CN112959993A - Anti-collision emergency bottom supporting platform and method - Google Patents
Anti-collision emergency bottom supporting platform and method Download PDFInfo
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- CN112959993A CN112959993A CN202011326939.9A CN202011326939A CN112959993A CN 112959993 A CN112959993 A CN 112959993A CN 202011326939 A CN202011326939 A CN 202011326939A CN 112959993 A CN112959993 A CN 112959993A
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Classifications
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- 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
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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]
Abstract
The invention relates to an anti-collision emergency bottom supporting platform and a method, wherein the platform comprises: urgent ground mechanism of propping, including permanent magnet brushless motor, telescopic link and support piece, support piece is by the vertical body of rod and being located the sucking disc of vertical body of rod bottom constitutes, the telescopic link sets up support piece's top, permanent magnet brushless motor with the telescopic link is connected for when receiving the article and being close the instruction, the drive the telescopic link stretches out in order to drive from the chassis of vehicle support piece makes the sucking disc of support piece's bottom withstands ground, still is used for when receiving the article and not close the instruction, drives the telescopic link is in order to make it withdraw the chassis of vehicle. The anti-collision emergency bottom supporting platform and the method have the advantages of compact design, safety and reliability. Because the customized emergency ground supporting mechanism can be adopted to carry out the emergency bottom supporting action on the vehicle chassis when the front end and the rear end of the vehicle are close to the surrounding objects, the probability of vehicle collision accidents is reduced.
Description
Technical Field
The invention relates to the field of self-adaptive control, in particular to an anti-collision emergency bottom supporting platform and an anti-collision emergency bottom supporting method.
Background
The research object of the adaptive control is a system with a certain degree of uncertainty, and the term "uncertainty" means that a mathematical model describing the controlled object and the environment thereof is not completely determined, and comprises some unknown factors and random factors. Any one actual system has varying degrees of uncertainty, sometimes highlighted inside the system and sometimes highlighted outside the system. From the inside of the system, the structure and parameters of the mathematical model describing the controlled object are not necessarily known accurately by the designer in advance. As the influence of the external environment on the system can be equivalently represented by a number of disturbances. These disturbances are often unpredictable. In addition, some uncertainty factors generated during measurement enter the system. In the face of these various kinds of uncertainty, how to design a proper control action to make a certain specified performance index reach and keep the optimal or approximately optimal is a problem to be researched and solved by adaptive control.
The self-adaptive control is the same as the conventional feedback control and the optimal control, and is a control method based on a mathematical model, and the difference is that the prior knowledge about the model and the disturbance, which is the basis of the self-adaptive control, is less, and the information about the model needs to be continuously extracted in the running process of the system, so that the model is gradually improved. Specifically, the model parameters may be continuously identified based on the input and output data of the object, which is called online identification of the system. With the continuous production process, the model becomes more accurate and closer to reality through online identification. Since models are constantly being developed, it is clear that the control actions integrated on the basis of such models will also be constantly being developed. In this sense, the control system has a certain adaptability. For example, when the system is in the design stage, the system may not perform well when being put into operation at the beginning due to the lack of initial information of the object characteristics, but as long as a period of operation elapses, the control system gradually adapts to adjust itself to a satisfactory working state through online identification and control. For example, in some control objects, the characteristics of the control objects may change significantly during operation, but the system can adapt gradually by identifying and changing the controller parameters online.
Disclosure of Invention
In order to solve the related technical problems in the prior art, the invention provides an anti-collision emergency bottom supporting platform which can adopt a customized emergency ground supporting mechanism to execute an emergency bottom supporting action on a vehicle chassis when the front end and the rear end of a vehicle are close to surrounding objects, so that the probability of vehicle collision accidents is reduced.
For this reason, the present invention needs to have at least the following important points:
(1) an emergency ground supporting mechanism comprising a permanent magnet brushless motor, a telescopic rod and a supporting piece is introduced and used for emergently carrying out bottom supporting operation on the vehicle when the front end or the rear end of the vehicle approaches nearby objects, so that the occurrence of vehicle collision accidents is avoided;
(2) on the basis of a targeted signal processing mechanism, high-precision field detection is performed on the distance of nearby objects.
According to an aspect of the present invention, there is provided a crash-proof emergency underpinning platform, comprising:
the emergency ground supporting mechanism comprises a permanent magnet brushless motor, a telescopic rod and a supporting piece, wherein the supporting piece is composed of a vertical rod body and a sucker positioned at the bottom of the vertical rod body, the telescopic rod is arranged at the top end of the supporting piece, and the permanent magnet brushless motor is connected with the telescopic rod and used for driving the telescopic rod to extend out of a chassis of a vehicle to drive the supporting piece to enable the sucker at the bottom of the supporting piece to support the ground when an object approaching instruction is received;
the wireless routing mechanism is arranged near the emergency ground supporting mechanism and used for building a needed WIFI network for the emergency ground supporting mechanism;
the wireless routing mechanism is also connected with the first acquisition mechanism and the second acquisition mechanism respectively and is used for being connected with the first acquisition mechanism and the second acquisition mechanism respectively in a wireless network;
the permanent magnet brushless motor is also used for driving the telescopic rod to be retracted into a chassis of the vehicle when an object non-access instruction is received;
the first acquisition mechanism is arranged at the central position of the tail part of the vehicle body and used for executing image data acquisition action on the periphery of the tail part of the vehicle body so as to obtain a corresponding first acquisition image;
the second acquisition mechanism is arranged in the center of the front end of the vehicle body and used for executing image data acquisition actions around the front end of the vehicle body so as to obtain a corresponding second acquired image;
the signal transmission equipment is respectively connected with the first acquisition mechanism and the second acquisition mechanism and is used for sending the first acquired image or the second acquired image as a current output image to the artifact removal equipment;
the artifact removing device is used for executing artifact removing processing on the received current output image so as to obtain and output a corresponding artifact removed image;
the edge sharpening device is connected with the artifact removing device and is used for carrying out edge sharpening processing on the received artifact removed image so as to obtain and output a corresponding edge sharpened image;
the dynamic processing device is connected with the edge sharpening device and is used for executing white balance processing based on a dynamic threshold value on the received edge sharpened image so as to obtain and output a corresponding dynamic processing image;
the data stripping mechanism is connected with the dynamic processing equipment and is used for stripping a background area from the dynamic processing image to obtain a foreground area of the dynamic processing image;
and the parameter analysis equipment is connected with the data stripping mechanism and used for identifying each real-time depth of field value of each pixel in the foreground area and sending an object approaching instruction when the number of the pixels with the depth of field values shallower than a preset depth of field threshold value in each real-time depth of field value exceeds the limit.
According to another aspect of the invention, a crash-proof emergency underpinning method is also provided, and the method comprises the step of using the crash-proof emergency underpinning platform to adaptively trigger emergency underpinning actions according to the proximity degree of objects at the front end and the rear end of a vehicle so as to avoid the occurrence of related collision accidents.
The anti-collision emergency bottom supporting platform and the method have the advantages of compact design, safety and reliability. Because the customized emergency ground supporting mechanism can be adopted to carry out the emergency bottom supporting action on the vehicle chassis when the front end and the rear end of the vehicle are close to the surrounding objects, the probability of vehicle collision accidents is reduced.
Detailed Description
Embodiments of the crash-proof emergency underpot platform and method of the present invention will now be described in detail.
The collision safety of an automobile is the ability to minimize the injury of the occupant during and after an accident. Collision safety of automobiles is achieved through three approaches. First, damage is reduced by improving the crashworthiness of the vehicle. Measures to achieve this are now: collision buffer areas and bumpers are additionally arranged at the front part and the rear part of the vehicle body, a suspension engine anti-collision protection device is adopted, the rigidity of a cab is improved, and the like. Secondly, the synchronous movement of the passengers and the automobile is realized by controlling the movement of the passengers in the collision process, so that the impact damage and the secondary collision damage with objects in the cab are reduced. This function may be achieved using an occupant restraint system. A common occupant restraint system includes: safety belts, headrests, and the like. Thirdly, the contact rigidity between the human body and the inner part of the cockpit is reduced, and the contact area is increased to reduce the damage of secondary collision. The method can be realized by adopting the safe air bag and reducing the rigidity of an instrument panel and an interior trim.
In the prior art, when the front end and the rear end of a vehicle are close to nearby objects too close, the probability of vehicle collision accidents is greatly increased, and currently, a high-precision distance detection mechanism for the objects at the front end and the rear end of the vehicle is lacked on one hand, and an emergency safety protection mechanism for executing corresponding coping actions when the objects at the front end and the rear end of the vehicle are too close on the other hand, so that the safety performance of the vehicle is insufficient.
In order to overcome the defects, the invention provides the anti-collision emergency bottom supporting platform and the method, and the corresponding technical problems can be effectively solved.
According to the embodiment of the invention, the anti-collision emergency underpinning platform comprises:
the emergency ground supporting mechanism comprises a permanent magnet brushless motor, a telescopic rod and a supporting piece, wherein the supporting piece is composed of a vertical rod body and a sucker positioned at the bottom of the vertical rod body, the telescopic rod is arranged at the top end of the supporting piece, and the permanent magnet brushless motor is connected with the telescopic rod and used for driving the telescopic rod to extend out of a chassis of a vehicle to drive the supporting piece to enable the sucker at the bottom of the supporting piece to support the ground when an object approaching instruction is received;
the wireless routing mechanism is arranged near the emergency ground supporting mechanism and used for building a needed WIFI network for the emergency ground supporting mechanism;
the wireless routing mechanism is also connected with the first acquisition mechanism and the second acquisition mechanism respectively and is used for being connected with the first acquisition mechanism and the second acquisition mechanism respectively in a wireless network;
the permanent magnet brushless motor is also used for driving the telescopic rod to be retracted into a chassis of the vehicle when an object non-access instruction is received;
the first acquisition mechanism is arranged at the central position of the tail part of the vehicle body and used for executing image data acquisition action on the periphery of the tail part of the vehicle body so as to obtain a corresponding first acquisition image;
the second acquisition mechanism is arranged in the center of the front end of the vehicle body and used for executing image data acquisition actions around the front end of the vehicle body so as to obtain a corresponding second acquired image;
the signal transmission equipment is respectively connected with the first acquisition mechanism and the second acquisition mechanism and is used for sending the first acquired image or the second acquired image as a current output image to the artifact removal equipment;
the artifact removing device is used for executing artifact removing processing on the received current output image so as to obtain and output a corresponding artifact removed image;
the edge sharpening device is connected with the artifact removing device and is used for carrying out edge sharpening processing on the received artifact removed image so as to obtain and output a corresponding edge sharpened image;
the dynamic processing device is connected with the edge sharpening device and is used for executing white balance processing based on a dynamic threshold value on the received edge sharpened image so as to obtain and output a corresponding dynamic processing image;
the data stripping mechanism is connected with the dynamic processing equipment and is used for stripping a background area from the dynamic processing image to obtain a foreground area of the dynamic processing image;
and the parameter analysis equipment is connected with the data stripping mechanism and used for identifying each real-time depth of field value of each pixel in the foreground area and sending an object approaching instruction when the number of the pixels with the depth of field values shallower than a preset depth of field threshold value in each real-time depth of field value exceeds the limit.
Next, a detailed description of the crash-proof emergency underpot platform of the present invention will be further described.
In the platform at the bottom of urgent support of anticollision formula:
the parameter analysis equipment is further used for sending out an article not approaching instruction when the number of pixels with depth of field values shallower than a preset depth of field threshold value in each real-time depth of field value is not over limit.
The anti-collision emergency bottom supporting platform can further comprise:
and the liquid crystal display mechanism is arranged at a center console of the vehicle body and is used for receiving and displaying the object approaching command or the object non-approaching command.
The anti-collision emergency bottom supporting platform can further comprise:
and the serial communication interface is respectively connected with the parameter analysis equipment and the data stripping mechanism and is used for configuring each working parameter of the parameter analysis equipment and the data stripping mechanism.
In the platform at the bottom of urgent support of anticollision formula:
the first acquisition mechanism and the second acquisition mechanism are internally provided with a CCD sensor and an image output interface, and the CCD sensor is connected with the image output interface.
The anti-collision emergency bottom supporting platform can further comprise:
the power supply device is respectively connected with the dynamic processing device and the data stripping mechanism and is used for respectively providing different input voltages for the dynamic processing device and the data stripping mechanism according to the requirements of the input voltages of the dynamic processing device and the data stripping mechanism;
the power supply equipment comprises a power supply unit, a voltage conversion unit and a voltage output unit, wherein the power supply unit is connected with the voltage conversion unit;
the voltage conversion unit comprises a user input interface and a voltage conversion circuit, wherein the user input interface is used for receiving various manually input required voltage values;
the voltage conversion circuit is connected with the user input interface and is used for performing different voltage reduction conversion operations on input voltage provided by the power supply equipment based on the received various required voltage values;
the power supply equipment further comprises a voltage stabilizing circuit which is arranged at the front end of the voltage conversion unit and used for providing stable input voltage for the voltage conversion unit.
In the platform at the bottom of urgent support of anticollision formula:
the dynamic processing equipment is internally provided with a power-saving control unit which is used for switching the dynamic processing equipment from a working state to a dormant state when receiving a dormant control command.
In the platform at the bottom of urgent support of anticollision formula:
the power saving control unit is further used for switching the dynamic processing equipment from a dormant state to a working state when receiving a wake-up control command.
Meanwhile, in order to overcome the defects, the invention also provides an anti-collision emergency bottom supporting method, which comprises the step of using the anti-collision emergency bottom supporting platform to adaptively trigger the emergency bottom supporting action according to the proximity degree of the objects at the front end and the rear end of the vehicle so as to avoid the occurrence of related collision accidents.
In addition, in the anti-collision emergency underpinning platform, a Charge Coupled Device (CCD) image sensor is made of a high-sensitivity semiconductor material, light can be converted into charges, the charges are converted into digital signals through an analog-to-digital converter chip, the digital signals are compressed and stored by a flash memory or a built-in hard disk card in a camera, and therefore data can be easily transmitted to a computer, and images can be modified according to needs by means of processing of the computer. The CCD sensor is a new type of photoelectric conversion device that can store signal charges generated by light. When a pulse with a specific time sequence is applied to it, the stored signal charges can be directionally transferred in the CCD to realize self-scanning. It is mainly composed of photosensitive unit, input structure and output structure. It has the functions of photoelectric conversion, information storage and time delay, etc., and has high integration level and low power consumption, and has been widely applied in 3 fields of camera shooting, signal processing and storage, especially in the aspect of image sensor application. The CCD has a planar array and a linear array, and the planar array is a device for arranging CCD pixels into 1 plane; and the line array is a device in which CCD pixels are arranged in a 1 line.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An emergency landing platform of the crash-proof type, the platform comprising:
urgent ground mechanism of propping, including permanent magnet brushless motor, telescopic link and support piece, support piece is by the vertical body of rod and being located the sucking disc of vertical body of rod bottom constitutes, the telescopic link sets up support piece's top.
2. The crash-proof emergency underpot platform as claimed in claim 1, wherein:
the permanent magnet brushless motor is connected with the telescopic rod and used for driving the telescopic rod to extend out of a chassis of the vehicle to drive the supporting piece to enable the sucking disc at the bottom of the supporting piece to support the ground when an object approaching instruction is received.
3. The crash-ready emergency underpot platform of claim 2, wherein said platform further comprises:
and the wireless routing mechanism is arranged near the emergency ground supporting mechanism and is used for building a needed WIFI network for the emergency ground supporting mechanism.
4. A crash-ready emergency underpot platform as claimed in claim 3 wherein said platform further comprises:
the wireless routing mechanism is also connected with the first acquisition mechanism and the second acquisition mechanism respectively and is used for being connected with the first acquisition mechanism and the second acquisition mechanism respectively in a wireless network;
the permanent magnet brushless motor is also used for driving the telescopic rod to be retracted into a chassis of the vehicle when an object non-access instruction is received;
the first acquisition mechanism is arranged at the central position of the tail part of the vehicle body and used for executing image data acquisition action on the periphery of the tail part of the vehicle body so as to obtain a corresponding first acquisition image;
the second acquisition mechanism is arranged in the center of the front end of the vehicle body and used for executing image data acquisition actions around the front end of the vehicle body so as to obtain a corresponding second acquired image;
the signal transmission equipment is respectively connected with the first acquisition mechanism and the second acquisition mechanism and is used for sending the first acquired image or the second acquired image as a current output image to the artifact removal equipment;
the artifact removing device is used for executing artifact removing processing on the received current output image so as to obtain and output a corresponding artifact removed image;
the edge sharpening device is connected with the artifact removing device and is used for carrying out edge sharpening processing on the received artifact removed image so as to obtain and output a corresponding edge sharpened image;
the dynamic processing device is connected with the edge sharpening device and is used for executing white balance processing based on a dynamic threshold value on the received edge sharpened image so as to obtain and output a corresponding dynamic processing image;
the data stripping mechanism is connected with the dynamic processing equipment and is used for stripping a background area from the dynamic processing image to obtain a foreground area of the dynamic processing image;
the parameter analysis equipment is connected with the data stripping mechanism and used for identifying each real-time depth of field value of each pixel in the foreground area and sending an object approaching instruction when the number of the pixels with the depth of field values shallower than a preset depth of field threshold value in each real-time depth of field value exceeds the limit;
the parameter analysis equipment is also used for sending out an article not approaching instruction when the number of pixels with depth of field values shallower than a preset depth of field threshold value in each real-time depth of field value is not over limit;
the liquid crystal display mechanism is arranged at a center console of the vehicle body and is used for receiving and displaying the object approaching instruction or the object non-approaching instruction;
and the serial communication interface is respectively connected with the parameter analysis equipment and the data stripping mechanism and is used for configuring each working parameter of the parameter analysis equipment and the data stripping mechanism.
5. The crash-proof emergency underpot platform of claim 4, wherein:
the first acquisition mechanism and the second acquisition mechanism are internally provided with a CCD sensor and an image output interface, and the CCD sensor is connected with the image output interface.
6. The crash-ready emergency underpot platform of claim 5, wherein said platform further comprises:
the power supply device is respectively connected with the dynamic processing device and the data stripping mechanism and is used for respectively providing different input voltages for the dynamic processing device and the data stripping mechanism according to the requirements of the input voltages of the dynamic processing device and the data stripping mechanism;
the power supply equipment comprises a power supply unit, a voltage conversion unit and a voltage output unit, wherein the power supply unit is connected with the voltage conversion unit;
the voltage conversion unit comprises a user input interface and a voltage conversion circuit, wherein the user input interface is used for receiving various manually input required voltage values;
the voltage conversion circuit is connected with the user input interface and is used for performing different voltage reduction conversion operations on input voltage provided by the power supply equipment based on the received various required voltage values;
the power supply equipment further comprises a voltage stabilizing circuit which is arranged at the front end of the voltage conversion unit and used for providing stable input voltage for the voltage conversion unit.
7. The crash-proof emergency underpot platform of claim 6, wherein:
the dynamic processing equipment is internally provided with a power-saving control unit which is used for switching the dynamic processing equipment from a working state to a dormant state when receiving a dormant control command.
8. The crash-proof emergency underpot platform of claim 7, wherein:
the power saving control unit is further used for switching the dynamic processing equipment from a dormant state to a working state when receiving a wake-up control command.
9. A crash-proof emergency underpinning method, comprising using the crash-proof emergency underpinning platform according to any one of claims 1-8 to adaptively trigger emergency underpinning actions according to the proximity of objects at the front and rear ends of a vehicle to avoid occurrence of related crash accidents.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011326939.9A CN112959993A (en) | 2020-11-24 | 2020-11-24 | Anti-collision emergency bottom supporting platform and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011326939.9A CN112959993A (en) | 2020-11-24 | 2020-11-24 | Anti-collision emergency bottom supporting platform and method |
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| CN112959993A true CN112959993A (en) | 2021-06-15 |
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| CN108891392A (en) * | 2018-07-19 | 2018-11-27 | 栗红允 | A kind of emergency braking control system preventing skid |
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| KR20200103370A (en) * | 2019-02-25 | 2020-09-02 | (주)거노코퍼레이션 | Vehicle Emergency Display to prevent 2nd accident |
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Application publication date: 20210615 |