CN202703402U - Auxiliary device for automobile driving - Google Patents
Auxiliary device for automobile driving Download PDFInfo
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- CN202703402U CN202703402U CN 201220277119 CN201220277119U CN202703402U CN 202703402 U CN202703402 U CN 202703402U CN 201220277119 CN201220277119 CN 201220277119 CN 201220277119 U CN201220277119 U CN 201220277119U CN 202703402 U CN202703402 U CN 202703402U
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Abstract
The utility model relates to an auxiliary device for automobile driving, which comprises a first detecting device, a first image collecting device and a processor, wherein the first detecting device is used for detecting an object in a first distance scope and generating a corresponding first detecting signal; the first image collecting device is used for collecting an image and generating a corresponding image data; and the processor is in signal connection with the first detecting device and the first image collecting device and is used for controlling the first image collecting device to start to collect the image according to the first detecting signal. The detecting device and the image collecting device are matched with each other and the running of the image collecting device is triggered under the condition of detecting the object in a preset distance scope, so that the operation of keeping the running of the image collecting device all the time is unnecessary and the demand on equipment is reduced.
Description
Technical field
The application relates to the automotive safety technical field, is specifically related to device for assisting drive of vehicle.
Background technology
Along with development economic and society, the extensive and popularity that vehicle uses is more and more higher, and the safety misadventure that is caused by vehicle also increases thereupon.For reducing the possibility owing to people's sensory factor (for example fatigue or visual range are limited) generation accident, various driving ancillary equipments have been proposed, comprising:
1, initiative alarming series products can initiatively be reported to the police according to actual conditions.The rear-end collision anticollision gear based on radar detection that provides for the Chinese invention patent of CN1586945 of publication number for example, this kind equipment can carry out audio alert when vehicle and the place ahead object are close to danger range, but can't distinguish object type (for example, being thing or people).
2, passive assisted class product can enlarge driver's visual range.Thermal imaging night vision equipment that for example infrared imaging night vision equipment that provides for the Chinese utility model patent of CN201812124 of notification number, and notification number provides for the Chinese utility model patent of CN202180786 etc.Forewarning function is limited on the one hand for this kind equipment, needs on the other hand to remain unlatching, and not only but also needs high to requirement on devices are stored the mass data that gathers, so cost is higher.
Summary of the invention
The application provides a kind of device for assisting drive of vehicle, comprises that the first detector is used for surveying the object in the first distance range, and produces corresponding the first detectable signal; The first image collecting device is used for gathering image, and produces corresponding view data; Treater, with the first detector be connected the image collecting device signal and be connected, be used for controlling the first image collecting device according to the first detectable signal and begin to gather image.
The device for assisting drive of vehicle that the application proposes, by cooperating of detector and image collecting device, trigger the operation of image collecting device in the situation of the object in detecting set distance range, needn't remain the unlatching of image collecting device, reduced the requirement to equipment.The image that gathers can directly be shown to the driver by the existing read out instrument of vehicle, also can adopt the read out instrument of extra increase to be shown to the driver, to enlarge the visual range of driver under dangerous situation.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of the application's device for assisting drive of vehicle;
Fig. 2 is the scheme drawing that device for assisting drive of vehicle is installed on vehicle among Fig. 1;
Fig. 3 is the structural representation of the another kind of embodiment of the application's device for assisting drive of vehicle;
Fig. 4 serves as the direction indicators cover scheme drawing that shakes warning device among the application;
Fig. 5 is the structural representation of the another kind of embodiment of the application's device for assisting drive of vehicle;
Fig. 6 is the detection range classification scheme drawing of device for assisting drive of vehicle among Fig. 5;
Fig. 7 is the structural representation of the another kind of embodiment of the application's device for assisting drive of vehicle.
The specific embodiment
Embodiment 1
A kind of embodiment of device for assisting drive of vehicle can comprise infrared thermal releasing sensor 101 with reference to figure 1 among the application, multispectral camera 102, treater 103 and read out instrument 104.
Infrared thermal releasing sensor 101 is used for surveying the object in the first distance range, and produces corresponding the first detectable signal as the first detector.The first distance is the distance of reaction of infrared thermal releasing sensor 101, in other embodiments, also can adopt other devices with object distance detectability to serve as the first detector, for example sonar or radar.
Treater 103, be connected with multispectral camera 102 signals that are connected the first image collecting device with the infrared thermal releasing sensor 101 as the first detector, be used for controlling multispectral camera 102 according to the first detectable signal and begin to gather image, and the data and the output that receive the superimposed image of multispectral camera 102 generations.Alleged signal connection can be adopted various wired or wireless type of transmission among the application, below repeats no more.Because the image of each spectral coverage (for example infrared and visible light) that multispectral camera obtains overlaps in position, but data are independent of each other, therefore in other embodiments, treater also can be further processed the data of superimposed image, for example separate the data of infrared image and visible images so that separately show, the diaphaneity of image when perhaps adjusting Overlapping display for example is superimposed upon infrared image on the colored visible images in the semi-translucent mode.In other embodiments, the view data that produces of the first image collecting device also can directly offer external display equipment and not via treater.In other embodiments, if also further dispose the second image collecting device, then treater also is connected with the second image collecting device signal, and be used for controlling the second image collecting device according to the first detectable signal and begin to gather image, and the data of the infrared image that the first and second image collecting devices are produced and visible images are carried out overlap-add procedure and are exported the data of corresponding superimposed image, alleged overlap-add procedure can be that infrared image is superposeed according to identical size and orientation with visible images, for example the mode of infrared image with partially transparent is superimposed upon on the colored visible images, certainly, the view data that produces of the first and second image collecting devices can offer directly also that external display equipment processs and displays and not via treater.
Read out instrument 104 is connected with treater 103 signals, carries out image for the data of the superimposed image of exporting according to treater 103 and shows.In other embodiments, also can not adopt read out instrument 104, treater is exported to the existing read out instrument of vehicle (such as export to read out instrument that vehicle carried video system or navigationsystem have etc. by USB interface or other image transmitting interfaces) with the data of superimposed image and is shown.
In addition, in other embodiments, also can be further with treater and other mobile unit cascade or fusion.For example, treater is connected with the Train-borne recorder module or reserves the interface that can be connected with Train-borne recorder, so that preserve the view data that image collecting device produces.For example, treater is connected with global positioning system (GPS) module or reserves the interface that can be connected with the GPS module, so that share read out instrument, for example, on read out instrument, show simultaneously the infrared and visible images that GPS image and multispectral camera 102 gather, perhaps read out instrument shows the GPS image at ordinary times, after producing the first detectable signal, then is the infrared and visible images that multispectral camera 102 gathers with GPS image switching.
In addition, in other embodiments, for avoiding triggering frequently, treater can cut out the first detector after the first detector produces the first detectable signal, opening again the first detector through behind the Preset Time interval, perhaps, treater also can the Preset Time interval after receiving first the first detectable signal in, the first detectable signal of ignoring follow-up generation, this Preset Time interval can be selected or set by the user.The first image collecting device be activated time length that rear carries out image gathers can be consistent with above-mentioned Preset Time interval also can be inconsistent, specifically also can select or set by the user, perhaps also can stop to produce according to the first detectable signal and control the first image collecting device and stop to gather.
In addition, in other embodiments, can further include the infrared lamp group, be used for carrying out infrared illumination, treater also is used for opening according to the first detectable signal control infrared lamp group accordingly, carry out infrared illumination and can in dark surrounds or misty rain weather, obtain farther more clearly infrared image because infrared lamp usually than Der Scheinwerfer mit FernlichtAbblendlichtStandlicht irradiation distance 3-5 far away doubly, is therefore enabled the infrared lamp group.
The device for assisting drive of vehicle of present embodiment is when being installed on vehicle, as shown in Figure 2, infrared thermal releasing sensor 101 can be installed in vehicle front, multispectral camera 102, treater (not shown in Figure 2) and read out instrument 104 are installed in the operator's compartment, wherein, treater places in the housing 10, multispectral camera 102 is arranged on housing 10 surfaces, towards vehicle front, the arc design can be adopted in housing 10 bottom surfaces, fit with better and vehicle control desk, for example firmly be fixed on the control desk by bonding mode.Housing 10 surfaces also can have guidance panel so that the user to be provided the control interface to treater, certainly, if read out instrument 104 is supported touch manner, also can adopt read out instrument 104 as the user setting of treater to be checked and the guidance panel of revising.When vehicle launch, the infrared thermal releasing sensor powers on and starts working, and simultaneous processor and read out instrument power on and be in standby mode.When infrared pyroelectric sensor was triggered, treater transferred mode of operation to, to carry out corresponding control operation.
The embodiment of a kind of embodiment of vehicle drive assisting method and above-mentioned device for assisting drive of vehicle is corresponding among the application, comprising:
Step 11, obtain the first detectable signal that the infrared thermal releasing sensor that is installed in vehicle front produces, the first detectable signal is used for expression and detects object in the first distance range;
Step 12, control multispectral camera according to the first detectable signal and begin to gather image;
Step 13, the infrared image of multispectral camera collection and the superimposed image of visible images are shown to the driver.
In other embodiments, if only adopt visible image capturing head or infrared camera to carry out image acquisition, then be to show corresponding infrared image or visible images in step 13, if adopt two cameras to carry out image acquisition, then in step 12, to control respectively infrared camera and the visible image capturing head begins to gather image according to the first detectable signal, and in step 13, carry out the overlap-add procedure of infrared image and visible images, perhaps, if further include the infrared lamp group that is installed in vehicle front in the equipment, also can in step 12, control simultaneously the unlatching of infrared lamp group and carry out infrared illumination.
In the present embodiment, by cooperating of infrared thermal releasing sensor and multispectral camera, trigger multispectral camera in the situation of the object in detecting set distance range and carry out the collection of infrared image and visible images, needn't remain the unlatching of multispectral camera, reduce the requirement to equipment.Because infrared light has farther penetration range than visible light, the image capturing range of therefore multispectral camera induction surmounts the field range of human eye greatly, can in harsh environment, see farther clearlyer, thereby can better help driver's judging promptly and accurately, avoid to see the place ahead road conditions clearly and causing having an accident because visual range is limited.
Embodiment 2
The another kind of embodiment of device for assisting drive of vehicle can be with reference to figure 3 among the application, compare with embodiment 1, difference is except comprising infrared thermal releasing sensor 201, multispectral camera 202, outside treater 203 and the read out instrument 204, also comprise audible alarm unit 205 and vibrations warning device 206 as warning device.
Infrared thermal releasing sensor 201, the infrared thermal releasing sensor 101 among multispectral camera 202 and read out instrument 204 and the embodiment 1, multispectral camera 102 and read out instrument 104 are similar, repeat no more.The content of the treater 103 that treater 203 is described in having embodiment 1, also be connected with each warning device signal, and be used for producing alarm command according to the first detectable signal, produce corresponding actuation of an alarm to trigger each warning device.Audible alarm unit 205 is used for sounding according to alarm command.Vibrations warning device 206 is used for producing vibrations according to alarm command.
In the present embodiment, the vibrations warning device has the shape suitable with the bearing circle of vehicle, is used for being installed in surface of steering wheel.For example shake warning device and can make direction indicators cover 2061, referring to Fig. 4, its surface is made by the material with heat insulation function, electromagnetic shaker and wireless or wire signal receiving device (alarm command that is used for receiving processor) are equipped with in inside, its power supply mode can adopt the modes such as vehicle power power supply, battery, vibrations transducer (vibration energy harvester) or solar recharging, when receiving alarm command, cover shakes, and the hand by the driver wakes the driver up.In other embodiments, the vibrations warning device also can adopt other shapes or fixed form, as long as can be by the prompting of vibration mode generation to the driver.
In other embodiments, also can only select a kind of among the warning device of audible alarm unit and vibrations.
In the present embodiment, because the first detectable signal also triggers sound and vibrations are reported to the police, can prevent the driver on the one hand because the tired even sleepy omission that causes dangerous situation, on the other hand, so that the driver only need to pay close attention to video image in the time may dangerous situation being arranged, can alleviate driver's degree of fatigue.Especially in the situation of misty rain weather or night travel or express highway long-duration driving, the driver is because low visibility and attention high concentration, very fast fatigue shows the rear-end collision accident that can effectively prevent on misty rain sky, night and the expressway in conjunction with sound and the multispectral image that shakes warning easily.
Embodiment 3
The another kind of embodiment of device for assisting drive of vehicle can comprise two-stage infrared thermal releasing sensor 301 with reference to figure 5 among the application, multispectral camera 302, treater 303, read out instrument 304, audible alarm unit 305 and vibrations warning device 306.
Multispectral camera 302 and read out instrument 304 are similar with multispectral camera 102 and read out instrument 104 among the embodiment 1, repeat no more.
Two-stage infrared thermal releasing sensor 301 is as the first detector, be respectively two groups of passive infrared line (PIR of the first distance range and second distance scope by detection range, Passive Infrared) sensor forms, and the second distance scope is greater than the first distance range.In this case, the first detector can be surveyed respectively the object in the first and second distance ranges, and produces respectively corresponding the first and second detectable signals.In other embodiments, second detector that also can increase detection range and be the second distance scope is surveyed the object in the different distance scope, the type of the first and second detectors can be the same or different, all can be selected from pir sensor, sonar or radar are as long as can produce different detectable signals based on different detection ranges.For simplicity, below the first distance range is called middle distance, the second distance scope is called long distance.
The content of the treater 103 that treater 303 is described in having embodiment 1, also be connected with each warning device signal, and be used for producing first order alarm command according to the second detectable signal, produce second stage alarm command according to the first detectable signal, produce corresponding actuation of an alarm to trigger each warning device.
Audible alarm unit 305 is used for sending according to first and second grades of alarm commands respectively the sound of first and second grades of intensity, and the sound of second stage intensity is greater than the sound of first order intensity.Vibrations warning device 306 is used for producing according to first and second grades of alarm commands respectively the vibrations of first and second grades of intensity, and the vibrations of second stage intensity are greater than the vibrations of first order intensity.
In other embodiments, treater also can only trigger audible alarm unit when early detection, and only trigger image collecting device when surveying and trigger alarm device not middle, perhaps all trigger image collecting device and whole warning devices when long distance and middle distance detection, just actuation of an alarm intensity is different.
The embodiment of a kind of embodiment of vehicle drive assisting method and above-mentioned device for assisting drive of vehicle is corresponding among the application, detection range classification scheme drawing as shown in Figure 6, step comprises:
Step 31, obtain the early detection signal (the second detectable signal, corresponding second distance scope d2) that the detector that is installed in vehicle front produces;
Step 32, produce first order alarm command according to the early detection signal, trigger the sound that audible alarm unit sends first order intensity, trigger the vibrations that the vibrations warning device produces first order intensity.
Step 33, obtain middle apart from detectable signal (the first detectable signal, corresponding the first distance range d1) that the detector that is installed in vehicle front produces;
Step 34, control multispectral camera according to the first detectable signal and begin to gather image, and produce second stage alarm command, trigger the sound that audible alarm unit sends second stage intensity, trigger the vibrations that the vibrations warning device produces second stage intensity;
Step 35, the infrared image of multispectral camera collection and the superimposed image of visible images are shown to the driver.
In the present embodiment, carry out the warning of different modes by the detector with two-stage detection range according to different hazard level, help to help the driver that situation is carried out classification judgement and processing, improve safety performance.
Embodiment 4
The another kind of embodiment of device for assisting drive of vehicle can be with reference to figure 7 among the application, comprise three grades of infrared thermal releasing sensors 401, multispectral camera 402, treater 403, read out instrument 404, audible alarm unit 405, vibrations warning device 406 and steering control device 407.
Three grades of infrared thermal releasing sensors 401 are as the first detector, and three groups of pir sensors that are respectively first, second, and third distance range by detection range form, and the 3rd distance range (hereinafter referred to as low coverage) is less than the first distance range.In this case, during the first detector can be surveyed respectively, the object of far away, low coverage, and produce respectively corresponding first, second and third detectable signal.In other embodiments, also can increase second and third detector that detection range is respectively long distance and low coverage and survey object in the different distance scope, the type of first, second and third detector can be the same or different, and all can be selected from pir sensor, sonar or radar.
Steering control device 407 is connected with treater 403 signals, is used for vehicle is carried out automatic Pilot control, such as carrying out automatic retarding or emergency braking etc.
The content of the treater 303 that treater 403 is described in having embodiment 3, also be used for according to the 3rd detectable signal control steering control device 407, carry out deceleration and/or the brake operating of vehicle, and according to the 3rd detectable signal generation third stage alarm command, produce corresponding actuation of an alarm to trigger each warning device.
In other embodiments, treater also can only trigger steering control device when low coverage is surveyed, and not trigger alarm device and image collecting device, perhaps trigger steering control device and image collecting device when low coverage is surveyed, the operation that specifically triggers which type under various detection ranges can arrange flexibly according to actual conditions.
In other embodiments, the detector of middle distance and low coverage can only be set also, perhaps arranging more, multiple spurs needs only and can produce detectable signal according to corresponding detection range from the detector of scope.
The embodiment of a kind of embodiment of vehicle drive assisting method and above-mentioned device for assisting drive of vehicle is corresponding among the application, and step comprises:
Step 41-45 is identical with step 31-35 among the embodiment 3, repeats no more;
Step 46, obtain the low coverage detectable signal (the 3rd detectable signal) that the detector that is installed in vehicle front produces;
Step 47, produce third stage alarm command according to the low coverage detectable signal, trigger the sound that audible alarm unit sends third stage intensity, trigger the vibrations that the vibrations warning device produces third stage intensity, and the control steering control device is carried out deceleration and/or the brake operating of vehicle.
In the present embodiment, by the classifying alarm that the detector with three class survey distances segments more, can better help the driver that situation is carried out classification judgement and processing, improve safety performance.
More than use specific case principle of the present invention and embodiment are set forth, should be appreciated that, above embodiment just is used for helping to understand the present invention, and should not be construed as limitation of the present invention.For one of ordinary skill in the art, according to thought of the present invention, can change the above-mentioned specific embodiment.
Claims (10)
1. a device for assisting drive of vehicle is characterized in that, comprising:
The first detector is used for surveying the object in the first distance range, and produces corresponding the first detectable signal;
The first image collecting device is used for gathering image, and produces corresponding view data;
Treater, with the first detector be connected the image collecting device signal and be connected, be used for controlling the first image collecting device according to the first detectable signal and begin to gather image.
2. equipment as claimed in claim 1 is characterized in that:
The first image collecting device adopts multispectral camera, and the sensitive chip of described multispectral camera is responded to infrared and visible light simultaneously, and the view data of generation is the data of the superimposed image of infrared image and visible images; Described treater also is used for receiving and exporting the data of described superimposed image; Perhaps,
The first image collecting device adopts infrared camera, and the view data of generation is the data of infrared image; Described equipment also comprises the second image collecting device, is used for gathering visible images, and produces the data of visible images; Described treater also is connected with the second image collecting device signal, and also be used for controlling the second image collecting device according to the first detectable signal and begin to gather image, and the data of the infrared image that the first and second image collecting devices are produced and visible images are carried out overlap-add procedure and are exported the data of corresponding superimposed image.
3. equipment as claimed in claim 2 is characterized in that, also comprises:
Read out instrument is connected with described processor signal, carries out image for the data of the superimposed image of exporting according to described treater and shows.
4. such as the described equipment of claim 1-3 any one, it is characterized in that: also comprise the warning device that is connected with described processor signal,
The first detector also is used for surveying the object in the second distance scope, and produces corresponding the second detectable signal, and the second distance scope is greater than the first distance range; Perhaps, described equipment also comprises the second detector, is connected with described processor signal, is used for surveying the object in the second distance scope, and produces corresponding the second detectable signal;
Described treater also is used for producing first order alarm command according to the second detectable signal, and first order alarm command is used for triggering described warning device and produces corresponding actuation of an alarm.
5. equipment as claimed in claim 4 is characterized in that: described warning device is audible alarm unit and/or vibrations warning device,
Described audible alarm unit is used for sending according to the first order alarm command sound of first order intensity,
Described vibrations warning device is used for producing according to the first order alarm command vibrations of first order intensity.
6. equipment as claimed in claim 5 is characterized in that:
Described treater also is used for producing second stage alarm command according to the first detectable signal,
Described audible alarm unit also is used for sending according to the second stage alarm command sound of second stage intensity, and the sound of second stage intensity is greater than the sound of first order intensity,
Described vibrations warning device also is used for producing according to the second stage alarm command vibrations of second stage intensity, and the vibrations of second stage intensity are greater than the vibrations of first order intensity.
7. equipment as claimed in claim 4 is characterized in that: also comprise the steering control device that is connected with described processor signal,
The first detector also is used for surveying the object in the 3rd distance range, and produces corresponding the 3rd detectable signal, and the 3rd distance range is less than the first distance range; Perhaps, described equipment also comprises the 3rd detector, is connected with described processor signal, is used for surveying the object in the 3rd distance range, and produces corresponding the 3rd detectable signal;
Described treater also is used for controlling described steering control device according to the 3rd detectable signal, carries out deceleration and/or the brake operating of vehicle.
8. equipment as claimed in claim 6 is characterized in that:
The first detector also is used for surveying the object in the 3rd distance range, and produces corresponding the 3rd detectable signal, and the 3rd distance range is less than the first distance range; Perhaps, described equipment also comprises the 3rd detector, is connected with described processor signal, is used for surveying the object in the 3rd distance range, and produces corresponding the 3rd detectable signal;
Described treater also is used for producing third stage alarm command according to the 3rd detectable signal,
Described audible alarm unit also is used for sending according to the third stage alarm command sound of third stage intensity, and the sound of third stage intensity is greater than the sound of second stage intensity,
Described vibrations warning device also is used for producing according to the third stage alarm command vibrations of third stage intensity, and the vibrations of third stage intensity are greater than the vibrations of second stage intensity.
9. such as claim 5,6,8 described equipment, it is characterized in that: described vibrations warning device has the shape suitable with the bearing circle of vehicle, is used for being installed in surface of steering wheel.
10. equipment as claimed in claim 4 is characterized in that, the first and second detectors are selected from: infrared thermal releasing sensor, sonar, radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220277119 CN202703402U (en) | 2012-06-13 | 2012-06-13 | Auxiliary device for automobile driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220277119 CN202703402U (en) | 2012-06-13 | 2012-06-13 | Auxiliary device for automobile driving |
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| Publication Number | Publication Date |
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| CN202703402U true CN202703402U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220277119 Withdrawn - After Issue CN202703402U (en) | 2012-06-13 | 2012-06-13 | Auxiliary device for automobile driving |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700472A (en) * | 2012-06-13 | 2012-10-03 | 博立码杰通讯(深圳)有限公司 | Equipment and method for assisting in vehicle driving |
| CN103568966A (en) * | 2013-10-30 | 2014-02-12 | 富卓汽车内饰（安徽）有限公司 | Internal rear-view mirror of motor vehicle |
| CN104477123A (en) * | 2014-12-25 | 2015-04-01 | 东风汽车公司 | Intelligent and auxiliary connected drive early warning control method for automobile |
| CN105197108A (en) * | 2015-01-14 | 2015-12-30 | 河海大学常州校区 | Multi-objective direction-finding system and method based on automotive drive assistant system |
-
2012
- 2012-06-13 CN CN 201220277119 patent/CN202703402U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700472A (en) * | 2012-06-13 | 2012-10-03 | 博立码杰通讯(深圳)有限公司 | Equipment and method for assisting in vehicle driving |
| CN102700472B (en) * | 2012-06-13 | 2015-04-15 | 博立码杰通讯(深圳)有限公司 | Equipment and method for assisting in vehicle driving |
| CN103568966A (en) * | 2013-10-30 | 2014-02-12 | 富卓汽车内饰（安徽）有限公司 | Internal rear-view mirror of motor vehicle |
| CN103568966B (en) * | 2013-10-30 | 2016-06-22 | 富卓汽车内饰（安徽）有限公司 | A kind of internal rear-view mirror of motor vehicle |
| CN104477123A (en) * | 2014-12-25 | 2015-04-01 | 东风汽车公司 | Intelligent and auxiliary connected drive early warning control method for automobile |
| CN105197108A (en) * | 2015-01-14 | 2015-12-30 | 河海大学常州校区 | Multi-objective direction-finding system and method based on automotive drive assistant system |
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