CN115123077A - Control method and system for sensing blind area of automobile tire hub - Google Patents

Control method and system for sensing blind area of automobile tire hub Download PDF

Info

Publication number
CN115123077A
CN115123077A CN202210827759.1A CN202210827759A CN115123077A CN 115123077 A CN115123077 A CN 115123077A CN 202210827759 A CN202210827759 A CN 202210827759A CN 115123077 A CN115123077 A CN 115123077A
Authority
CN
China
Prior art keywords
hub
control method
ultrasonic radar
distance
blind area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210827759.1A
Other languages
Chinese (zh)
Other versions
CN115123077B (en
Inventor
章笑春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rivotek Technology Jiangsu Co Ltd
Original Assignee
Rivotek Technology Jiangsu Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Rivotek Technology Jiangsu Co Ltd filed Critical Rivotek Technology Jiangsu Co Ltd
Priority to CN202210827759.1A priority Critical patent/CN115123077B/en
Publication of CN115123077A publication Critical patent/CN115123077A/en
Application granted granted Critical
Publication of CN115123077B publication Critical patent/CN115123077B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • 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
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a control method and a control system for sensing a blind area of an automobile tire hub, which belong to the technical field of automobiles and comprise the following steps: step 1, dividing a vehicle running state, and presetting a wheel hub warning state according to the degree of association between the wheel hub damage probability and the vehicle running state; step 2, mounting the ultrasonic radar sensors at the positions of the hubs, mounting the ultrasonic radar sensors at intervals of ninety degrees from a preset position, namely mounting four ultrasonic radar sensors on one hub in total, and detecting the approach distance of the foreign matters through the ultrasonic radar sensors; and 3, presetting a response behavior library, and matching response behaviors in the response behavior library according to the detection result. The invention solves the problem that a user cannot distinguish the damage risk of the hub caused by the perception scene, reduces the potential safety hazard of hub damage, and greatly optimizes the user experience.

Description

Control method and system for sensing blind area of automobile tire hub
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a control method and a control system for sensing a blind area of an automobile tire hub.
Background
The automobile is used as a human walking tool, is more and more popular with the increase of the national development level, and has more and more running quantity on roads. In the face of the increasing popularity of vehicles, parking spaces are becoming less and less available, and therefore a large percentage of users are required to park automobiles in unconventional parking spaces, such as side parking sides, side parking ramps, and the like. The roadside is generally provided with a shoulder of a pedestrian road, the height of the shoulder is usually about 10cm and is higher than the thickness of an automobile tire, and therefore a user has potential risks of scratching a hub. The scratch affects the beauty if the wheel is light, and the deformation of the wheel hub is caused if the wheel is heavy, so that the driving safety is affected.
The mode of avoiding automobile wheel hub damage in prior art mainly is that 360 look around influence system look over the blind area image, and the side avoids automobile wheel hub damage, gathers the image around the vehicle through arranging at vehicle camera all around to thereby observe the wheel position and avoid the damage. However, based on 360 looks around, when meeting rainy day, night environment when the user uses, because of the camera hardware characteristic causes, can lead to at the camera in rainy day because of the rainwater is fuzzy, the user can't see camera image content clearly. The user can not obtain the image with enough brightness in the dark environment due to insufficient brightness, and the environment condition can not be judged, so that the hub collision condition still can occur.
Disclosure of Invention
The invention aims to provide a control method and a control system for sensing a blind area of an automobile tire hub so as to reduce potential safety hazards caused by damage of the automobile tire hub.
In order to achieve the purpose, the invention provides the following technical scheme: a control method for sensing a blind area of a hub of an automobile tire comprises the following steps:
step 1, dividing a vehicle running state, and presetting a wheel hub warning state according to the degree of association between the wheel hub damage probability and the vehicle running state;
step 2, mounting the ultrasonic radar sensors at preset positions of the hubs, mounting the ultrasonic radar sensors one every ninety degrees from the preset positions, mounting four ultrasonic radar sensors on one hub in total, and detecting the approaching distance of the foreign matters through the ultrasonic radar sensors;
and 3, presetting a response behavior library, and matching response behaviors in the response behavior library according to the detection result.
Preferably, in step 1, the divided vehicle driving states include a non-low speed driving state, a parking state, a neutral state, and a parking state.
Preferably, in step 1, the preset hub warning state includes whether the vehicle is in a low-speed driving state or a parking state.
Preferably, the low-speed running state is that the running speed of the vehicle is less than or equal to 20 km/h.
Preferably, the ultrasonic radar detecting the foreign object distance includes:
the ultrasonic radars on the same diameter of the wheel hub are in one group, and each wheel hub is provided with two groups; the two groups of ultrasonic radars simultaneously transmit ultrasonic signals, and record the diameter length of the hub, the reference zero time of ultrasonic signal transmission and the acquisition time length corresponding to the first reflection signal; the working frequency of the ultrasonic signal is 40 kHz; according to the diameter length and the acquisition duration of the hub, the distance between the hub and the foreign matter is detected by the following formula,
Figure BDA0003747157610000021
Figure BDA0003747157610000022
Figure BDA0003747157610000023
Figure BDA0003747157610000024
Figure BDA0003747157610000025
Figure BDA0003747157610000026
in the formula, v is the propagation speed of the ultrasonic wave in the air, t is the acquisition time length, m is the distance between the ultrasonic radar sensor and the foreign object, l is the diameter length of the hub, and k is 1 And k 2 Are two sets of length coefficients, m 1 、m 2 And m 3 、m 4 Respectively the distance between each of the two groups of ultrasonic radar sensors and the foreign object, S 1 And S 2 The distance between the hub and the foreign body is detected by two groups of ultrasonic radar sensors respectively, S isThe distance between the hub and the foreign object detected by the ultrasonic radar sensor.
Preferably, in step 3, the response behavior is fed back to the user through a loudspeaker.
Preferably, the speakers are mounted on both sides of the headrest of the driver seat.
Preferably, in step 3, the preset response behavior library includes:
detecting that the distance between the hubs on the left side and the right side of the vehicle and the foreign matter is less than 30cm, and sending 40 decibel prompt tones to the corresponding sides; detecting that the distance between any wheel hub at two sides of the vehicle and the foreign matter is less than 20cm, and sending a 50 decibel prompt tone to the corresponding side; when the distance between any wheel hub at two sides of the vehicle and the foreign matter is detected to be less than 10cm, the corresponding side sends 60 decibel prompt tones; and when the distance between any wheel hub on two sides of the vehicle and the foreign matter is detected to be less than 5cm, the corresponding side sends 80 decibel prompt tones.
Preferably, the prompt tone can be set according to the needs of the user.
In order to achieve the above object, the present invention further provides a system of a control method for sensing a blind area of a hub of an automobile tire, the system comprising:
the judging module is used for judging the running state of the vehicle;
the storage module is used for storing and transmitting data information detected by the ultrasonic radar sensor;
the calculation module is used for performing calculation processing according to the acquired data to obtain a calculation result;
and the response behavior module is used for storing a preset response behavior library and matching the response behavior according to the detection result.
The invention has the technical effects and advantages that: the hub is effectively and comprehensively protected under the condition of multiple scenes, so that the problem that a user cannot distinguish damage risks caused to the hub by a perception scene is solved; the riding experience of the user is improved. According to the invention, the ultrasonic radar is arranged at the hub position, so that the front side of the ultrasonic radar faces the road shoulder, and the detection range of the radar can be effectively utilized. The invention adopts the mode of ultrasonic radar detection, when the ultrasonic signal meets the condition and is sent out, the receiver can judge the distance to the foreign object when receiving the return signal, and the corresponding alarm is sent out when the condition reaches the corresponding alarm condition. According to the invention, the alarm loudspeakers are arranged on two sides of the main driving headrest, one is arranged on the left and the other is arranged on the right, and when the ultrasonic radar signals return to meet the alarm condition, the corresponding side loudspeakers give an alarm to prompt the main driving.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of four ultrasonic radar sensors of the present invention disposed on a wheel hub;
FIG. 3 is a schematic view of the horn of the present invention disposed on both sides of a seat headrest;
FIG. 4 is a block diagram of the system of the present invention;
1. an ultrasonic radar sensor; 2. a spoke; 3. a horn.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a control method for sensing a blind area of an automobile tire hub as shown in figure 1, which comprises the following steps:
step 1, dividing a vehicle running state into five states, wherein the five states comprise a non-low-speed running state, a parking state, a neutral state and a parking state. And presetting a hub alarm state according to the correlation degree of the hub damage probability and the vehicle running state. The hub alarming state is that the vehicle is in a low-speed driving or parking state, and the low-speed driving state is that the driving speed of the vehicle is less than or equal to 20 km/h.
Step 2, as shown in fig. 3, mounting the ultrasonic radar sensors at preset positions of the hubs, and mounting the ultrasonic radar sensors one at every ninety degrees from the preset positions, namely mounting four ultrasonic radar sensors on one hub in total, and detecting the approach distance of the foreign object through the ultrasonic radar sensors; the ultrasonic radar detection of foreign object distance includes:
the ultrasonic radars on the same diameter of the wheel hub are in one group, and each wheel hub is provided with two groups; the two groups of ultrasonic radars simultaneously transmit ultrasonic signals, and record the diameter length of the hub, the reference zero time of ultrasonic signal transmission and the acquisition time length corresponding to the first reflection signal; the working frequency of the ultrasonic signal is 40 kHz; according to the diameter length and the acquisition duration of the hub, the distance between the hub and the foreign matter is detected by the following formula,
Figure BDA0003747157610000051
Figure BDA0003747157610000052
Figure BDA0003747157610000053
Figure BDA0003747157610000054
Figure BDA0003747157610000055
Figure BDA0003747157610000056
in the formula, v is the propagation speed of the ultrasonic wave in the air, t is the acquisition time length, m is the distance between the ultrasonic radar sensor and the foreign object, l is the diameter length of the hub, and k is 1 And k 2 Are two sets of length coefficients, m 1 、m 2 And m 3 、m 4 Respectively the distance between each ultrasonic radar sensor and the foreign body, S 1 And S 2 Two groups of ultrasonic radar sensors respectivelyThe distance between the hub and the foreign object detected by the sensors is S, namely the distance between the hub and the foreign object detected by the ultrasonic radar sensor.
Step 3, presetting a response behavior library, wherein the response behavior library comprises: detecting that the distance between the hubs on the left side and the right side of the vehicle and the foreign matter is less than 30cm, and sending 40 decibel prompt tones to the corresponding sides; detecting that the distance between any wheel hub at two sides of the vehicle and the foreign matter is less than 20cm, and sending a 50 decibel prompt tone to the corresponding side; when the distance between any wheel hub at two sides of the vehicle and the foreign matter is detected to be less than 10cm, the corresponding side sends 60 decibel prompt tones; and when the distance between any wheel hub on two sides of the vehicle and the foreign matter is detected to be less than 5cm, the corresponding side sends 80 decibel prompt tones. And matching response behaviors in a preset response behavior library according to the detection result, and reminding the user of the response behaviors through a loudspeaker. As shown in fig. 4, the horn is mounted on both sides of the headrest of the seat.
In order to achieve the above object, the present invention further provides a system of a control method for sensing a blind area of a hub of an automobile tire, the system comprising:
the judging module is used for judging the running state of the vehicle;
the storage module is used for storing and transmitting data information detected by the ultrasonic radar sensor;
the calculation module is used for performing calculation processing according to the acquired data to obtain a calculation result;
and the response behavior module is used for storing a preset response behavior library and matching the response behavior according to the detection result.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments, or make equivalent substitutions and improvements to part of the technical features of the foregoing embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A control method for sensing a blind area of an automobile tire hub is characterized by comprising the following steps: the method comprises the following steps:
step 1, dividing a vehicle running state, and presetting a wheel hub warning state according to the degree of association between the wheel hub damage probability and the vehicle running state;
step 2, mounting the ultrasonic radar sensors on preset positions of the hubs, mounting the ultrasonic radar sensors one every ninety degrees from the preset positions, mounting four ultrasonic radar sensors on one hub in total, and detecting the approach distance of the foreign matters through the ultrasonic radar sensors;
and step 3, presetting a response behavior library, and matching response behaviors in the response behavior library according to the detection result.
2. The control method for sensing the blind area of the hub of the automobile tire according to claim 1, wherein the control method comprises the following steps: in step 1, the vehicle driving state includes a non-low speed driving state, a parking state, a neutral state and a parking state.
3. The control method for sensing the blind area of the hub of the automobile tire according to claim 1, wherein the control method comprises the following steps: in step 1, the preset hub warning state comprises a low-speed driving state and a parking state of the vehicle.
4. The control method for sensing the blind area of the hub of the automobile tire according to claim 2, wherein the control method comprises the following steps: the low-speed running state is that the running speed of the vehicle is less than or equal to 20 km/h.
5. The control method for sensing the blind area of the hub of the automobile tire according to claim 2, wherein the control method comprises the following steps: the method for detecting the foreign body distance by the ultrasonic radar comprises the following steps:
the ultrasonic radars on the same diameter of the wheel hub are in one group, and each wheel hub is provided with two groups; the two groups of ultrasonic radars simultaneously transmit ultrasonic signals, and record the diameter length of the hub, the reference zero time of ultrasonic signal transmission and the acquisition duration corresponding to the first reflection signal; the working frequency of the ultrasonic signal is 40 kHz; according to the diameter length and the acquisition duration of the hub, the distance between the hub and the foreign matter is detected by the following formula,
Figure FDA0003747157600000011
Figure FDA0003747157600000012
Figure FDA0003747157600000013
Figure FDA0003747157600000021
Figure FDA0003747157600000022
Figure FDA0003747157600000023
in the formula, v is the propagation velocity of the ultrasonic wave in the air, t is the acquisition time length, m is the distance between the ultrasonic radar sensor and the foreign object, l is the diameter length of the hub, and k is 1 And k 2 Are two sets of length coefficients, m 1 、m 2 And m 3 、m 4 Respectively the distance between each ultrasonic radar sensor and the foreign body, S 1 And S 2 The distance between the hub and the foreign object detected by the two groups of ultrasonic radar sensors is respectively, and S is the distance between the hub and the foreign object detected by the ultrasonic radar sensors.
6. The control method for sensing the blind area of the hub of the automobile tire according to claim 1, wherein the control method comprises the following steps: and in the step 3, the response behavior is fed back to the user through a loudspeaker.
7. The control method for sensing the blind area of the hub of the automobile tire according to claim 5, wherein the control method comprises the following steps: the loudspeaker is arranged on two sides of the headrest of the driver seat.
8. The control method for sensing the blind area of the hub of the automobile tire according to claim 1, wherein the control method comprises the following steps: in step 3, the preset response behavior library includes: detecting that the distance between the hubs on the left side and the right side of the vehicle and the foreign matter is less than 30cm, and sending 40 decibel prompt tones to the corresponding sides; detecting that the distance between any wheel hub at two sides of the vehicle and the foreign matter is less than 20cm, and sending a 50 decibel prompt tone to the corresponding side; detecting that the distance between any wheel hub at two sides of the vehicle and the foreign matter is less than 10cm, and sending 60 decibel prompt tones to the corresponding side; and when the distance between any wheel hub on two sides of the vehicle and the foreign matter is detected to be less than 5cm, the corresponding side sends 80 decibel prompt tones.
9. The control method for sensing the blind area of the hub of the automobile tire according to claim 8, wherein the control method comprises the following steps: the prompt tone can be set according to the needs of the user.
10. A system for sensing a blind area of an automobile tire hub is characterized in that: the system comprises:
the judging module is used for judging the running state of the vehicle;
the storage module is used for storing and transmitting data information detected by the ultrasonic radar sensor;
the calculation module is used for performing calculation processing according to the acquired data to obtain a calculation result;
and the response behavior module is used for storing a preset response behavior library and matching the response behavior according to the detection result.
CN202210827759.1A 2022-07-14 2022-07-14 Control method and system for sensing blind area of automobile tire hub Active CN115123077B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210827759.1A CN115123077B (en) 2022-07-14 2022-07-14 Control method and system for sensing blind area of automobile tire hub

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210827759.1A CN115123077B (en) 2022-07-14 2022-07-14 Control method and system for sensing blind area of automobile tire hub

Publications (2)

Publication Number Publication Date
CN115123077A true CN115123077A (en) 2022-09-30
CN115123077B CN115123077B (en) 2023-03-21

Family

ID=83383852

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210827759.1A Active CN115123077B (en) 2022-07-14 2022-07-14 Control method and system for sensing blind area of automobile tire hub

Country Status (1)

Country Link
CN (1) CN115123077B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222598A1 (en) * 2012-12-10 2014-06-26 Robert Bosch Gmbh Method for protecting wheel rim and tire of a vehicle e.g. passenger car, involves outputting warning information to driver of vehicle based on warning signal arranged below minimum distance of rim and tire of vehicle
CN104827822A (en) * 2014-05-27 2015-08-12 北汽福田汽车股份有限公司 Wheel decorative cover, wheel and automobile
CN205381194U (en) * 2015-12-24 2016-07-13 广东好帮手电子科技股份有限公司 Car A post blind area radar early warning system
CN207902362U (en) * 2018-01-11 2018-09-25 郭文坤 A kind of automobile tire road back gauge monitors system
CN111319633A (en) * 2020-03-27 2020-06-23 同致电子科技（昆山）有限公司 Tire precision calibration system and method based on ultrasonic radar
DE102019205559A1 (en) * 2019-04-17 2020-10-22 Continental Reifen Deutschland Gmbh Vehicle wheel comprising a vehicle pneumatic tire mounted on a vehicle wheel rim of the vehicle wheel and a distance measuring device for measuring a distance as well as use and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222598A1 (en) * 2012-12-10 2014-06-26 Robert Bosch Gmbh Method for protecting wheel rim and tire of a vehicle e.g. passenger car, involves outputting warning information to driver of vehicle based on warning signal arranged below minimum distance of rim and tire of vehicle
CN104827822A (en) * 2014-05-27 2015-08-12 北汽福田汽车股份有限公司 Wheel decorative cover, wheel and automobile
CN205381194U (en) * 2015-12-24 2016-07-13 广东好帮手电子科技股份有限公司 Car A post blind area radar early warning system
CN207902362U (en) * 2018-01-11 2018-09-25 郭文坤 A kind of automobile tire road back gauge monitors system
DE102019205559A1 (en) * 2019-04-17 2020-10-22 Continental Reifen Deutschland Gmbh Vehicle wheel comprising a vehicle pneumatic tire mounted on a vehicle wheel rim of the vehicle wheel and a distance measuring device for measuring a distance as well as use and method
CN111319633A (en) * 2020-03-27 2020-06-23 同致电子科技（昆山）有限公司 Tire precision calibration system and method based on ultrasonic radar

Also Published As

Publication number Publication date
CN115123077B (en) 2023-03-21

Similar Documents

Publication Publication Date Title
US7378947B2 (en) Device and method for the active monitoring of the safety perimeter of a motor vehicle
CN106114352B (en) Warning method and device based on electric vehicle and vehicle
CN103770736B (en) A kind of vehicle-surroundings environment early warning system based on sound field detection
CN100429101C (en) Safety monitoring system for running car and monitoring method
US20190088125A1 (en) Vehicle having a communication device for conducting vehicle to everything (v2x) communications
US11046291B2 (en) Vehicle driver assistance apparatus and vehicle
CN108032809B (en) Reverse side auxiliary system and data fusion and control method thereof
US20180165964A1 (en) Apparatus and method of providing visualization information of rear vehicle
JP7148453B2 (en) driving support system
CN109849785B (en) Lane change judgment system and method based on Internet of vehicles
EP1943127A1 (en) Object detection system and method
CN112896135A (en) Vehicle control method, vehicle control device, vehicle, and storage medium
CN112793586A (en) Automatic driving control method and device for automobile and computer storage medium
CN114387821B (en) Vehicle collision early warning method, device, electronic equipment and storage medium
CN110103954B (en) Electric control-based automobile rear-end collision prevention early warning device and method
CN110166946B (en) Highway vehicle information monitoring method and system based on wireless communication
CN114724364A (en) Vehicle management and control method, device, equipment, storage medium and program product
CN110154894A (en) A kind of vehicle security drive method for early warning based on pavement behavior
CN115123077B (en) Control method and system for sensing blind area of automobile tire hub
CN112572427B (en) Vehicle information processing method and device and vehicle
CN115862383B (en) Uncertainty-based vehicle blind area potential risk quantification method
US20230001922A1 (en) System providing blind spot safety warning to driver, method, and vehicle with system
CN115299948A (en) Driver fatigue detection method and detection system
CN112849130B (en) Intelligent collision mitigation system and method
CN113060130B (en) Vehicle-mounted driving assistance control method and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant