CN112977253A - Two-way safety auxiliary system for vehicle - Google Patents
Two-way safety auxiliary system for vehicle Download PDFInfo
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- CN112977253A CN112977253A CN202110266113.6A CN202110266113A CN112977253A CN 112977253 A CN112977253 A CN 112977253A CN 202110266113 A CN202110266113 A CN 202110266113A CN 112977253 A CN112977253 A CN 112977253A
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
- B60R21/36—Protecting non-occupants of a vehicle, e.g. pedestrians using airbags
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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
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
Abstract
The invention relates to a vehicle bidirectional safety auxiliary system, which comprises a main controller, a data acquisition subsystem, an active warning subsystem and a passive protection subsystem which are respectively arranged on a vehicle, wherein the main controller calculates the distance between an inner wheel difference area and a vehicle side barrier in real time through data acquired by the data acquisition subsystem and judges the current risk level, the active warning subsystem comprises a warning projection module and a driver warning module, the passive protection subsystem comprises a safety air curtain module and a brake module, the warning projection module projects warning on the ground in real time according to the inner wheel difference area calculated by the main controller, and the driver warning module, the safety air curtain module and the brake module are opened in a grading way according to the current risk level sent by the main controller, effectively improving the driving safety of the large commercial vehicle and the like.
Description
Technical Field
The invention relates to the technical field of motor vehicle safety assistance, in particular to a bidirectional safety assistance system for a vehicle.
Background
The driver of the vehicle has two visual fields, namely a rearview mirror and a vehicle window when turning. A blind area exists between the two visual fields, and vehicle-side personnel in the blind area cannot be noticed by a driver, particularly for commercial vehicles (including large and medium buses, trucks and the like, the same applies below), the range of the blind area is larger due to the fact that the vehicle body is longer.
Poor region (the difference region of front wheel orbit and rear wheel orbit when turning to promptly) can reach several meters usually in the wheel difference region in the commercial car, and the car outer personnel can't accurately judge commercial car turns to the orbit, even the poor region of wheel also can misunderstanding self is in safe area in the department of oneself, leads to too pressing close to the commercial car, and can not obtain the warning, in case the vehicle is marchd to interior wheel difference region after the opportunity of evading has been missed.
The ground clearance of a large-scale commercial vehicle container is usually about one meter, and a lot of do not install the anti-drilling thick stick correctly, and even the installation anti-drilling thick stick also is difficult to form effective protection to the pedestrian. There is a lack of sufficiently effective passive safety measures when an extra-vehicular person is about to be or has been rolled under the vehicle.
The related prior patent technology is disclosed as patent number CN107089194A, and the invention is an active defense system for the inner wheel difference of an automobile. The radar is used for detecting the distance of surrounding objects, laser and sound are used for warning passers-by in a dangerous area, sound is used for reminding a driver, video monitoring is arranged, telescopic fences are respectively arranged below car bodies on two sides, and when a person is rolled under the car, the person slides down to prevent rolling. But it lacks the initiative warning to the pedestrian, and has downward action pressure when the fence gliding, very easily causes secondary damage to the pedestrian, has the potential safety hazard.
The prior art has theoretical analysis on tracks and some design cases of warning and protection systems, but does not have a safety auxiliary system which can integrate active warning and passive protection. The pedestrian protection safety air curtain is applied to some cars, but no effective solution is provided for the lateral involved collision in the dead zone of the inner wheel difference of the large truck.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a vehicle bidirectional safety auxiliary system integrating active warning and passive protection.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an automobile-used two-way safety auxiliary system, is including installing main control unit, data acquisition subsystem, initiative warning subsystem and the passive protection subsystem on the car respectively, main control unit pass through the data that data acquisition subsystem gathered, the poor regional and car side barrier distance of wheel in the real-time computation to judge current risk level, initiative warning subsystem include early warning projection module and driver warning module, passive protection subsystem include safe gas curtain module and brake module, early warning projection module calculate the poor regional real-time projection early warning on ground according to main control unit in the wheel, driver warning module, safe gas curtain module and brake module carry out hierarchical opening according to the current risk level that main control unit sent.
Furthermore, the data acquisition subsystem comprises two wheel speed sensors which are respectively arranged on two front wheels of the automobile and connected with the main controller, and the main controller calculates the track of the rear wheel according to the speed of the front wheel acquired by the wheel speed sensors to obtain an inner wheel difference area.
Furthermore, the formula for the main controller to calculate the rear wheel track is as follows:
wherein v isflIs the speed of the left wheel of the front wheelDegree, vfrThe speed of the right wheel of the front wheel, L is the vehicle wheel base, B is the vehicle wheel base, and R is the turning radius of the inner rear wheel in the steering process.
The early warning projection module comprises projection lamp sets, the projection lamp sets are arranged on two sides of the top of the vehicle, are connected with the main controller and are used for receiving the inner wheel difference area early warning graphs transmitted by the main controller and projecting early warning area warning lines to the ground; when the vehicle runs straight or turns to the other side, the projection lamp set is turned off.
Furthermore, the data acquisition subsystem further comprises an acceleration sensor, the acceleration sensor is installed in the center of the vehicle and connected with the main controller, and is used for transmitting an acceleration signal and an angular acceleration signal to the main controller, and the main controller predicts the turning track of the vehicle in a time domain according to the acceleration signal and the angular acceleration signal.
Furthermore, the data acquisition subsystem still include camera and radar, camera and radar install respectively in the automobile body both sides and the automobile body bottom side of car, and be connected with main control unit, main control unit combine interior wheel difference region and camera and radar transmission's ambient environment information, calculate car side barrier distance to combine pedestrian's orbit prediction to judge current risk level.
Further, the current risk level includes a low risk level, a medium risk level, and a high risk level; when the main controller judges that the risk level is low, the driver warning module, the safety air curtain module and the brake module are all closed; when the main controller judges that the risk level is low, the driver warning module is started to warn the driver in sound; when the main controller judges that the risk level is high, the safety air curtain module pops up the safety air curtain, and the braking module actively brakes the automobile. Wherein, the low risk level corresponds to no collision risk, the medium risk level corresponds to collision risk, and the high risk level corresponds to collision imminent.
Furthermore, safe gas curtain module include interconnect's safe gas curtain and contract gas holder, safe gas curtain install in vehicle body chassis middle part and rear wheel front portion, compressed gas holder be connected with main control unit, when main control unit judges high risk level, compressed gas holder valve open, aerify to pop out safe gas curtain.
Furthermore, driver warning module including install in the driver's cabin and respectively with main control unit connected audible-visual annunciator and central console display, when main control unit judges for the high risk grade, audible-visual annunciator carry out audible-visual warning, central console display shows the panoramic image in the wheel difference region in the present simultaneously for remind the driver to dodge.
Further preferably, the projection lamp set projects by using a micro mirror array, and uses laser as a projection light source.
Compared with the prior art, the invention has the following advantages:
complete real-time calculation track and projection warning
1) According to the invention, the active warning subsystem and the passive protection subsystem are arranged, the data acquisition subsystem and the main controller are utilized, the calculated rear wheel track is projected onto the ground to warn pedestrians and other vehicles, meanwhile, whether collision danger is possible or not is detected, risk grade grading is carried out, different coping measures are started according to the grading condition, the active warning and the passive protection are integrated, and the driving safety of a large commercial vehicle is effectively improved;
2) after a series of experiments and calculations, the invention obtains the inner wheel track models of different vehicles and steering under different driving states, can obtain the driving data of the automobile by using the microcomputer, and projects the obtained tracks to the ground through the laser projection lamps arranged at the upper parts of the two sides of the automobile body so as to warn pedestrians and other vehicles. In addition, radar and cameras are used on two sides of the vehicle body to detect whether collision danger is possible, if collision is possible, an alarm is given, and a wheel safety air curtain is started when collision occurs;
3) the invention calculates the track of the rear wheel of the vehicle in real time according to the wheel speed sensor of the front wheel, and projects the real-time track on the ground, thereby avoiding unnecessary panic caused by overlarge projection range and early warning failure caused by undersize range;
4) compared with the conventional passive protection scheme aiming at the fixed type anti-drilling bar of the large-scale commercial vehicle, the invention adopts the pop-up type safety air curtain scheme, solves the defects of higher ground clearance, smaller protection area, poorer protection effect and the like of the fixed type anti-drilling bar of the traditional large-scale commercial vehicle, and has high usability during normal driving;
5) according to the track calculation scheme, technologies such as vehicle track prediction, vehicle-side pedestrian early warning, vehicle-side environment perception and the like are integrated, so that the evaluation of the collision danger level is more accurate, the false triggering probability of the safety air curtain is reduced, and the reliability is high.
Drawings
FIG. 1 is a schematic view of a turn trajectory calculation;
FIG. 2 is a schematic diagram of the system operation of the present invention;
fig. 3 is a schematic diagram of the hardware installation of the system of the present invention.
The device comprises a wheel speed sensor 1, a main controller 2, a projection lamp set 3, a sound-light alarm 4, a camera 6, a safety air curtain 7 and an acceleration sensor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention discloses a bidirectional safety auxiliary system for a vehicle, which takes active warning measures for pedestrians and drivers by predicting the driving track of the vehicle and identifying the lateral dangerous condition of the vehicle, and starts passive safety protection before the pedestrians are rolled into wheels.
As shown in fig. 2 and 3, the system comprises a main controller 2 installed on the vehicle respectively, a data acquisition subsystem, an active warning subsystem and a passive protection subsystem, the main controller 2 acquires data through the data acquisition subsystem, the distance between an inner wheel difference area and a vehicle side barrier is calculated in real time, and the current risk level is judged, the active warning subsystem comprises an early warning projection module and a driver warning module, the passive protection subsystem comprises a safe air curtain module and a brake module, the early warning projection module performs real-time projection early warning on the ground according to the inner wheel difference area calculated by the main controller 2, the driver warning module, the safe air curtain module and the brake module are opened in a grading mode according to the current risk level sent by the main controller 2.
The current risk level includes a low risk level, a medium risk level, and a high risk level, where the low risk level corresponds to no collision risk, the medium risk level corresponds to collision risk, and the high risk level corresponds to an imminent collision. When the main controller 2 judges that the risk level is low, the driver warning module, the safety air curtain module and the brake module are all closed; when the main controller 2 judges that the risk level is middle, the driver warning module is started to warn the driver in sound; when the main controller 2 judges that the risk level is high, the safety air curtain module pops up the safety air curtain, and the braking module actively brakes the automobile.
The data acquisition subsystem includes fast sensor 1 of wheel, camera 5 and radar, and fast sensor 1 of wheel is totally two, installs respectively on two front wheels of car and is connected with main control unit 2, and main control unit 2 calculates the rear wheel orbit according to the front wheel speed that fast sensor 1 of wheel gathered, obtains the interior poor region of wheel. The camera 5 and the radar are respectively installed on two sides of the automobile body and the bottom side of the automobile body and are connected with the main controller 2, the main controller 2 calculates the distance between the obstacle on the automobile side by combining the inner wheel difference area and the surrounding environment information transmitted by the camera 5 and the radar, and judges the current risk level by combining with the pedestrian track prediction.
In this embodiment, the data acquisition subsystem further includes an acceleration sensor 7, the acceleration sensor 7 is installed in the center of the vehicle and is connected with the main controller 2, and is used for transmitting an acceleration signal and an angular acceleration signal to the main controller 2, and the main controller 2 predicts the turning track of the vehicle in the time domain according to the acceleration signal and the angular acceleration signal.
The early warning projection module comprises projection lamp sets 3, the projection lamp sets 3 are installed on two sides of the top of the vehicle, are connected with the main controller 2 and are used for receiving the inner wheel difference area early warning graph transmitted by the main controller 2 and projecting early warning area warning lines to the ground; when the vehicle is running straight or turning to the other side, the projection lamp set 3 is turned off.
The safe gas curtain module comprises a safe gas curtain 6 and a compressed gas storage tank which are connected with each other, the safe gas curtain 6 is installed in the middle of an automobile body chassis and the front portion of a rear wheel, the compressed gas storage tank is connected with the main controller 2, and when the main controller 2 judges that the high risk level exists, a valve of the compressed gas storage tank is opened to inflate the safe gas curtain 6 to pop out.
Driver warning module is including installing audible-visual annunciator 4 and the central console display that just is connected with main control unit 2 respectively in the driver's cabin, and when main control unit 2 judged for the high risk grade, audible-visual annunciator 4 carried out audible-visual warning, and central console display shows the panoramic image in the wheel difference region in the present simultaneously for remind the driver to dodge.
As shown in fig. 1, the formula for the main controller 2 to calculate the rear wheel track is:
wherein v isflSpeed of the left wheel of the front wheel, vfrThe speed of the right wheel of the front wheel, the wheel base of the vehicle, the turning radius of the inner rear wheel in the turning process and the point P in the figure 1 are the straight line when the vehicle turns.
The invention collects the wheel speed of the vehicle through a wheel speed sensor 1 and predicts the running track of the vehicle through a main controller 2; projecting the inner wheel difference area on the ground through the projection lamp group 3, and calculating and updating the projected inner wheel difference area in real time according to the vehicle running track predicted by the main controller 2; the vehicle side information is obtained through the radar and the camera 5, the possibility of collision is predicted according to the vehicle running track predicted by the main controller 2, the danger level evaluation is made, and the danger level can be divided into three levels: no risk of collision, risk of collision and imminent collision.
The invention judges whether a pedestrian is about to be rolled into the wheel through the radar and the camera 5 at the lower part of the vehicle body, and then prevents the pedestrian from being rolled by braking the vehicle and opening the rear vehicle bottom side safety air curtain 6. And safety air curtains are arranged in the middle of the chassis of the vehicle body and in the front of the rear wheels. The safety air curtain 6 is connected with the master controller 2, and the safety air curtain 6 is controlled to be opened in a grading manner according to the evaluation information of the master controller 2 on the danger level. And the main controller 2 is connected with the brake-by-wire system and controls the brake-by-wire system to execute according to the evaluation information of the main controller 2 on the risk level.
As shown in fig. 3, the wheel speed sensor 1 is installed at the left and right front wheels, electrically connected to the main controller 2, and transmits a wheel speed signal to the main controller 2; the acceleration sensor 7 is arranged in the center of the vehicle, is electrically connected with the main controller 2, and transmits acceleration and angular acceleration signals to the main controller 2; the main controller 2 calculates the vehicle track according to the wheel speed information, calculates the turning radius of the rear wheel at the inner side, and acquires the position data of the dangerous area; and meanwhile, the turning track is predicted in a time domain by further utilizing an acceleration signal and an angular acceleration signal acquired by the acceleration sensor 7. The projection lamp group 3 is electrically connected with the main controller 2, receives the warning graph transmitted by the main controller 2 and projects warning area warning lines to the ground, and when the vehicle runs straight or turns to another time, the projection lamp is turned off. The safe air curtain 6 on the side of the vehicle bottom is arranged in the front of the rear wheel and in the middle of the vehicle body, and is opened according to risk grade evaluation in a grading manner, the compressed gas storage tank is mechanically connected with the safe air curtain 6 on the side of the vehicle bottom, when a popup control signal sent by the main controller 2 is received, a valve of the compressed gas storage tank is opened, and the safe air curtain 6 can block pedestrians from being drawn into the rear wheel after being inflated and popped up, and can push the pedestrians to leave the bottom of the vehicle and be recycled.
In this embodiment, projection banks 3 uses micro mirror array projection technique to the laser is the projection light source, and 6 styles of safe gas curtain are rubber gas curtain, stores compressed nitrogen gas in the compressed gas holder, and the several radar is installed to the outside both sides of automobile body and automobile body lower part, and the radar can adopt laser radar or ultrasonic radar etc. well accuse platform display adopts the HUD display, and projection banks 3 is down still additionally to have storage device, so that withdraw the laser projection lamp when the straight line is gone, avoid polluting.
The laser radar and the camera 5 are electrically connected with the main controller 2 and transmit the surrounding environment information of the vehicle to the main controller 2. The main controller 2 analyzes and processes the data obtained by the laser radar and the camera 5, and calculates the positions of pedestrians or other obstacles on the side of the vehicle. The main controller 2 judges the existence condition of pedestrians or objects on the side face of the vehicle body by combining the inner wheel difference dangerous area information and the surrounding environment information, judges the danger early warning level by combining the pedestrian track prediction and warns the driver. When there is a collision risk, the collision may be detected by including, but not limited to: the projection lamp sets 3 are arranged on two sides of the interior of the vehicle, and the audible and visual alarm 4 for a driver indicates the difference area of the inner wheels of the panoramic image of the display of the center console so as to warn pedestrians or the driver.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an automobile-used two-way safety auxiliary system, its characterized in that, including main control unit (2), data acquisition subsystem, initiative warning subsystem and the passive protection subsystem of installing respectively on the car, main control unit (2) through the data of data acquisition subsystem collection, the poor regional and car side barrier distance in the real-time calculation of interior wheel to judge current risk level, initiative warning subsystem include early warning projection module and driver warning module, the passive protection subsystem include safe gas curtain module and brake module, early warning projection module in the poor regional real-time projection early warning on ground of interior wheel according to main control unit (2) calculation, driver warning module, safe gas curtain module and brake module carry out hierarchical opening according to the current risk level that main control unit (2) sent.
2. The bidirectional safety auxiliary system for vehicle according to claim 1, wherein the data acquisition subsystem comprises two wheel speed sensors (1), the two wheel speed sensors (1) are respectively mounted on two front wheels of the vehicle and connected with the main controller (2), and the main controller (2) calculates the track of the rear wheel according to the speed of the front wheel acquired by the wheel speed sensors (1) to obtain the inner wheel differential area.
3. The bi-directional safety assistance system for vehicle according to claim 2, wherein the formula for the main controller (2) to calculate the rear wheel track is:
wherein v isflSpeed of the left wheel of the front wheel, vfrThe speed of the right wheel of the front wheel, L is the vehicle wheel base, B is the vehicle wheel base, and R is the turning radius of the inner rear wheel in the steering process.
4. The bidirectional safety auxiliary system for the vehicle as claimed in claim 2, wherein the early warning projection module comprises projection lamp sets (3), the projection lamp sets (3) are mounted on two sides of the top of the vehicle, are connected with the main controller (2), and are used for receiving the inner wheel difference area early warning graph transmitted by the main controller (2) and projecting early warning area early warning lines to the ground; when the vehicle runs straight or turns to the other side, the projection lamp set (3) is turned off.
5. The bidirectional safety auxiliary system for the vehicle as claimed in claim 2, wherein the data acquisition subsystem further comprises an acceleration sensor (7), the acceleration sensor (7) is installed in the center of the vehicle and connected with the main controller (2) for transmitting an acceleration signal and an angular acceleration signal to the main controller (2), and the main controller (2) predicts the turning track of the vehicle in the time domain according to the acceleration signal and the angular acceleration signal.
6. The bidirectional safety auxiliary system for the vehicle as claimed in claim 1 or 2, wherein the data acquisition subsystem further comprises a camera (5) and a radar, the camera (5) and the radar are respectively installed on two sides and the bottom side of the vehicle body of the vehicle and are connected with the main controller (2), and the main controller (2) is combined with the inner wheel difference area and the surrounding environment information transmitted by the camera (5) and the radar, calculates the distance between the obstacles on the vehicle side, and is combined with the pedestrian trajectory prediction to judge the current risk level.
7. The bi-directional safety assistance system for vehicle of claim 1, wherein said current risk level comprises a low risk level, a medium risk level and a high risk level; when the main controller (2) judges that the risk level is low, the driver warning module, the safety air curtain module and the brake module are all closed; when the main controller (2) judges that the risk level is low, the driver warning module is started to warn the driver in sound; when the main controller (2) judges that the risk level is high, the safety air curtain module pops up the safety air curtain, and the braking module actively brakes the automobile.
8. The bidirectional safety auxiliary system for the vehicle according to claim 1 or 7, wherein the safety air curtain module comprises a safety air curtain (6) and a compressed air storage tank which are connected with each other, the safety air curtain (6) is installed in the middle of a vehicle body chassis and in front of a rear wheel, the compressed air storage tank is connected with the main controller (2), and when the main controller (2) judges that the risk level is high, a valve of the compressed air storage tank is opened to inflate and eject the safety air curtain (6).
9. The bidirectional safety auxiliary system for the vehicle as recited in claim 1 or 7, wherein the driver warning module comprises an audible and visual alarm (4) and a central console display, the audible and visual alarm (4) and the central console display are installed in the cab and are respectively connected with the main controller (2), when the main controller (2) judges that the risk level is high, the audible and visual alarm (4) gives an audible and visual warning, and the central console display displays a panoramic image in the current inner wheel difference area to remind the driver of avoiding.
10. The bi-directional safety auxiliary system for vehicle as claimed in claim 4, wherein the projection lamp set (3) uses micro-mirror array projection to use laser as the projection light source.
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| CN113415236A (en) * | 2021-07-14 | 2021-09-21 | 南通理工学院 | Heavy-duty vehicle blind area monitoring and early warning system |
| CN114655112A (en) * | 2022-03-22 | 2022-06-24 | 吉林大学 | All-round safe projection system of car |
| CN114954336A (en) * | 2022-06-07 | 2022-08-30 | 中国第一汽车股份有限公司 | Vehicle side anti-rolling processing method and device and vehicle |
| CN116176525A (en) * | 2023-01-06 | 2023-05-30 | 哈尔滨工业大学（威海） | Inner wheel difference warning risk avoiding method and system |
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