CN113763750B - 5G-based intelligent vehicle-road cooperation system and method - Google Patents
5G-based intelligent vehicle-road cooperation system and method Download PDFInfo
- Publication number
- CN113763750B CN113763750B CN202111148741.0A CN202111148741A CN113763750B CN 113763750 B CN113763750 B CN 113763750B CN 202111148741 A CN202111148741 A CN 202111148741A CN 113763750 B CN113763750 B CN 113763750B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- road
- warning
- road side
- information
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
Abstract
The invention discloses an intelligent vehicle road cooperative system based on 5G, which comprises road side traffic facilities, wherein the road side traffic facilities consist of a deep learning terminal, a road side information computing terminal, a plurality of millimeter wave radars, laser radars, cameras and 3D deep sensing lenses, collected information is transmitted to the road side information computing terminal and the deep learning terminal, the running track of a vehicle is calculated through the deep learning terminal and the road side information computing terminal, when the track of the vehicle is calculated, a front vehicle track changing warning is sent to a corresponding rear vehicle through a 5G network, and the warning is displayed through a central control screen of the vehicle; through the information acquisition that will go on the road to will calculate the vehicle track of traveling, the warning that becomes way and lane keep is sent to corresponding on through 5G network propelling movement's mode, even like this even low joining in marriage or old motorcycle type, can accept corresponding warning information after installing 5G receiving module additional, and then increase the security that the vehicle was gone.
Description
Technical Field
The invention belongs to the technical field of vehicle-road coordination, and particularly relates to an intelligent vehicle-road coordination system and method based on 5G.
Background
The current vehicle road cooperation is only developed according to the automatic auxiliary driving direction of the vehicle, the average vehicle price is higher than 30W, even though the economic domestic vehicle with the same model is used, the automatic auxiliary driving is always high-level or even top-level, compared with the low-level vehicle, the gap is 5-10W unequal, and in 2019 China automobile consumption trend report, people with the vehicle purchase price requirement higher than 25W only occupy about thirty percent of the total number, and seventy percent of the people basically have no purchasing intention for high-level vehicles, so that most vehicles on the current road can benefit from the automatic auxiliary driving vehicle road cooperation system are few, most vehicles can not enjoy the benefit of the system, the safety configuration of the vehicles with lower price is also seriously absent except the necessary ESP, EBD and the like, for example, lane departure warning and lane keeping assistance are mainly only provided on the vehicles with high-level vehicle, and therefore, the intelligent vehicle road cooperation system and method based on 5G are provided.
Disclosure of Invention
The invention aims to provide an intelligent vehicle-road cooperation system and method based on 5G, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the intelligent vehicle-road cooperative system based on 5G comprises road side traffic facilities, wherein the road side traffic facilities consist of a deep learning terminal, a road side information computing terminal, a plurality of millimeter wave radars, laser radars, cameras and 3D deep sensing lenses;
the millimeter wave radar, the laser radar, the camera and the 3D depth sensing lens are distributed on two sides of a road or are erected above the road and are used for collecting driving information of a vehicle, the millimeter wave radar, the laser radar, the camera and the 3D depth sensing lens are used for transmitting the collected information to a road side information calculation terminal and a deep learning terminal, the millimeter wave radar, the camera and the 3D depth sensing lens divide the vehicle through space positions, pictures and depth information, the driving track of the vehicle is calculated through the deep learning terminal and the road side information calculation terminal, when the lane change track of the vehicle is calculated, a front lane change warning is sent to a corresponding rear vehicle through a 5G network, and the warning is displayed through a central control screen of the vehicle;
and when the millimeter wave radar, the laser radar, the camera and the 3D deep sensing lens detect parallel vehicles, the warning that the lane change cannot be performed is pushed to the parallel vehicles, and the warning is displayed through a central control screen of the vehicles.
Further, the millimeter wave radar, the camera and the 3D deep sensing lens are sequentially numbered according to the spatial positions according to the detected vehicles in the same driving direction.
Further, the road side traffic facility transmits the warning to be sent to the communication module through the 5G network by the road side communication part, and then the warning is sent to the corresponding vehicle through the communication module.
Further, the road side traffic facility transmits the warning to be sent to the vehicle-road cooperative system through the 5G network by the road side communication part, so that the vehicle-road cooperative system can collect traffic flow information and calculate cloud conveniently.
Further, the vehicle track is established on a planar X-axis and Y-axis coordinate system, and left turn, right turn, forward and backward pushing are calculated according to the yaw angle of the vehicle.
Further, the trajectory of the vehicle is calculated based on the acquired relative positional relationship between the road route and the vehicle.
Further, the deep learning terminal and the road side information calculating terminal are both calculators.
Further, the communication module is specifically a router.
Further, the intelligent vehicle-road cooperation method based on 5G comprises the following steps:
A. acquiring vehicle driving information comprising vehicle speed, driving direction, acceleration, license plate number, vehicle space position and relative position of vehicle and road line through millimeter wave radar, laser radar, camera and 3D deep sensing lens;
B. the deep learning terminal and the road side information calculation terminal calculate the form track of the vehicle by establishing a plane coordinate system and bringing the driving information into the coordinate system, and divide the number in sequence according to the space position and the detected vehicle in the same driving direction;
C. the warning of the lane change of the front vehicle is sent to the rear vehicle of the lane change vehicle according to the number, and the warning is displayed through a central control screen;
D. pushing the warning that the lane change cannot be performed to a parallel vehicle, and displaying the warning through a central control screen of the vehicle;
E. the road side communication unit uploads the vehicle travel information on the road to the vehicle-road cooperation system.
Compared with the prior art, the invention has the beneficial effects that:
the invention collects the information of driving on the road and calculates the driving track of the vehicle, and sends the warning of lane change and lane keeping to the corresponding road by pushing through a 5G network, thus even if the vehicle is low in allocation or old, the corresponding warning information can be accepted after the 5G receiving module is additionally arranged, and the driving safety of the vehicle is further improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a roadway according to the present invention;
FIG. 3 is a schematic illustration of a lane change of the vehicle of the present invention;
FIG. 4 is a schematic diagram of trajectory prediction according to the present invention;
in the figure: 1. road side traffic facilities; 101. a deep learning terminal; 102. a road side information computing terminal; 103. millimeter wave radar; 104. a laser radar; 105. a camera; 106. 3D deep sense lens; 107. a roadside communication unit; 2. a communication module; 3. a vehicle; 301. and a central control screen.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-4, the present invention proposes a technical solution: the intelligent vehicle road cooperative system based on 5G comprises a road side traffic facility 1, wherein the road side traffic facility 1 is composed of a deep learning terminal 101, a road side information computing terminal 102 and a plurality of millimeter wave radars 103, laser radars 104, cameras 105 and 3D deep sensing lenses 106, the millimeter wave radars 103, the laser radars 104, the cameras 105 and the 3D deep sensing lenses 106 are distributed on two sides of a road or are erected above the road and are used for collecting running information of a vehicle, the millimeter wave radars 103, the laser radars 104, the cameras 105 and the 3D deep sensing lenses 106 transmit the collected information to the road side information computing terminal 102 and the deep learning terminal 101, the millimeter wave radars 103, the cameras 105 and the 3D deep sensing lenses 106 divide the vehicle 3 through spatial positions, images and depth information, the millimeter wave radars 103, the cameras 105 and the 3D deep sensing lenses 106 divide the vehicle 3 in sequence according to the detected same running direction, the spatial positions are sequentially divided and numbered, the vehicle 3 track is built on a plane X-axis Y-axis coordinate system, the vehicle 3 track is calculated to be rotated left and right, the vehicle track is rotated forward and backward according to the yaw angle of the vehicle 3, the vehicle track is pushed forward and backward, the vehicle is correspondingly calculated through a warning screen 301 when the vehicle is changed to the vehicle is in a network, and the vehicle is changed to the vehicle is in the road through the network 301; when the millimeter wave radar 103, the laser radar 104, the camera 105 and the 3D deep sensing lens 106 detect the parallel vehicles 3, the warning that the lane change cannot be performed is pushed to the parallel vehicles 3, the warning is displayed through the central control screen 301 of the vehicles 3, 3 information of driving on a road is acquired through 1, the driving track of the vehicles is estimated, the warning of lane change and lane keeping is sent to the corresponding 3 through a 5G network pushing mode, and therefore, even if the vehicles are low-matched or old, the corresponding warning information can be received after the 5G receiving module is additionally arranged, and the driving safety of the vehicles is further improved.
In this embodiment, the road side traffic facility 1 transmits the warning to be sent to the communication module 2 through the road side communication part 107, and then transmits the warning to the corresponding vehicle through the communication module 2, and the road side traffic facility 1 transmits the warning to be sent to the vehicle road coordination system through the road side communication part 107, so that the vehicle road coordination system can gather the traffic flow information and calculate the cloud conveniently.
In this embodiment, the track of the vehicle 3 is calculated according to the acquired relative positional relationship between the road line and the vehicle 3, so as to facilitate the identification of the lane-changing vehicle 3.
In this embodiment, the deep learning terminal 101 and the roadside information-calculating terminal 102 are both calculators.
In this embodiment, the communication module 2 is specifically a router.
In this embodiment, the intelligent vehicle-road cooperation method based on 5G includes the following steps:
A. acquiring driving information of the vehicle 3, including vehicle speed, driving direction, acceleration, license plate number and spatial position of the vehicle 3, and relative position of the vehicle 3 and road line, through a millimeter wave radar 103, a laser radar 104, a camera 105 and a 3D deep sensing lens 106;
B. the deep learning terminal 101 and the road side information calculating terminal 102 calculate the form track of the vehicle 3 by establishing a plane coordinate system and bringing the driving information into the coordinate system, and sequentially divide and number according to the space position according to the detected vehicles 3 in the same driving direction;
C. the warning of the lane change of the front vehicle is sent to the rear vehicle of the lane change vehicle 3 according to the number, and is displayed through the central control screen 301;
D. pushing the warning of the lane change failure to the parallel vehicles 3, and displaying the warning through a central control screen 301 of the vehicles 3;
E. the roadside communication unit 107 uploads the travel information of the vehicle 3 on the road to the vehicle-road cooperation system.
The working principle and the using flow of the invention are as follows: the millimeter wave radar 103 performs measurement and positioning of high-precision distance, azimuth, frequency and spatial position on the vehicle 3, the laser radar 104 establishes a peripheral 3D model, the camera 105 performs image acquisition, the 3D deep sensing lens 106 senses the depth of the vehicle in the image, the speed of the vehicle 3, the driving direction, the acceleration, the license plate number and the spatial position of the vehicle 3, the relative position of the vehicle 3 and the road line are acquired, and then the plane coordinate system O is established through the deep learning terminal 101 and the road side information computing terminal 102 1 X 1 Y 1 In the above, as shown in FIG. 4, t of the vehicle is defined 1 The position of the moment is x 1 ，y 1 Yaw angle is psi 1 ，t 2 The vehicle position at time x 2 ，y 2 Yaw angle is psi 2 Defining the turning radius of the vehicle as R, positive values for left turn, negative values for right turn, and defining the center point of rotation of the vehicle as x 0 ，y 0 If the vehicle runs leftwards, the rotation center point falls on the left side of the vehicle body, and if the vehicle runs rightwards, the rotation center point falls on the right side of the vehicle body, R is defined o1 The projections on the X-axis and the Y-axis are H respectively 1 And L 1 ，R o2 The projections on the X-axis and the Y-axis are H respectively 2 And L 2 The speed of the vehicle in delta t is V, a positive value represents forward running, a negative value represents backward running, the vehicle can be regarded as uniform motion in a short time, and then the track of the vehicle is calculated, as shown in figure 3, in the course of changing the track of the front vehicle, the warning of changing the track of the front vehicle is sent to the rear vehicle of the vehicle 3 which is in the process of changing the track according to the number, and the warning of being unable to change the track is pushed to the vehicle 3 which runs in parallel, so that even if the vehicle is low in distribution or old, the corresponding warning information can be accepted after the 5G receiving module is additionally arranged, and the safety of the vehicle running is further improved.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The intelligent vehicle-road cooperative system based on 5G is characterized by comprising a road side traffic facility (1), wherein the road side traffic facility (1) consists of a deep learning terminal (101), a road side information calculation terminal (102), a plurality of millimeter wave radars (103), laser radars (104), cameras (105) and a 3D deep sensing lens (106); the millimeter wave radar (103) performs measurement and positioning of high-precision distance, azimuth, frequency and spatial position on the vehicle (3); the 3D depth sensing lens (106) senses the depth of the vehicle (3) in the picture;
the millimeter wave radar (103), the laser radar (104), the camera (105) and the 3D deep sensing lens (106) are distributed on two sides of a road or are erected above the road and are used for collecting running information of the vehicle, the millimeter wave radar (103), the laser radar (104), the camera (105) and the 3D deep sensing lens (106) are used for transmitting collected information to a road side information calculation terminal (102) and a deep learning terminal (101), the millimeter wave radar (103), the camera (105) and the 3D deep sensing lens (106) divide the vehicle (3) through spatial positions, pictures and depth information, the deep learning terminal (101) and the road side information calculation terminal (102) are used for establishing the track of the vehicle (3) on a plane X-axis Y-axis coordinate system so as to calculate left turning, right turning, advancing and retreating according to the yaw angle of the vehicle (3), and further calculate the running track of the vehicle (3) according to the collected relative position relation of the road route and the vehicle, when calculating the track of the vehicle (3) changes, the track is transmitted to the corresponding warning vehicle (301) through a 5G network, and the warning screen is displayed in the corresponding vehicle (3);
when the millimeter wave radar (103), the laser radar (104), the camera (105) and the 3D deep sensing lens (106) detect the parallel vehicles (3), the warning that the lane change cannot be performed is pushed to the parallel vehicles (3), and the warning is displayed through a central control screen (301) of the vehicles (3).
2. The 5G-based intelligent vehicle-road collaboration system of claim 1, wherein: the millimeter wave radar (103), the camera (105) and the 3D deep sensing lens (106) are sequentially numbered according to the spatial positions according to the detected vehicles (3) in the same driving direction.
3. The 5G-based intelligent vehicle-road collaboration system of claim 1, wherein: the road side traffic facility (1) transmits the warning to be transmitted to the communication module (2) through the road side communication part (107) and then transmits the warning to the corresponding vehicle through the communication module (2).
4. The 5G-based intelligent vehicle-road collaboration system of claim 1, wherein: the road side traffic facility (1) transmits the warning to be sent to the vehicle-road cooperative system through the 5G network by the road side communication part (107), so that the vehicle-road cooperative system can collect traffic flow information and calculate cloud conveniently.
5. The 5G-based intelligent vehicle-road collaboration system of claim 1, wherein: the deep learning terminal (101) and the road side information computing terminal (102) are both calculators.
6. The 5G-based intelligent vehicle-road collaboration system of claim 3, wherein: the communication module (2) is in particular a router.
7. The intelligent vehicle-road cooperation method based on 5G, which is realized by the intelligent vehicle-road cooperation system based on 5G according to claim 1, is characterized by comprising the following steps:
A. acquiring driving information of the vehicle (3) through a millimeter wave radar (103), a laser radar (104), a camera (105) and a 3D deep sensing lens (106), wherein the driving information comprises the speed, the driving direction, the acceleration, the license plate number and the spatial position of the vehicle (3), and the relative position of the vehicle (3) and a road line;
B. the method comprises the steps that a deep learning terminal (101) and a road side information calculating terminal (102) carry driving information into a coordinate system in a mode of establishing a plane coordinate system, calculate the driving track of a vehicle (3), and divide numbers in sequence according to the detected vehicles (3) in the same driving direction and the space positions;
C. the warning of the lane change of the front vehicle is sent to the rear vehicle of the lane change vehicle (3) according to the number, and the warning is displayed through a central control screen (301);
D. pushing the warning of the lane change failure to a parallel vehicle (3), and displaying the warning through a central control screen (301) of the vehicle (3);
E. a roadside communication unit (107) uploads travel information of a vehicle (3) on a road to a vehicle-road cooperation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148741.0A CN113763750B (en) | 2021-09-29 | 2021-09-29 | 5G-based intelligent vehicle-road cooperation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148741.0A CN113763750B (en) | 2021-09-29 | 2021-09-29 | 5G-based intelligent vehicle-road cooperation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113763750A CN113763750A (en) | 2021-12-07 |
| CN113763750B true CN113763750B (en) | 2023-06-13 |
Family
ID=78798230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111148741.0A Active CN113763750B (en) | 2021-09-29 | 2021-09-29 | 5G-based intelligent vehicle-road cooperation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113763750B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115359683A (en) * | 2022-08-22 | 2022-11-18 | 合肥湛达智能科技有限公司 | Vehicle track detection method based on deep learning |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011158307A1 (en) * | 2010-06-18 | 2011-12-22 | 本田技研工業株式会社 | System for inferring driver's lane change intention |
| DE102012023361A1 (en) * | 2012-11-28 | 2014-05-28 | Audi Ag | Method and device for securing a lane change and vehicle |
| CN106843212A (en) * | 2017-02-08 | 2017-06-13 | 重庆长安汽车股份有限公司 | Automatic Pilot is based on the emergency vehicle auxiliary directional system and method for yaw angle amendment |
| CN110103956A (en) * | 2019-05-16 | 2019-08-09 | 北方工业大学 | Automatic overtaking track planning method for unmanned vehicle |
| CN110517521A (en) * | 2019-08-06 | 2019-11-29 | 北京航空航天大学 | A kind of lane departure warning method based on road car fusion perception |
| CN112977442A (en) * | 2021-04-28 | 2021-06-18 | 中智行科技有限公司 | Method and device for controlling vehicle to run |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103942960B (en) * | 2014-04-22 | 2016-09-21 | 深圳市宏电技术股份有限公司 | A kind of vehicle lane change detection method and device |
| CN109696667B (en) * | 2018-12-19 | 2023-04-18 | 哈工大机器人（合肥）国际创新研究院 | Entrance guard barrier detection method based on 3DToF camera |
| CN110083163A (en) * | 2019-05-20 | 2019-08-02 | 三亚学院 | A kind of 5G C-V2X bus or train route cloud cooperation perceptive method and system for autonomous driving vehicle |
| CN110097785B (en) * | 2019-05-30 | 2022-06-07 | 长安大学 | Recognition early warning device and early warning method for front vehicle cut-in or emergency lane change |
| CN110550038B (en) * | 2019-09-30 | 2021-02-09 | 重庆元韩汽车技术设计研究院有限公司 | Intelligent driving decision information acquisition system and method |
| CN110942669B (en) * | 2019-10-15 | 2021-06-29 | 东北大学 | Safety operation early warning reminding system based on workshop communication |
| CN111260958B (en) * | 2020-01-22 | 2021-04-09 | 长安大学 | Method and system for early warning of vehicles behind traffic abnormal points on highway |
| CN211956223U (en) * | 2020-05-07 | 2020-11-17 | 吉林大学 | Lane change track planning system |
| CN112907952A (en) * | 2021-01-26 | 2021-06-04 | 中交科云(北京)技术有限公司 | Highway generalized vehicle-road cooperative traffic control system |
| CN113380038A (en) * | 2021-07-06 | 2021-09-10 | 深圳市城市交通规划设计研究中心股份有限公司 | Vehicle dangerous behavior detection method, device and system |
-
2021
- 2021-09-29 CN CN202111148741.0A patent/CN113763750B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011158307A1 (en) * | 2010-06-18 | 2011-12-22 | 本田技研工業株式会社 | System for inferring driver's lane change intention |
| DE102012023361A1 (en) * | 2012-11-28 | 2014-05-28 | Audi Ag | Method and device for securing a lane change and vehicle |
| CN106843212A (en) * | 2017-02-08 | 2017-06-13 | 重庆长安汽车股份有限公司 | Automatic Pilot is based on the emergency vehicle auxiliary directional system and method for yaw angle amendment |
| CN110103956A (en) * | 2019-05-16 | 2019-08-09 | 北方工业大学 | Automatic overtaking track planning method for unmanned vehicle |
| CN110517521A (en) * | 2019-08-06 | 2019-11-29 | 北京航空航天大学 | A kind of lane departure warning method based on road car fusion perception |
| CN112977442A (en) * | 2021-04-28 | 2021-06-18 | 中智行科技有限公司 | Method and device for controlling vehicle to run |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113763750A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10192442B2 (en) | Determining changes in a driving environment based on vehicle behavior | |
| CN102541061B (en) | Micro intelligent vehicle based on visual and auditory information | |
| CN113678140A (en) | Locating and identifying approaching vehicles | |
| CN110239547B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN111422196A (en) | Intelligent networking automatic driving system and method suitable for mini bus | |
| CN110517521A (en) | A kind of lane departure warning method based on road car fusion perception | |
| CN202071799U (en) | Intelligent automobile safety warning device | |
| CN105427669A (en) | Anti-collision early warning method based on DSRC vehicle-to-vehicle communication technology | |
| CN110126824A (en) | A kind of commercial vehicle AEBS system of integrated binocular camera and millimetre-wave radar | |
| CN101750049A (en) | Monocular vision vehicle distance measuring method based on road and vehicle information | |
| JPWO2019069425A1 (en) | Vehicle control device, vehicle control method, and program | |
| CN103204104B (en) | Monitored control system and method are driven in a kind of full visual angle of vehicle | |
| CN113916242A (en) | Lane positioning method and device, storage medium and electronic equipment | |
| CN111267862B (en) | Method and system for constructing virtual lane line depending on following target | |
| JP2019151207A (en) | Vehicle control device, vehicle control method, and program | |
| CN113763750B (en) | 5G-based intelligent vehicle-road cooperation system and method | |
| JP2019185112A (en) | Vehicle control device, vehicle control method, and program | |
| CN202434060U (en) | Intelligent camera cognition, induction and navigation system | |
| CN105679090B (en) | A kind of night driver driving householder method based on smart mobile phone | |
| CN112650064B (en) | Intelligent automobile convergence control system and method suitable for mixed roads | |
| CN103213579B (en) | The irrelevant deviation of a kind of camera parameter and Vehicular system gives warning in advance method | |
| CN102314603B (en) | Intellectualized automobile safety attention device | |
| CN110794821A (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle | |
| CN110775054B (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle | |
| EP3470949B1 (en) | Movement assistance system and movement assistance method |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221107 Address after: 215000 room 808, 8 / F, building 9a, launch area of Yangtze River Delta International R & D community, No. 286, qinglonggang Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Tianyi Transportation Technology Co.,Ltd. Address before: 1 / F, building 28, 6055 Jinhai highway, Fengxian District, Shanghai, 201403 Applicant before: Zhongzhixing (Shanghai) Transportation Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |