface, a wireless communication interface and an infrared communication interface, wherein the input module is used for inputting distance parameters between a vehicle and an obstacle, and when the obstacle is in a distance range, a whistle is given for warning.
Preferably, the comparison module compares and calculates the vehicle speed information, the environment information and the GPS positioning information with a high-precision map in the storage module and distance parameters between the vehicle and the obstacle set in the input module by adopting an arithmetic operator, a valuation operator, a relation operator, a logic operator and a bit operator, and judges whether the automatic driving vehicle whistles, wherein the arithmetic operator, the valuation operator, the relation operator, the logic operator and the bit operator are arranged from bottom to top according to priorities: assignment operator < logical and operator < relational operator < arithmetic operator.
Preferably, the specific condition for judging whether the autonomous vehicle whistles is as follows:
1) the positioning information shows that the automatic driving vehicle is driving into a curve, approaching an uphill top point or passing through road sections such as a road intersection and the like;
2) the automatic driving vehicle is performing lane changing, overtaking, turning around and other behaviors;
3) the ultrasonic detector and the environmental information acquisition module acquire that other vehicles or pedestrian obstacles in front of and behind the automatic driving vehicle enter a safe distance and the distance is decreasing;
when the autonomous vehicle encounters any one or more of the conditions 1, 2, or 3 above, the autonomous vehicle sounds a horn.
The invention has the technical effects and advantages that: compared with the prior art, the automatic whistle control system for the automatic driving vehicle has the following advantages that:
according to the invention, the area where the vehicle is located and the road condition of the road are determined through the high-precision positioning map in the control module, the GPS positioning module and the storage module which are installed on the automatic driving vehicle, the roadside whistling prohibition sign is identified through the environment information acquisition module, whether whistling is permitted or not is judged, the surrounding environment is judged through the vehicle body sensor module, whether whistling is required or not is judged, the safety of the automatic driving vehicle in the driving process is improved, whether whistling is selected automatically according to different areas where the automatic driving vehicle is located or not is also selected, and the environmental noise pollution of the vehicle is reduced.
Drawings
FIG. 1 is a block diagram of an automatic whistle control system of the present invention;
fig. 2 is a flow chart of the automatic whistle control of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an automatic whistle control system for an automatic driving vehicle as shown in figures 1-2, which comprises a control module, a vehicle body sensor module, a GPS positioning module and an environmental information acquisition module,
the control module comprises a comparison module and a storage module, the storage module is used for storing high-precision map information, the comparison module is used for receiving the information of the vehicle body sensing module and the road condition module, comparing the received information with the high-precision map in the storage module and judging whether to whistle, and the control module is electrically connected with a whistle system of the automatic driving vehicle;
the vehicle body sensor module comprises a vehicle speed sensor and an ultrasonic detector, the vehicle speed sensor is used for monitoring the vehicle speed of the automatic driving vehicle in real time, the ultrasonic detector is used for detecting obstacle information in a certain area range of the automatic driving vehicle, and the vehicle body sensor module is electrically connected to the control module;
the GPS positioning module is electrically connected with the control module, is used for positioning the running route of the automatic driving vehicle and the position of the vehicle in real time, and is electrically connected with the control module;
environmental information collection module, environmental information collection module electric connection in control module, and environmental information collection module is used for gathering road surface identification information to the identification information who will gather transmits for control module and assists the judgement whether can whistle.
The speed sensor is set as a non-contact laser speed measuring sensor, and the speed sensor of the speed sensor has two ports: an emission port for emitting an LED light source; one is a high-speed photographing port, high-speed imaging contrast of the CCD area is realized, the moving distance of the measured object is distinguished through image contrast of two times in a very short time, and the speed of the measured object is output in real time by combining an algorithm in a sensor.
The environment information acquisition module is specifically provided with an infrared camera rotating by 360 degrees, the wavelength of the infrared camera is 1.5-400 microns, the infrared camera comprises a lens, a photosensitive element and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected with the signal processing element, and the output end of the signal processing module outputs an analog signal or a digital signal; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI.
The infrared camera further comprises a light detection module for detecting the ambient light illumination, the light detection module comprises a plurality of scanning lines, a plurality of reading lines and a plurality of light sensing elements, each light sensing element is coupled with one of the plurality of scanning lines and one of the plurality of reading lines, and the light detection method comprises the following steps: and simultaneously starting at least two of the plurality of scanning lines to start a plurality of coupled light sensing elements in the plurality of light sensing elements, and acquiring the environmental information of the infrared camera at night with poor illuminance.
The ultrasonic detector calculates the actual distance from the transmitting point to the obstacle according to the time difference between the transmitting and receiving of the sound wave, and the formula of the distance measurement is as follows: l ═ cxt, where L is the measured distance length; c is the propagation speed of the ultrasonic wave in the air; t is the time difference of the measured range propagation, specifically half the value of the transmit-to-receive time.
The control module also comprises an input module, the input module comprises a keyboard, a mouse and an electronic writing board, and the information output interface supports one or a combination of the following interfaces: the system comprises a universal serial interface, a computer serial port, a computer parallel port, a PCMCIA interface, a PS/2 interface, a wireless communication interface and an infrared communication interface, wherein an input module is used for inputting distance parameters between a vehicle and an obstacle, and when the obstacle is in a distance range, a whistle is given for warning.
The comparison module compares and calculates vehicle speed information, environment information and GPS positioning information with a high-precision map in the storage module and distance parameters between a vehicle and an obstacle set in the input module by adopting an arithmetic operator, an assignment operator, a relational operator, a logical operator and a bit operator, and judges whether the automatic driving vehicle whistles, wherein the arithmetic operator, the assignment operator, the relational operator, the logical operator and the bit operator are arranged from bottom to top according to priorities: assignment operator < logical and operator < relational operator < arithmetic operator.
The specific conditions for judging whether the automatic driving vehicle whistles are as follows:
1) the positioning information shows that the automatic driving vehicle is driving into a curve, approaching an uphill top point or passing through road sections such as a road intersection and the like;
2) the automatic driving vehicle is performing lane changing, overtaking, turning around and other behaviors;
3) the ultrasonic detector and the environmental information acquisition module acquire that other vehicles or pedestrian obstacles in front of and behind the automatic driving vehicle enter a safe distance and the distance is decreasing;
when the autonomous vehicle encounters any one or more of the conditions 1, 2, or 3 above, the autonomous vehicle sounds a horn.
The working principle is as follows: according to the invention, the area where the vehicle is located and the road condition of the road are determined through the high-precision positioning map in the control module, the GPS positioning module and the storage module which are installed on the automatic driving vehicle, the roadside whistling prohibition sign is identified through the environment information acquisition module, whether whistling is permitted or not is judged, the surrounding environment is judged through the vehicle body sensor module, whether whistling is required or not is judged, the safety of the automatic driving vehicle in the driving process is improved, whether whistling is selected automatically according to different areas where the automatic driving vehicle is located or not is also selected, and the environmental noise pollution of the vehicle is reduced.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. An automatic whistle control system for an automatic driving vehicle comprises a control module, a vehicle body sensor module, a GPS positioning module and an environmental information acquisition module, and is characterized in that the control module is connected with the vehicle body sensor module;
the control module comprises a comparison module and a storage module, wherein the storage module is used for storing high-precision map information, the comparison module is used for receiving the information of the vehicle body sensing module and the road condition module, comparing the received information with the high-precision map in the storage module and judging whether to whistle, and the control module is electrically connected with a whistle system of the automatic driving vehicle;
the vehicle body sensor module comprises a vehicle speed sensor and an ultrasonic detector, the vehicle speed sensor is used for monitoring the vehicle speed of the automatic driving vehicle in real time, the ultrasonic detector is used for detecting obstacle information in a certain area range of the automatic driving vehicle, and the vehicle body sensor module is electrically connected to the control module;
the GPS positioning module is electrically connected with the control module, is used for positioning the running route of the automatic driving vehicle and the position of the vehicle in real time, and is electrically connected with the control module;
the environmental information collection module, environmental information collection module electric connection is in control module, and environmental information collection module is used for gathering road surface identification information to the identification information who will gather transmits for control module and assists the judgement whether can whistle.
2. An automatic whistle control system for an autonomous vehicle according to claim 1, characterized in that: the speed sensor is set as a non-contact laser speed measuring sensor, and the speed sensor of the speed sensor has two ports: an emission port for emitting an LED light source; one is a high-speed photographing port, high-speed imaging contrast of the CCD area is realized, the moving distance of the measured object is distinguished through image contrast of two times in a very short time, and the speed of the measured object is output in real time by combining an algorithm in a sensor.
3. An automatic whistle control system for an autonomous vehicle according to claim 1, characterized in that: the environment information acquisition module is specifically arranged as an infrared camera rotating by 360 degrees, the wavelength of the infrared camera is 1.5-400 microns, the infrared camera comprises a lens, a photosensitive element and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected with the signal processing element, and the output end of the signal processing module outputs an analog signal or a digital signal; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI.
4. An automatic whistle control system for an autonomous vehicle according to claim 3, characterized in that: the infrared camera further comprises a light detection module for detecting ambient light illumination, the light detection module comprises a plurality of scanning lines, a plurality of reading lines and a plurality of light sensing elements, each light sensing element is coupled with one of the plurality of scanning lines and one of the plurality of reading lines, and the light detection method comprises the following steps: and simultaneously starting at least two of the plurality of scanning lines to start a plurality of coupled light sensing elements in the plurality of light sensing elements, and acquiring the environmental information of the infrared camera at night with poor illuminance.
5. An automatic whistle control system for an autonomous vehicle according to claim 1, characterized in that: the ultrasonic detector calculates the actual distance from the transmitting point to the obstacle according to the time difference between the transmitting time and the receiving time of the sound wave, and the formula of the distance measurement is as follows: l ═ cxt, where L is the measured distance length; c is the propagation speed of the ultrasonic wave in the air; t is the time difference of the measured range propagation, specifically half the value of the transmit-to-receive time.
6. An automatic whistle control system for an autonomous vehicle according to claim 1, characterized in that: the control module also comprises an input module, the input module comprises a keyboard, a mouse and an electronic writing board, and the information output interface supports one or a combination of the following interfaces: the vehicle-mounted intelligent alarm system comprises a universal serial interface, a computer serial port, a computer parallel port, a PCMCIA interface, a PS/2 interface, a wireless communication interface and an infrared communication interface, wherein the input module is used for inputting distance parameters between a vehicle and an obstacle, and when the obstacle is in a distance range, a whistle is given for warning.
7. An automatic whistle control system for an autonomous vehicle according to claim 1, characterized in that: the comparison module compares and calculates vehicle speed information, environment information and GPS positioning information with a high-precision map in the storage module and distance parameters between a vehicle and an obstacle set in the input module by adopting an arithmetic operator, an assignment operator, a relational operator, a logical operator and a bit operator, and judges whether the automatic driving vehicle whistles, wherein the arithmetic operator, the assignment operator, the relational operator, the logical operator and the bit operator are arranged from bottom to top according to priorities: assignment operator < logical and operator < relational operator < arithmetic operator.
8. An automatic whistle control system for an autonomous vehicle according to claim 7, characterized in that: the specific conditions for judging whether the automatic driving vehicle whistles are as follows:
1) the positioning information shows that the automatic driving vehicle is driving into a curve, approaching an uphill top point or passing through road sections such as a road intersection and the like;
2) the automatic driving vehicle is performing lane changing, overtaking, turning around and other behaviors;
3) the ultrasonic detector and the environmental information acquisition module acquire that other vehicles or pedestrian obstacles in front of and behind the automatic driving vehicle enter a safe distance and the distance is decreasing;
when the autonomous vehicle encounters any one or more of the conditions 1, 2, or 3 above, the autonomous vehicle sounds a horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010625372.9A CN111976592A (en) | 2020-07-02 | 2020-07-02 | Automatic whistle control system for automatic driving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010625372.9A CN111976592A (en) | 2020-07-02 | 2020-07-02 | Automatic whistle control system for automatic driving vehicle |
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| CN111976592A true CN111976592A (en) | 2020-11-24 |
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| CN202010625372.9A Pending CN111976592A (en) | 2020-07-02 | 2020-07-02 | Automatic whistle control system for automatic driving vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162042A (en) * | 2021-12-31 | 2022-03-11 | 江苏理工学院 | Self-adaptive vehicle horn developed based on BP neural network |
| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
-
2020
- 2020-07-02 CN CN202010625372.9A patent/CN111976592A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162042A (en) * | 2021-12-31 | 2022-03-11 | 江苏理工学院 | Self-adaptive vehicle horn developed based on BP neural network |
| CN116946010A (en) * | 2023-09-19 | 2023-10-27 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
| CN116946010B (en) * | 2023-09-19 | 2023-12-26 | 浙江吉利控股集团有限公司 | Mute whistle method based on ultrasonic signal |
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