CN112644495A - Calculation method for intelligent auxiliary driving lane change early warning of automobile - Google Patents
Calculation method for intelligent auxiliary driving lane change early warning of automobile Download PDFInfo
- Publication number
- CN112644495A CN112644495A CN202011414829.8A CN202011414829A CN112644495A CN 112644495 A CN112644495 A CN 112644495A CN 202011414829 A CN202011414829 A CN 202011414829A CN 112644495 A CN112644495 A CN 112644495A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- distance
- lane change
- auxiliary driving
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
The invention relates to a calculation method for an intelligent auxiliary driving lane change early warning of an automobile, which comprises the following steps: step a, setting a safe distance in an intelligent auxiliary driving lane changing system of an automobile; b, respectively predicting the distance between a front vehicle and a rear vehicle on the target lane when the main vehicle carries out lane change or is about to carry out lane change; step c, when the distance between the front vehicle and the rear vehicle on the estimated target lane is smaller than the set safe distance, warning information is sent out, and lane changing operation is forbidden; when the distance between the front vehicle and the rear vehicle on the estimated target lane is larger than the set safe distance, lane changing operation can be carried out. The calculation method for the intelligent lane change warning of the automobile auxiliary driving has the advantages that the calculation resources are low in occupation, meanwhile, the data can be guaranteed to be updated in real time in the process of changing the automobile speed, the safety can be improved, the real-time performance can be guaranteed, meanwhile, the method can be combined with other intelligent auxiliary driving technologies, a more intelligent and effective function is formed, and the use experience of a user is enhanced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a calculation method for an intelligent auxiliary driving lane change early warning of an automobile.
Background
Adaptive cruise, which may also be referred to as active cruise, is similar to conventional cruise control, and includes a radar sensor, a digital signal processor, and a control module. In an adaptive cruise system, the system uses a low power radar or infrared beam to obtain the exact position of the leading vehicle, and if the leading vehicle is found to slow down or a new target is detected, the system sends an execution signal to the engine or the brake system to reduce the speed of the vehicle, so that the vehicle and the leading vehicle maintain a safe driving distance. When the front road obstacle is cleared, the speed is accelerated to be recovered to the set speed, and the radar system can automatically monitor the next target. The active cruise control system replaces a driver to control the speed of the vehicle, and frequent cancellation and setting of cruise control are avoided. The self-adaptive cruise system is suitable for various road conditions, provides a more relaxed driving mode for a driver, and enhances the driving experience of the driver.
In order to make the driver drive the vehicle more easily and reduce accidents, the current automobiles apply intelligent driving assistance technology in a large amount, wherein adaptive cruise is an important part of the intelligent driving assistance technology. Conventional adaptive cruise can only achieve longitudinal control of the vehicle, but in lateral control, the driver is still required to control the vehicle to perform steering operations. In the lane changing process, if the driver observes the surrounding vehicle environment not carefully enough, accidents such as vehicle collision and the like may occur, so that the driving safety of the vehicle is low, and meanwhile, the driving experience of the driver is reduced, which is not beneficial to the popularization and application of the self-adaptive cruise system on the vehicle.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the calculation method for the intelligent auxiliary driving lane change early warning of the automobile.
In order to achieve the aim, the invention adopts the following technical scheme that the method for calculating the intelligent auxiliary driving lane change early warning of the automobile comprises the following steps: step a, setting a safe distance in an intelligent auxiliary driving lane changing system of an automobile; b, respectively predicting the distance between a front vehicle and a rear vehicle on the target lane when the main vehicle carries out lane change or is about to carry out lane change; step c, when the distance between the front vehicle and the rear vehicle on the estimated target lane is smaller than the set safe distance, warning information is sent out, and lane changing operation is forbidden; when the distance between the front vehicle and the rear vehicle on the estimated target lane is larger than the set safe distance, lane changing operation can be carried out.
As a preferred scheme of the present invention, the mathematical model of the minimum rear vehicle safety distance can be simplified as follows: in a very short time, the main vehicle runs at a constant speed at the current speed, the speed of the rear vehicle on the target lane is higher than that of the main vehicle, braking is carried out when the main vehicle is aware of lane change, and the distance between the rear vehicle and the main vehicle is the minimum rear vehicle safety distance when the speed of the rear vehicle is equal to the speed of the main vehicle.
In a preferred embodiment of the present invention, the very short time may be about 0.01 s.
As a preferable aspect of the present invention, iterative calculation is performed in each time step so that the calculation result matches the changed vehicle speed of the following vehicle and the acceleration of the following vehicle.
As a preferred scheme of the present invention, the mathematical model of the minimum front vehicle safety distance can be simplified as follows: the leading vehicle on the target lane decelerates at a constant acceleration, and the host vehicle starts decelerating at the same deceleration after reacting for a period of time until it comes to a complete stop, at which time there is a safe distance between the host vehicle and the leading vehicle.
As a preferable scheme of the invention, the minimum front vehicle safety distance is the sum of the distance in the driving process and the distance reserved after parking.
As a preferable aspect of the present invention, iterative calculation is performed in each time step, so that the calculation result can be matched with the changed vehicle speed of the preceding vehicle and the acceleration of the preceding vehicle.
As a preferable scheme of the present invention, in the step b, data of a distance between a preceding vehicle and a following vehicle on the estimated target lane is obtained in real time.
In a preferred embodiment of the present invention, in step c, the warning message includes one or a combination of a whistle, a bell, and a vibration.
Compared with the prior art, the invention has the beneficial effects that: the method for calculating the lane change early warning of the intelligent auxiliary driving of the automobile occupies lower calculation resources, can ensure that data is updated in real time in the process of changing the speed of the automobile, can improve the safety and ensure the real-time performance, and can be combined with other intelligent auxiliary driving technologies to form more intelligent and effective functions and enhance the use experience of users.
Drawings
Fig. 1 is a schematic block diagram of a calculation method for an intelligent lane change warning for vehicle driving assistance in this embodiment.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Example (b): as shown in fig. 1, a method for calculating an early warning of lane change in intelligent auxiliary driving of an automobile activates an adaptive cruise system during the traveling of the automobile, frees both hands and feet of a user, and enhances the use experience of the user, and the method for calculating the early warning of lane change in intelligent auxiliary driving of the automobile comprises the following steps:
step a, firstly, setting a safety distance in an adaptive cruise system, namely the safety distance between a front vehicle and a rear vehicle suitable for changing a main vehicle into a lane;
b, respectively predicting the distance between a front vehicle and a rear vehicle on a target lane when the main vehicle carries out lane change or is about to carry out lane change, wherein the target lane is a lane of the main vehicle about to change the lane for driving;
step c, when the distance between the front vehicle and the rear vehicle on the estimated target lane is smaller than the set safe distance, warning information is sent out, and lane changing operation is forbidden; and when the distance between the front vehicle and the rear vehicle on the estimated target lane is larger than the set safe distance, performing lane changing operation to finish the lane changing operation.
The minimum rear vehicle safety distance mathematical model can be simplified as follows: the vehicle speed of the rear vehicle on the target lane is higher than that of the main vehicle, braking is carried out when the main vehicle is aware of lane change, and the distance between the rear vehicle and the main vehicle is the minimum rear vehicle safety distance when the speed of the rear vehicle is equal to that of the main vehicle. And carrying out iterative calculation in each time step to enable the calculation result to be matched with the changed speed and the acceleration of the rear vehicle. The iterative method is a typical method in numerical calculation, and is applied to the aspects of equation root solving, equation set solving, matrix eigenvalue solving and the like. The basic idea is successive approximation, a rough approximate value is taken firstly, then the rough approximate value is repeatedly corrected by using the same recursion formula until the preset precision requirement is met, so that the safety in the channel changing process is ensured.
The minimum front vehicle safety distance mathematical model can be simplified as follows: the leading vehicle on the target lane decelerates at a constant acceleration, and the host vehicle starts decelerating at the same deceleration after reacting for a period of time until it comes to a complete stop, at which time there is a safe distance between the host vehicle and the leading vehicle. The minimum front vehicle safety distance is the sum of the distance in the driving process and the distance reserved after parking. And carrying out iterative calculation in each time step to enable the calculation result to be matched with the changed speed and the acceleration of the front vehicle.
And b, acquiring data of the distance between the front vehicle and the rear vehicle on the estimated target lane in real time, wherein the real time is that the distance between the front vehicle and the rear vehicle on the target lane is continuously updated through an iterative calculation method so as to ensure the safety of the main vehicle in the lane changing process.
In step c, the warning message comprises one or a combination of a whistle, a bell or a vibration and is used for reminding a driver of the main vehicle whether to determine lane change and the like.
The intelligent auxiliary driving lane-changing early warning system utilizes radar sensors to monitor environments behind and on two sides of a vehicle and provides help when a driver changes lanes, a monitored area also comprises a so-called 'view blind area', the system simultaneously monitors two sides of the vehicle on the side of the driver and the side of a passenger, each side of a rear bumper of the vehicle is provided with one radar sensor, when the auxiliary driving lane-changing early warning system identifies that accident risks can be caused by lane changing, the system prompts or warns the driver, and at the moment, warning lamps beside corresponding outside rearview mirrors can be lightened or flash rapidly to prompt or warn the potential risks of the driver. The monitoring area on each side of the vehicle is composed of a rear area and a side area, the rear monitoring area extends backward about sixty meters from the rear edge of the vehicle and has a width of about four meters to ensure safety.
The intelligent auxiliary driving lane-changing early warning system comprises a lane-changing auxiliary system button, the lane-changing auxiliary system button is usually installed on a side car door, the lane-changing auxiliary system is switched on or switched off by using the lane-changing auxiliary system button, a light-emitting diode is arranged in the lane-changing auxiliary system button, the state of the intelligent auxiliary driving lane-changing early warning system is displayed by using the light-emitting diode, if the light-emitting diode is lightened, the intelligent auxiliary driving lane-changing early warning system is in a switched-on state, and if the light-emitting diode is not lightened, the intelligent auxiliary driving lane-changing early warning system is switched off.
The intelligent auxiliary driving lane-changing early warning system further comprises two main control units, the two main control units are a main lane-changing auxiliary system control unit and a slave lane-changing auxiliary system control unit respectively, the main lane-changing auxiliary system control unit and a right-side radar sensor unit form a control unit, the slave lane-changing auxiliary system control unit and a left-side radar sensor unit form another control unit, the main lane-changing auxiliary system control unit is identical to the slave lane-changing auxiliary system control unit in structure, and the main lane-changing auxiliary system control unit and the slave lane-changing auxiliary system control unit are installed on an end plate at the position of a rear bumper.
The main lane-changing auxiliary system control unit and the auxiliary lane-changing auxiliary system control unit exchange data through a special data bus.
The calculation method for the intelligent lane change warning of the automobile in the embodiment occupies low calculation resources, can ensure real-time data updating in the process of vehicle speed change, can improve safety and ensure real-time performance, and can be combined with other intelligent auxiliary driving technologies to form a more intelligent and effective function and enhance the use experience of users.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A calculation method for an intelligent auxiliary driving lane change early warning of an automobile is characterized by comprising the following steps: the method comprises the following steps: step a, setting a safe distance in an intelligent auxiliary driving lane changing system of an automobile; b, respectively predicting the distance between a front vehicle and a rear vehicle on the target lane when the main vehicle carries out lane change or is about to carry out lane change; step c, when the distance between the front vehicle and the rear vehicle on the estimated target lane is smaller than the set safe distance, warning information is sent out, and lane changing operation is forbidden; when the distance between the front vehicle and the rear vehicle on the estimated target lane is larger than the set safe distance, lane changing operation can be carried out.
2. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 1, wherein the method comprises the following steps: the minimum rear vehicle safety distance mathematical model can be simplified as follows: in a very short time, the main vehicle runs at a constant speed at the current speed, the speed of the rear vehicle on the target lane is higher than that of the main vehicle, braking is carried out when the main vehicle is aware of lane change, and the distance between the rear vehicle and the main vehicle is the minimum rear vehicle safety distance when the speed of the rear vehicle is equal to the speed of the main vehicle.
3. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 2, characterized in that: the very short time may be around 0.01 s.
4. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 2, characterized in that: and carrying out iterative calculation in each time step to enable the calculation result to be matched with the changed speed and the acceleration of the rear vehicle.
5. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 2, characterized in that: the minimum front vehicle safety distance mathematical model can be simplified as follows: the leading vehicle on the target lane decelerates at a constant acceleration, and the host vehicle starts decelerating at the same deceleration after reacting for a period of time until it comes to a complete stop, at which time there is a safe distance between the host vehicle and the leading vehicle.
6. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 5, wherein the method comprises the following steps: the minimum front vehicle safety distance is the sum of the distance in the driving process and the distance reserved after parking.
7. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 6, wherein the method comprises the following steps: and carrying out iterative calculation in each time step to enable the calculation result to be matched with the changed speed and the acceleration of the front vehicle.
8. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 1, wherein the method comprises the following steps: and b, acquiring data of the distance between the front vehicle and the rear vehicle on the estimated target lane in real time.
9. The method for calculating the lane change warning of the intelligent auxiliary driving of the automobile according to claim 1, wherein the method comprises the following steps: in step c, the warning message includes one or a combination of a whistle, a bell, or a vibration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011414829.8A CN112644495B (en) | 2020-12-07 | 2020-12-07 | Calculation method for intelligent auxiliary driving lane change early warning of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011414829.8A CN112644495B (en) | 2020-12-07 | 2020-12-07 | Calculation method for intelligent auxiliary driving lane change early warning of automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112644495A true CN112644495A (en) | 2021-04-13 |
| CN112644495B CN112644495B (en) | 2022-12-30 |
Family
ID=75350999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011414829.8A Active CN112644495B (en) | 2020-12-07 | 2020-12-07 | Calculation method for intelligent auxiliary driving lane change early warning of automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112644495B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525400A (en) * | 2021-06-21 | 2021-10-22 | 上汽通用五菱汽车股份有限公司 | Lane change reminding method and device, vehicle and readable storage medium |
| CN117360519A (en) * | 2023-12-04 | 2024-01-09 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103065501A (en) * | 2012-12-14 | 2013-04-24 | 清华大学 | Automobile lane changing early-warning method and lane changing early-warning system |
| CN106379324A (en) * | 2016-09-12 | 2017-02-08 | 深圳市元征科技股份有限公司 | Lane change indicating method and lane change indicating device for vehicle |
| CN109017785A (en) * | 2018-08-09 | 2018-12-18 | 北京智行者科技有限公司 | Vehicle lane-changing running method |
| CN109774715A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Lane change method and device for automatic driving vehicle |
| CN110040139A (en) * | 2019-04-16 | 2019-07-23 | 广州小鹏汽车科技有限公司 | The control method of vehicle and vehicle, device |
| CN110614994A (en) * | 2018-12-29 | 2019-12-27 | 长城汽车股份有限公司 | Control method and control system for lane changing during automatic driving of vehicle and vehicle |
| CN111391833A (en) * | 2018-12-17 | 2020-07-10 | 大众汽车有限公司 | Method and auxiliary system for preparing and/or carrying out lane changes |
-
2020
- 2020-12-07 CN CN202011414829.8A patent/CN112644495B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103065501A (en) * | 2012-12-14 | 2013-04-24 | 清华大学 | Automobile lane changing early-warning method and lane changing early-warning system |
| CN106379324A (en) * | 2016-09-12 | 2017-02-08 | 深圳市元征科技股份有限公司 | Lane change indicating method and lane change indicating device for vehicle |
| CN109017785A (en) * | 2018-08-09 | 2018-12-18 | 北京智行者科技有限公司 | Vehicle lane-changing running method |
| CN111391833A (en) * | 2018-12-17 | 2020-07-10 | 大众汽车有限公司 | Method and auxiliary system for preparing and/or carrying out lane changes |
| CN109774715A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Lane change method and device for automatic driving vehicle |
| CN110614994A (en) * | 2018-12-29 | 2019-12-27 | 长城汽车股份有限公司 | Control method and control system for lane changing during automatic driving of vehicle and vehicle |
| CN110040139A (en) * | 2019-04-16 | 2019-07-23 | 广州小鹏汽车科技有限公司 | The control method of vehicle and vehicle, device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525400A (en) * | 2021-06-21 | 2021-10-22 | 上汽通用五菱汽车股份有限公司 | Lane change reminding method and device, vehicle and readable storage medium |
| CN117360519A (en) * | 2023-12-04 | 2024-01-09 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
| CN117360519B (en) * | 2023-12-04 | 2024-03-05 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112644495B (en) | 2022-12-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111775940B (en) | Automatic channel changing method, device, equipment and storage medium | |
| CN109808685B (en) | Automobile early warning automatic collision avoidance control method based on danger assessment | |
| US10875545B2 (en) | Autonomous driving system | |
| JP4578795B2 (en) | Vehicle control device, vehicle control method, and vehicle control program | |
| US7375620B2 (en) | Speed-sensitive rear obstacle detection and avoidance system | |
| JP5195672B2 (en) | Vehicle control device, vehicle, and vehicle control method | |
| CN111516692A (en) | Control system and method for vehicle running on hollow road surface | |
| JP2005056372A5 (en) | ||
| US20230415735A1 (en) | Driving support apparatus, control method of vehicle, and non-transitory computer-readable storage medium | |
| CN112644495B (en) | Calculation method for intelligent auxiliary driving lane change early warning of automobile | |
| CN112277939B (en) | Offset control system and method for avoiding front line-pressing vehicle | |
| US11485356B2 (en) | Vehicle control device and control method | |
| CN205498764U (en) | Integrated rear portion initiative safety precaution's ADAS system based on vision | |
| EP4092633A1 (en) | Method and device for lane-changing prediction of target vehicle | |
| JP2013171439A (en) | Driving support device | |
| WO2020017179A1 (en) | Vehicle control device and vehicle control method | |
| CN116279341B (en) | Safety braking method and device, electronic equipment and storage medium | |
| CN205523934U (en) | Car back vision early warning system based on radar and camera | |
| CN115892024A (en) | Automobile driving scene recognition control system, method and storage medium | |
| CN115123207A (en) | Driving assistance device and vehicle | |
| CN113830084A (en) | Control method based on multi-lane vehicle active collision avoidance and vehicle | |
| CN113561947A (en) | Automatic braking method, device and system for passenger car | |
| TWI798082B (en) | Driving behavior warning system and method | |
| JP5321250B2 (en) | Vehicle control apparatus and vehicle control method | |
| CN117734696A (en) | Driving route determination method and device and vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee after: Hezhong New Energy Vehicle Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee before: HOZON NEW ENERGY AUTOMOBILE Co.,Ltd. Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee after: United New Energy Automobile Co.,Ltd. Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Patentee before: Hezhong New Energy Vehicle Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |