CN203753005U - Lane departure warning device - Google Patents
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- CN203753005U CN203753005U CN201320736002.8U CN201320736002U CN203753005U CN 203753005 U CN203753005 U CN 203753005U CN 201320736002 U CN201320736002 U CN 201320736002U CN 203753005 U CN203753005 U CN 203753005U
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Abstract
本实用新型提供了一种车道偏离预警装置，属于汽车电子技术领域。它解决了现有技术中估算预计偏离正常行驶车道的时间进行报警，存在很大的误差，存在一定的局限性的问题。本装置包括微处理器、用于发送车速信号的车速传感器以及至少两个设置在车辆左右两边用于分别获取车辆左右两边道路图像信息的摄像头，车速传感器、整车控制器和摄像头分别连接微处理器的输入端，微处理器输出端连接有用于发出警报的警报单元，微处理器判断图像信息中有车道标志线且车辆到车道标志线最近边沿的距离在当前预警区域内，微处理器控制警报单元发出警报。本装置能够在车辆偏离当前正常行驶车道前进行预先报警，并且不受前方车辆的影响。
The utility model provides a lane departure warning device, which belongs to the technical field of automobile electronics. It solves the problem in the prior art that there is a large error and certain limitations in estimating the expected time for departing from the normal driving lane and giving an alarm. The device includes a microprocessor, a vehicle speed sensor for sending a vehicle speed signal, and at least two cameras arranged on the left and right sides of the vehicle for respectively obtaining road image information on the left and right sides of the vehicle. The vehicle speed sensor, the vehicle controller and the camera are respectively connected to the microprocessor The input terminal of the microprocessor is connected with an alarm unit for issuing an alarm. The microprocessor judges that there is a lane marking line in the image information and the distance from the vehicle to the nearest edge of the lane marking line is within the current warning area. The microprocessor controls The alarm unit sounds an alarm. The device can give an early warning before the vehicle deviates from the current normal driving lane, and is not affected by the vehicle in front.
Description
Technical field
The utility model belongs to technical field of automotive electronics, relates to a kind of lane departure warning device.
Background technology
At present, along with the increase of automobile pollution, increasing people selects the vehicle of automobile as trip, this just makes the automobile amount on road increase, therefore road traffic accident also increases thereupon, the traffic accident wherein especially causing with deviation, can cause huge loss to people's life and property safety.In the time of Vehicle Driving Cycle, there is fatigue driving or absent minded in chaufeur, easily causes careless chien shih vehicle to depart from the track of normally travelling; In the time of high vehicle speeds, also can there is unconscious departing from vehicle.In the time that vehicle departs from the track of normally travelling, easily cause and the collision happens on side, there is serious potential safety hazard.
For this reason, a kind of lane deviation alarm device that the disclosed patent No. of Chinese patent literature is 201120254113.6, comprise master controller, CAN bus interface, vehicle-state perceptron, CCD camera, image acquisition device, annunciator, memory device, the several parts of mobile unit interface, master controller is connected with CAN bus interface, vehicle-state perceptron, image acquisition device, annunciator, memory device, mobile unit interface respectively, and CCD camera is connected with image acquisition device.This device can detect the traffic lane line of vehicle front by CCD camera, and according to Vehicular status signal judge vehicle be whether people for departing from normal traveling lane, and estimation expectation time of departing from normal traveling lane, give the alarm in time.The weak point that this device exists is, this device detects the traffic lane line of vehicle front, in the time that there is vehicle in front, this device does not just have effect, and this device is that estimation estimates that the time of departing from normal traveling lane reports to the police, have very large error, therefore this device has some limitations.
Summary of the invention
There are the problems referred to above for existing technology in the utility model, has proposed a kind of lane departure warning device, and this lane departure warning device can be reported to the police in advance before vehicle departs from current normal traveling lane, and is not subject to the impact of front vehicles.
The utility model is realized by following technical proposal: a kind of lane departure warning device, it is characterized in that, this device comprises microprocessor, be arranged on left and right vehicle wheel both sides for obtaining respectively the camera of left and right vehicle wheel both sides road image information for sending the car speed sensor of vehicle speed signal and at least two, described car speed sensor and camera are connected respectively the input end of microprocessor, described output end of microprocessor is connected with the alarm unit for giving the alarm, described microprocessor receives in real time the vehicle speed signal of car speed sensor transmission and in the time judging that the speed of a motor vehicle exceedes certain value, enters modes of warning, described microprocessor is preset with several corresponding prewarning areas according to the different speed of a motor vehicle under modes of warning, described microprocessor receives the graphicinformation that camera obtains and processes judgement under modes of warning, when judge in graphicinformation, have traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, microprocessor control alarm unit gives the alarm.
The road image information on camera Real-time Obtaining left and right vehicle wheel both sides sends to microprocessor.The vehicle speed signal that microprocessor receives car speed sensor transmission in real time obtains the speed of a motor vehicle when vehicle in front, and when the current vehicle speed of microprocessor judges is greater than certain value, microprocessor enters modes of warning.Under modes of warning, microprocessor is preset with several prewarning areas according to the different speed of a motor vehicle.Prewarning area refer to both sides, current normal vehicle operation track traffic lane line near the nearest edge of vehicle the region toward extension one segment distance, under modes of warning, the prewarning area of the larger correspondence of the speed of a motor vehicle is larger, and namely traffic lane line is longer toward the distance of extension near the nearest edge of vehicle.Under modes of warning, the road image information that microprocessor starts camera to obtain is processed judgement, when microprocessor judges go out to have in road graphicinformation traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, microprocessor control alarm unit gives the alarm.
In above-mentioned lane departure warning device, described microprocessor input end is connected with the car body controller for sending steering indicating light opening and closing signal, described microprocessor modes of warning judge vehicle to the distance at the nearest edge of traffic lane line in current prewarning area and receive steering indicating light start signal, control alarm unit and do not give the alarm.Played steering indicating light when chaufeur, shown that chaufeur preparation becomes track, even if now vehicle is in prewarning area, microprocessor is not controlled alarm unit yet and is given the alarm, and avoids bothering chaufeur lane change.
In above-mentioned lane departure warning device, described microprocessor successively receives steering indicating light start signal and the steering indicating light closing signal that car body controller sends continuously, controls alarm unit in a period of time and does not give the alarm.Chaufeur has been played steering indicating light and has been reversed immediately, microprocessor will successively receive steering indicating light start signal and the steering indicating light closing signal that car body controller sends continuously, show that chaufeur may have the intention that becomes track, now microprocessor is not controlled alarm unit and is given the alarm within a period of time, facilitates chaufeur Self-operating.
In above-mentioned lane departure warning device, described microprocessor input end is connected with the entire car controller for sending Vehicular yaw cireular frequency, when the current Vehicular yaw cireular frequency of described microprocessor judges is greater than certain value, controls alarm unit in a period of time and do not give the alarm.Vehicular yaw cireular frequency is greater than certain value, shows that chaufeur is the conscious normal traveling lane that departs from, and because chaufeur is known oneself operation, therefore now microprocessor is not controlled the alarm unit prompting that gives the alarm.
In above-mentioned lane departure warning device, described microprocessor input end is connected with at least two for obtaining respectively the camera of vehicle fore-and-aft direction road image information.At vehicle fore-and-aft direction, camera is set, can conveniently obtains the vehicle condition of vehicle fore-and-aft direction, in the time that chaufeur is wondered front and back vehicle condition, can check the graphicinformation that front camera and rear camera obtains, facilitate chaufeur to drive.
In above-mentioned lane departure warning device, described output end of microprocessor is connected with the read-out for showing the graphicinformation that camera obtains.Read-out displays image information can facilitate chaufeur to get more information about current vehicle condition.
In above-mentioned lane departure warning device, described microprocessor input end is connected with the switching push button for switching read-out displaying contents, in described microprocessor judges graphicinformation, have traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, sending present image information shows to read-out, when microprocessor now receives the signal that switching push button sends, microprocessor control read-out shows the graphicinformation that all cameras obtain.Under modes of warning, vehicle enters prewarning area, microprocessor sends to read-out to show the graphicinformation of obtaining when vehicle in front left side camera or the right camera, want to check peripheral path situation when chaufeur and can press switching push button, the graphicinformation that microprocessor obtains all cameras sends to read-out to show.
In above-mentioned lane departure warning device, described alarm unit comprises loud speaker, for driving loud speaker to send the speech chip of voice and being arranged on the indicator lamp on meter panel of motor vehicle, described loud speaker connects speech chip, and described speech chip and indicator lamp are connected respectively the mouth of microprocessor.Speech chip receives the control signal that microprocessor sends, and control loudspeaker sends voice message.The control signal that indicator lamp receives microprocessor transmission lights prompting.In practical operation, the combination that indicator lamp or speech chip and loud speaker can be set is separately pointed out.Indicator lamp result of use together with loud speaker is better.
Compared with prior art, this lane departure warning device has the following advantages:
1, the utility model can be reported to the police in advance before vehicle departs from current normal traveling lane, and is not subject to the impact of front vehicles.
2, the utility model is preset with the prewarning area of different sizes according to the speed of a motor vehicle, makes the utlity model has more failure-free warning function, and practicality is stronger.
3, the utility model is provided with read-out, shows the distance of current vehicle to traffic lane line in the time that vehicle enters prewarning area, and can show the road condition of vehicle-surroundings, makes chaufeur can get more information about current vehicle condition.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
In figure, 1, microprocessor; 2, car speed sensor; 3, make a video recording first; 4, camera two; 5, camera three; 6, camera four; 7, car body controller; 8, entire car controller; 9, read-out; 10, switching push button; 11, speech chip; 12, loud speaker; 13, indicator lamp.
Detailed description of the invention
Be below specific embodiment of the utility model by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
As shown in Figure 1, this lane departure warning device, comprise microprocessor 1, be arranged on left and right vehicle wheel both sides for obtaining respectively the camera of left and right vehicle wheel both sides road image information for sending the car speed sensor 2 of vehicle speed signal and at least two, car speed sensor 2 and camera are connected respectively the input end of microprocessor 1.Be total up to two as preferred vehicle the right and left camera, be respectively shooting first 3 and camera 24, make a video recording and first 3 be arranged on vehicle left-hand mirror lower edge, at a certain angle towards vehicle left side road, camera 24 is arranged on the right back visor of vehicle lower edge, at a certain angle towards vehicle the right road.Microprocessor 1 input end is also connected with at least two for obtaining respectively the camera of vehicle fore-and-aft direction road image information, as preferably, the camera that obtains vehicle fore-and-aft direction road image information is total up to two, is respectively and is arranged on vehicle headstock towards the camera 35 of vehicle front road and is arranged on vehicle trunk the camera 46 towards rear view of vehicle road.
Microprocessor 1 input end is also connected with car body controller 7 for sending steering indicating light opening and closing signal, for sending the entire car controller 8 of Vehicular yaw cireular frequency and for switching the switching push button 10 of read-out 9 displaying contents.Microprocessor 1 mouth is connected with the alarm unit for giving the alarm, alarm unit comprises loud speaker 12, for driving loud speaker 12 to send the speech chip 11 of voice and being arranged on the indicator lamp 13 on meter panel of motor vehicle, loud speaker 12 connects speech chip 11, and speech chip 11 and indicator lamp 13 are connected respectively the mouth of microprocessor 1.Microprocessor 1 mouth is also connected with the read-out 9 for showing the graphicinformation that camera obtains.Microprocessor 1 vehicle speed signal that reception car speed sensor 2 sends in real time also enters modes of warning in the time judging that the speed of a motor vehicle exceedes certain value, and microprocessor 1 is preset with several corresponding prewarning areas according to the different speed of a motor vehicle under modes of warning.Microprocessor 1 under modes of warning, receives shooting first 3 and the graphicinformation obtained of camera 24 is processed judgement, when judge in graphicinformation, have traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, microprocessor 1 is controlled alarm unit and is given the alarm, send present image information shows to read-out 9 simultaneously, when microprocessor 1 now receives the signal that switching push button 10 sends, microprocessor 1 is controlled the graphicinformation that read-out 9 shows that all cameras obtain.Microprocessor 1 modes of warning judge vehicle to the distance at the nearest edge of traffic lane line in current prewarning area and receive steering indicating light start signal, control alarm unit and do not give the alarm.Microprocessor 1 successively receives steering indicating light start signal and the steering indicating light closing signal that car body controller 7 sends continuously, controls alarm unit in a period of time and does not give the alarm; Microprocessor 1 judges when current Vehicular yaw cireular frequency is greater than certain value, and as preferably, this definite value is 30deg/s, and microprocessor 1 is controlled alarm unit in a period of time and do not given the alarm.
Below principle of work of the present utility model:
In the time of normal vehicle operation, make a video recording first 3 and the road image information on camera 24 Real-time Obtaining left and right vehicle wheel both sides send to microprocessor 1, microprocessor 1 vehicle speed signal that reception car speed sensor 2 sends in real time obtains the speed of a motor vehicle when vehicle in front simultaneously, microprocessor 1 judges when current vehicle speed is greater than certain value, microprocessor 1 enters modes of warning, as preferably, this definite value is 60km/h, because the speed of a motor vehicle is when below 60km/h, vehicle departs from, chaufeur can have the enough reaction time to avoid occurring the generation of traffic accident, the speed of a motor vehicle this device more than 60km/h just carries out early warning.Under modes of warning, microprocessor 1 is preset with several prewarning areas according to the different speed of a motor vehicle, prewarning area refer to both sides, current normal vehicle operation track traffic lane line near the nearest edge of vehicle the region toward extension one segment distance, under modes of warning, the prewarning area of the larger correspondence of the speed of a motor vehicle is larger, namely traffic lane line is longer toward the distance of extension near the nearest edge of vehicle, as preferably, some prewarning areas are three, be respectively traffic lane line near the nearest edge of vehicle the region toward extension 10cm; Traffic lane line is the region toward extension 20cm near the nearest edge of vehicle; Traffic lane line is the region toward extension 30cm near the nearest edge of vehicle.They respectively the corresponding speed of a motor vehicle be 60km/h to 80km/h, 80km/h to 100km/h and the speed of a motor vehicle be greater than 100km/h.In practical operation, both sides, current normal vehicle operation track traffic lane line is increased in three prewarning areas toward the region of extension 30cm away from vehicle edge farthest.
When vehicle speed is more than 60km/h, microprocessor 1 enters modes of warning, below select current vehicle speed be 60km/h between 80km/h, corresponding prewarning area the is region toward extension 10cm that is traffic lane line near the nearest edge of vehicle, carries out the introduction to this device workflow.
Current vehicle speed be 60km/h between 80km/h, now microprocessor 1 started to make a video recording first 3 and the road image information obtained of camera 24 process judgement.When vehicle departs from current track of normally travelling, only have two kinds may be to left avertence or to right avertence.Vehicle is to left avertence, microprocessor 1 judge in the vehicle left side road image information that shooting first 3 sends, have traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, namely vehicle is less than 10cm to the distance at the nearest edge of traffic lane line, and when microprocessor 1 does not receive yaw velocity that steering indicating light start signal that car body controller 7 sends and microprocessor 1 judge that entire car controller 8 sends and is less than 30deg/s, show that this is that chaufeur is unconscious and departs from current track of normally travelling, now microprocessor 1 transmits control signal and drives loud speaker 12 to send the voice message that vehicle departs to the left side, track to speech chip 11, and microprocessor 1 is controlled indicator lamp 13 and is lighted prompting.
Prewarning area and current normal vehicle operation track left lane markings away from vehicle edge farthest in the region of extension 30cm, microprocessor 1 control loudspeaker 12 continues to send voice alarm and indicator lamp 13 continues to light, while microprocessor 1 offers read-out 9 by the first shooting 3 road image information that send and shows, so just can before vehicle departs from current normal traveling lane, report to the police in advance, make chaufeur have the enough reaction time that vehicle is gone back to track or other operations.When vehicle is in prewarning area, chaufeur wants to understand the vehicle vehicle condition of periphery all around, can press switching push button 10, now, the vehicle that microprocessor 1 obtains first 3 shooting, camera 24, camera 35 and camera 46 road image all around offers read-out 9 and shows, chaufeur can be fullyed understand when vehicle in front vehicle condition, facilitate chaufeur to carry out the operation to vehicle.
Vehicle is to right avertence, differently during to left avertence from above-mentioned vehicle be, microprocessor 1 judge in vehicle the right road image information that camera 24 sends, have traffic lane line and vehicle to the distance at the nearest edge of traffic lane line in current prewarning area, loud speaker 12 sends the voice message that vehicle departs to the right, track, prewarning area and current normal vehicle operation track the right traffic lane line away from vehicle edge farthest the region toward extension 30cm, microprocessor 1 control loudspeaker 12 continues to send voice alarm and indicator lamp 13 continues to light, read-out 9 shows the road image information that camera 24 obtains, other principle of work and flow process are with above-mentioned identical.
In the time of Vehicle Driving Cycle, chaufeur has been played steering indicating light and has been reversed immediately, microprocessor 1 will successively receive steering indicating light start signal and the steering indicating light closing signal that car body controller 7 sends continuously, show that chaufeur may have the intention that becomes track, now microprocessor 1 within a period of time not control loudspeaker 12 send voice alarm and indicator lamp 13 lights prompting, facilitating chaufeur Self-operating, as preferably, is 2 seconds during this period of time; Microprocessor 1 judges when current Vehicular yaw cireular frequency is greater than certain value, as preferably, this definite value is 30deg/s, in 1 a period of time of microprocessor, control loudspeaker 12 does not send voice alarm and indicator lamp 13 does not light prompting, as preferably, be 2.5 seconds during this period of time, Vehicular yaw cireular frequency is greater than 30deg/s, show that chaufeur is the conscious normal traveling lane that departs from, because chaufeur is known oneself operation, therefore now microprocessor 1 not control loudspeaker 12 send voice alarm and indicator lamp 13 lights prompting.
In practical operation, can near room mirror place, a read-out 9 be set at vehicle front windshield and complete separately demonstration work or complete separately demonstration work by the original read-out of GPS module, also the read-out 9 arranging and two cooperations of the original read-out of GPS module can be realized.The read-out 9 arranging work independently or the principle that completes separately demonstration work by the original read-out of GPS module as shown in foregoing.Two cooperations of the read-out 9 arranging and the original read-out of GPS module realize, the read-out 9 arranging shows the road image information that shooting first 3 or camera 24 obtain, chaufeur is pressed after switching push button 10, the vehicle that the original read-out of GPS module shows that shooting is first 3, camera 24, camera 35 and camera 46 obtain road image all around.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendments or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Although more used microprocessor 1, car speed sensor 2 herein, the term such as first 3, the camera 24 of making a video recording, camera 35, camera 46, car body controller 7, entire car controller 8, read-out 9, switching push button 10, speech chip 11, loud speaker 12, indicator lamp 13, do not get rid of the possibility that uses other term.Use these terms to be only used to describe more easily and explain essence of the present utility model; They are construed to any additional restriction is all contrary with the utility model spirit.
Claims (8)
1. a lane departure warning device, it is characterized in that, this device comprises microprocessor (1), be arranged on left and right vehicle wheel both sides for obtaining respectively the camera of left and right vehicle wheel both sides road image information for sending the car speed sensor (2) of vehicle speed signal and at least two, described car speed sensor (2) and camera are connected respectively the input end of microprocessor (1), described microprocessor (1) mouth is connected with the alarm unit for giving the alarm, described microprocessor (1) is for receiving in real time the vehicle speed signal of car speed sensor (2) transmission and entering modes of warning and be preset with several corresponding prewarning areas according to the different speed of a motor vehicle in the time that the speed of a motor vehicle exceedes certain value under modes of warning, described microprocessor (1) also for receiving graphicinformation that camera obtains and having traffic lane line and vehicle to transmit control signal in current prewarning area and control alarm unit and give the alarm to the distance at the nearest edge of traffic lane line in graphicinformation under modes of warning.
2. lane departure warning device according to claim 1, is characterized in that, described microprocessor (1) input end is connected with the car body controller (7) for sending steering indicating light opening and closing signal.
3. lane departure warning device according to claim 2, it is characterized in that, described microprocessor (1) successively receives steering indicating light start signal and the steering indicating light closing signal that car body controller (7) sends continuously, controls alarm unit in a period of time and does not give the alarm.
4. lane departure warning device according to claim 1, is characterized in that, described microprocessor (1) input end is connected with the entire car controller (8) for sending Vehicular yaw cireular frequency.
5. lane departure warning device according to claim 3, is characterized in that, described microprocessor (1) input end is connected with at least two for obtaining respectively the camera of vehicle fore-and-aft direction road image information.
6. lane departure warning device according to claim 5, is characterized in that, described microprocessor (1) mouth is connected with the read-out (9) for showing the graphicinformation that camera obtains.
7. lane departure warning device according to claim 6, is characterized in that, described microprocessor (1) input end is connected with the switching push button (10) for switching read-out (9) displaying contents.
8. lane departure warning device according to claim 1, it is characterized in that, described alarm unit comprises loud speaker (12), for driving loud speaker (12) to send the speech chip (11) of voice and being arranged on the indicator lamp (13) on meter panel of motor vehicle, described loud speaker (12) connects speech chip (11), and described speech chip (11) and indicator lamp (13) are connected respectively the mouth of microprocessor (1).
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| CN201320736002.8U CN203753005U (en) | 2013-11-19 | 2013-11-19 | Lane departure warning device |
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| CN201320736002.8U CN203753005U (en) | 2013-11-19 | 2013-11-19 | Lane departure warning device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104574816A (en) * | 2014-12-24 | 2015-04-29 | 山东新大洋电动车有限公司 | Anti-fatigue driving system for electric automobile |
| CN105620477A (en) * | 2014-10-28 | 2016-06-01 | 奇瑞汽车股份有限公司 | Lane departure early warning control method for vehicle |
| CN106043314A (en) * | 2016-06-28 | 2016-10-26 | 杭州它石车联网数据中心有限公司 | Lane departure warning method and device based on vibration of steering wheel |
| CN106564426A (en) * | 2015-10-09 | 2017-04-19 | 腾讯科技（深圳）有限公司 | Method and device for prompting information |
| CN107697154A (en) * | 2017-08-30 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Steering angle correcting method, electronic power assist steering system and vehicle |
| CN107792068A (en) * | 2016-09-06 | 2018-03-13 | 德尔福技术有限公司 | Automated vehicle lane changing control system |
| CN107818609A (en) * | 2017-10-16 | 2018-03-20 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle drive recorder and vehicle |
| CN109017813A (en) * | 2018-06-14 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of deviation alarm method and device |
| CN109572557A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of driving assistance method and its system of guidance driving |
| CN109781131A (en) * | 2019-03-14 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Navigation induction method, device, navigator and readable storage medium |
| CN112277941A (en) * | 2020-10-29 | 2021-01-29 | 深圳市元征科技股份有限公司 | Vehicle deviation early warning method, device, equipment and storage medium |
| CN112829678A (en) * | 2015-05-18 | 2021-05-25 | 御眼视觉技术有限公司 | Method and system for processing reports received from vehicles |
| CN113060067A (en) * | 2021-04-07 | 2021-07-02 | 深圳市大班长科技有限公司 | Early warning method and device for automobile deviating from lane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105620477A (en) * | 2014-10-28 | 2016-06-01 | 奇瑞汽车股份有限公司 | Lane departure early warning control method for vehicle |
| CN105620477B (en) * | 2014-10-28 | 2018-06-29 | 奇瑞汽车股份有限公司 | A kind of lane departure warning control method of vehicle |
| CN104574816A (en) * | 2014-12-24 | 2015-04-29 | 山东新大洋电动车有限公司 | Anti-fatigue driving system for electric automobile |
| CN112829678B (en) * | 2015-05-18 | 2021-11-02 | 御眼视觉技术有限公司 | Method and system for processing reports received from vehicles |
| CN112829678A (en) * | 2015-05-18 | 2021-05-25 | 御眼视觉技术有限公司 | Method and system for processing reports received from vehicles |
| CN106564426A (en) * | 2015-10-09 | 2017-04-19 | 腾讯科技（深圳）有限公司 | Method and device for prompting information |
| CN106043314A (en) * | 2016-06-28 | 2016-10-26 | 杭州它石车联网数据中心有限公司 | Lane departure warning method and device based on vibration of steering wheel |
| CN107792068B (en) * | 2016-09-06 | 2020-04-21 | 安波福技术有限公司 | Automated Vehicle Lane Change Control System |
| CN107792068A (en) * | 2016-09-06 | 2018-03-13 | 德尔福技术有限公司 | Automated vehicle lane changing control system |
| CN107697154A (en) * | 2017-08-30 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Steering angle correcting method, electronic power assist steering system and vehicle |
| CN107697154B (en) * | 2017-08-30 | 2019-11-22 | 宝沃汽车（中国）有限公司 | Steering angle correcting method, electronic power assist steering system and vehicle |
| CN107818609A (en) * | 2017-10-16 | 2018-03-20 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle drive recorder and vehicle |
| CN109017813A (en) * | 2018-06-14 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of deviation alarm method and device |
| CN109572557A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of driving assistance method and its system of guidance driving |
| CN109781131A (en) * | 2019-03-14 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Navigation induction method, device, navigator and readable storage medium |
| CN112277941A (en) * | 2020-10-29 | 2021-01-29 | 深圳市元征科技股份有限公司 | Vehicle deviation early warning method, device, equipment and storage medium |
| CN113060067A (en) * | 2021-04-07 | 2021-07-02 | 深圳市大班长科技有限公司 | Early warning method and device for automobile deviating from lane |
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