CN204978641U - Car turn safety auxiliary device - Google Patents
Car turn safety auxiliary device Download PDFInfo
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- CN204978641U CN204978641U CN201520533657.4U CN201520533657U CN204978641U CN 204978641 U CN204978641 U CN 204978641U CN 201520533657 U CN201520533657 U CN 201520533657U CN 204978641 U CN204978641 U CN 204978641U
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Abstract
The utility model relates to a car turn safety auxiliary device, including on -vehicle computer control module and rather than the angle sensing module that links to each other, vertically find range sensing module, vehicle speed sensor module, automotive power module, car braking module and reputation warning module, on -vehicle computer control module is acquireing car self turn state in real time after rather than peripheral situation information, through calculating prediction car route and the peripheral pedestrian or the object information of distance recently, judges that whether the car will probably reach danger degree with pedestrian or other objects bump, if the discovery has the risk of collision, take to suspend safety measure such as automotive power and urgent band -type brake immediately automatically to send guard signals such as reputation to driver and pedestrian, ensure personnel, car and peripheral safety. This system both the mountable on the internal -combustion engine is the various automobiles of power, can also be applied to various electric automobile and multiple engineering machinery on, application prospect is extensive, the real -time is good, easily realizes, installation cost is low, the easy popularization.
Description
Technical field
The present invention relates to field of automobile safety, particularly a kind of automobile turning safety aid.
Background technology
Automobile has become the important walking-replacing tool of people's trip, and annual all in growth.But its safety becomes the problem that we have to pay close attention to and consider, particularly when automobile turning, the existence of interior foreign steamer difference, make the people or the thing that originally there are a segment distance with automobile, may be scraped by automobile postmedian and even be rolled, the especially full-sized car of long wheelbase, as bus etc., when they are turned, trailing wheel inward side miles of relative movement more greatly, more dangerous.
Every day peak load conditions on and off duty, because flow of the people, various vehicle flowrate are extremely large, everybody catches up with or to go to school on time or to go home earlier, often these time, wait the crowd, bicycle race, Electrical Bicycle etc. that go across the road at crossing etc., usually do not arrive red light when changing green light into, just someone starts to move forward, is entirely ignorant of or to ignore the curved vehicle hazard of especially turning right of preparing to turn very big.Now, wait until once the automobile of current green light with great difficulty, also hurry on a journey forward forwardly.If driver attention is concentrated or other what reasons not, when causing its erroneous judgement and continue to turn with fast speed, the very large generation vehicle of possibility touches people, thrustes into, even rolls the pernicious traffic accidents such as pedestrian.
At present, not yet find that automobile is equipped with turning security ancillary system.Automobile turning safety assisting system of the present invention, exactly in order to improve, solving a kind of automobile safety system of automobile turning potential safety hazard and especial manufacture.This system by installing vehicle-mounted computer, angular transducer, distance measuring sensor and car speed sensor etc. on automobile, after the information such as self turn condition of Real-time Obtaining automobile and its surrounding condition, by information such as computational prediction vehicle running route and periphery closest ranges, by its vehicle-mounted control computer, judge at any time automobile whether by with passerby or other objects collide may and hazard level.If find that there is collision risk, automatically take immediately to interrupt the safety measure such as automobile power, urgent band-type brake, the alarm signals such as acousto-optic are sent to driver and passerby simultaneously, guarantee personnel, automobile and perimeter security.
Summary of the invention
In view of this, the object of this invention is to provide a kind of automobile turning safety aid, when vehicle is when turning, when vehicle-mounted computer control module finds that automobile may occur high-risk collision status with passerby or thing, automatically take in real time immediately to disconnect automobile power and emergency brake action, and automatically the alarm signals such as acousto-optic are sent to driver and passerby simultaneously, guarantee personnel, automobile and perimeter security, the present invention also can be applicable to the various walking construction machinery and equipments such as loader, excavating machine, roller, bulldozer, hoisting crane, fork truck.
The present invention adopts following scheme to realize: a kind of automobile turning safety aid, it is characterized in that: comprise a vehicle-mounted computer control module and coupled in order to obtain the angle sensor module of the rotational angle of vehicle steering or automobile steering roller, one in order to obtain sensing module of finding range with the longitudinal direction of the distance size of the nearest pedestrian in vehicle body left and right and object, one in order to obtain the speed of a motor vehicle sensing module of car speed, one in order to change the propulsive effort size of automobile and to interrupt the automobile power module of Automobile drive power, one in order to the automobile brake module of the braking force size and retro-speed that change automobile and an acousto-optic warning module, described angle sensor module comprises a plurality of angular transducer in order to measured automobiles steering angle size and coupled capture card, described longitudinally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card, described speed of a motor vehicle sensing module comprises a plurality of car speed sensor in order to measured automobiles velocity magnitude and coupled capture card, described distance measuring sensor, angular transducer and car speed sensor are connected with the input end of all coupled capture card, A/D conversion is carried out in order to the signal collected is inputed to described capture card, the mouth of described capture card is connected with described vehicle-mounted computer control module, and the signal after A/D conversion is inputed to described vehicle-mounted computer control module, in order to the range information according to real-time reception, angle information and speed information, described vehicle-mounted computer control module judges whether automobile can send with the passerby nearest apart from vehicle body and object and collides, if then control described automobile power module and automobile brake module realizes car deceleration and emergency braking, and control described acousto-optic warning module and send warning.
Preferably, described angle sensor passes through the rotational angle of measured automobiles bearing circle (steering column for vehicles) or automobile steering roller, carries out detecting and obtains automotive steering angle size; Described angular transducer system is also in order to measure the corner size of distance measuring sensor in described longitudinally range finding sensing module.
Further, on the left and right back mirror handle that at least each distance measuring sensor in described longitudinally range finding sensing module can be arranged at automobile head jointly together with a coupled drive motor or other protrusion of headstock, also can be arranged on the protrusion of automobile tail both sides; Described drive motor (or other engine installations) drives coupled distance measuring sensor around the vertical axis horizontal hunting of himself, the pedestrian nearest in order to detecting distance vehicle body left and right and object, obtains the distance size of vehicle body and described pedestrian and object.For ensureing that longitudinally range finding is reliably carried out, the sensor of turning side will according to turning degree, its engine installation is driven to drive it to turn over a corresponding angle (making this sensor towards pedestrian or object) by native system conputer controlled, and according to the fore-and-aft distance size of this angular dimension and this sensor and object, calculate the transverse distance from the nearest pedestrian of vehicle body, object and auto body.
Further, also comprise a transverse direction be connected with described vehicle-mounted computer control module to find range sensing module, described laterally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card, described distance measuring sensor is arranged at both sides on Automobile, the pedestrian nearest in order to detecting distance vehicle body transverse distance and object, obtain the transverse distance size of vehicle body and described pedestrian and object.This transverse direction range finding sensing module belongs to the supplementary module improving detecting reliability, the working condition that described laterally range finding sensing module also can not affect this system if do not arrange.
Further, described distance measuring sensor comprises range only radar sensor, laser range sensor, infrared distance measuring sensor, ultrasonic distance-measuring sensor and vision sensor.
Preferably, described car speed sensor passes through to detect arbitrary axle of automotive engine (drive motor) output shaft or change-speed box or the rotating speed of automobile driving axle (drive wheel) or automotive driven wheel, obtains car speed size.
Especially, described automobile power module realizes car deceleration and emergency braking by the propulsive effort size and drives interrupts power changing automobile, described propulsive effort both can be combustion engine, also can be other form power such as electrical motor, described car deceleration and emergency braking specifically comprise following methods and realize: regulate engine air throttle angular dimension, or regulate fuel charge (jet amount) size, or adjustment time of ignition, or interrupt igniting, or regulate motor drive current size, or adjustment transmission gear ratio, or allow power-transfer clutch depart from mode of operation immediately, or allow automobile be in neutral position state.Described automobile brake module realizes car deceleration and emergency braking by the braking force size and retro-speed changing automobile, and described brake power comprises pressure oil, calms the anger or electric power.
Further, described acousto-optic warning module comprises LED and loud speaker, and when described acousto-optic warning module sends warning, driver and pedestrian are reminded in described LED flicker, and described loud speaker gives the alarm and reminds driver and pedestrian.
Further, also comprise a read-out be connected with described vehicle-mounted computer control module, described read-out is arranged in automobile instrument panel, in order to show the deterministic process of described vehicle-mounted computer control module and judged result and goers outside vehicle and subject image.
Further, also comprise a memory module be connected with described vehicle-mounted computer control module, described memory module is hard disk, in order to store deterministic process and the judged result of described vehicle-mounted computer control module.
Further, also comprise a wireless network be connected with described vehicle-mounted computer control module and send and receiver module, in order to realize sending narration information when there is turning traffic accident from trend car owner and traffic management system.
Especially, vehicle-mounted computer control module in described automobile turning safety aid comprises hardware components and intelligent control program, when running car, the automobile turning that real-time reception angular transducer, distance measuring sensor, speed of a motor vehicle sensing mould device transmit, pedestrian or object and headstock or the tailstock and vehicle body distance and corresponding speed information, through the possibility size whether computational analysis automatic decision pedestrian or object can collide with automobile.When this turning security ancillary system judges to find that this automobile adopts the original speed of a motor vehicle along the turning path walking expected, likely when scratching passerby or object, slow down at once and in real time multiple warning signal passed to driver and pedestrian by the acousto-optic device be contained in inside and outside car; When this safety assisting system judges to find, when this automobile adopts the original speed of a motor vehicle along the turning path walking expected, when being bound to collide or roll passerby or object, interrupt automobile power and emergency brake at once, guarantee automobile and pedestrains safety, in real time multiple warning signal is passed to driver and pedestrian by the acousto-optic device be contained in inside and outside car simultaneously.
Wherein, this automobile turning safety aid is mainly according to rule and the control software design in advance in automobile turning degree and speed of a motor vehicle size, described vehicle-mounted computer, automatic driving is positioned at the fore-and-aft distance sensor motor of headstock (or tailstock portion) both sides or other engine installations make this sensor turn over certain angle around its vertical axis, the range signal of itself and pedestrian or the object that utilize longitudinal distance measuring sensor to obtain and its corner size, automatically calculate and judge that pedestrian or object can noly collide with automobile or possibility size; Meanwhile, the distance measuring sensor be arranged in the transverse direction range finding sensing module of Automobile side obtain with pedestrian or object and automobile side angle apart from information (optional) as a supplement, guarantee that signal is more accurately and reliably.
Compared with prior art, the present invention has the following advantages:
1) this turning security auxiliary device, whether the automobile turning that system can be utilized to obtain, passerby's range information etc., prejudge automobile and can collide and possibility size.
2) the vehicle-mounted computer control module of this turning security auxiliary device, can when judgement can collide danger, real-time intelligent intervenes automobile power and brake system, automobile power is interrupted and emergency brake at once, or minimizing power makes car deceleration etc., reaches the generation automatically avoided traffic accident.
Accompanying drawing explanation
Fig. 1 is device schematic block diagram of the present invention.
Fig. 2 is the installation site schematic diagram of system on automobile in the present invention.
Fig. 3 is by motor turning Predicting Performance Characteristics running route figure in the embodiment of the present invention.
Label declaration: 1 is distance measuring sensor, 2 longitudinally in range finding sensing sensing module be that distance measuring sensor laterally in range finding sensing sensing module, 3 reminds acousto-optic warning module, 5 to be automobile power module and automobile brake module for reminding acousto-optic warning module installation place, 4 in native system vehicle-mounted computer control module, read-out and car thereof for car lateral surface pedestrian.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention will be further described.
The present embodiment provides a kind of automobile turning safety aid, as depicted in figs. 1 and 2, comprise a vehicle-mounted computer control module 3 and coupled angle sensor module, longitudinally to find range sensing module, a speed of a motor vehicle sensing module, an automobile power module, an automobile brake module and an acousto-optic warning module; Described angle sensor module comprises a plurality of angular transducer in order to measured automobiles steering angle and fore-and-aft distance sensor corner size and coupled capture card; Described longitudinally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card; Described speed of a motor vehicle sensing module comprises a plurality of car speed sensor in order to measured automobiles velocity magnitude and coupled capture card; Described distance measuring sensor, angular transducer and car speed sensor are connected with the input end of all coupled capture card, A/D conversion is carried out in order to the signal collected is inputed to described capture card, the mouth of described capture card is connected with described vehicle-mounted computer control module, and the signal after A/D conversion is inputed to described vehicle-mounted computer control module; According to the range information of real-time reception, angle information and speed information, described vehicle-mounted computer control module judges that whether automobile the passerby nearest with distance vehicle body and object can send and collide, if then control described automobile power module and automobile brake module realizes car deceleration and emergency braking, and control described acousto-optic warning module and give the alarm;
In the present embodiment, described angular transducer, for detecting vehicle steering, steering column for vehicles or automobile steering roller corner, realizes detecting and obtaining automotive steering angle size; Described angular transducer system is also in order to measure the corner size of distance measuring sensor in described longitudinally range finding sensing module.
In the present embodiment, at least each distance measuring sensor 1 in described longitudinal direction range finding sensing module and engine installation thereof are installed on vehicle right and left back mirror handle (or protrusion of headstock both sides) or on the protrusion of car two sides of tail, the passerby nearest in order to detecting distance vehicle body or object and its distance, and combine this sensor rotation angle obtained, obtain the distance size of vehicle body and described passerby and object; Distance measuring sensor in described laterally range finding sensing module is arranged and both sides on Automobile, and the passerby nearest in order to detecting distance vehicle body transverse distance and object, supplement the distance size obtaining vehicle body and described passerby and object.Preferably, distance measuring sensor in described longitudinally range finding sensing module, correspondingly can turn over an angle around vertical axis with automobile turning degree and moving velocity, and will detect, obtain the distance size with the nearest pedestrian of automobile or object and this sensor.
In the present embodiment, also comprise a transverse direction be connected with described vehicle-mounted computer control module to find range sensing module, described laterally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card, described distance measuring sensor 2 is arranged at both sides on Automobile, the pedestrian nearest in order to detecting distance vehicle body transverse distance and object, obtain the transverse distance size of vehicle body and described pedestrian and object.This transverse direction range finding sensing module belongs to the supplementary module improving detecting reliability, the working condition that described laterally range finding sensing module also can not affect this system if do not arrange.
In the present embodiment, described distance measuring sensor comprises range only radar sensor, laser range sensor, infrared distance measuring sensor, ultrasonic distance-measuring sensor and vision sensor.
In the present embodiment, described car speed sensor, for detecting automotive engine (drive motor), a certain axle of change-speed box, axle drive shaft (drive wheel) or automotive driven wheel speed, obtains car speed size.
In the present embodiment, described automobile power module 5 realizes car deceleration by the propulsive effort size and drives interrupts power changing automobile, described propulsive effort both can be combustion engine, also can be other form power such as electrical motor, describedly realize car deceleration or interrupt power being specially and regulating engine air throttle angular dimension or regulate fuel charge (jet amount) size or regulate time of ignition or interrupt igniting or regulate motor drive current size or adjustment transmission gear ratio or allow power-transfer clutch depart from mode of operation immediately or to allow automobile be in neutral position state; Described automobile brake module 5 realizes car deceleration and emergency braking by the braking force size and retro-speed changing automobile, and described brake power comprises pressure oil, calms the anger or electric power.
In the present embodiment, described acoustic-optic alarm 4 comprises LED and loud speaker, and when an alert occurs, driver and pedestrian are reminded in described LED flicker, and described loud speaker gives the alarm and reminds driver and pedestrian.
In the present embodiment, also comprise a read-out be connected with described vehicle-mounted computer control module, described read-out is arranged in automobile instrument panel, in order to show deterministic process and the judged result of described vehicle-mounted computer control module.
In the present embodiment, also comprise a memory module be connected with described vehicle-mounted computer control module, described memory module is hard disk, in order to store deterministic process and the judged result of described vehicle-mounted computer control module, is convenient to driver and uses and manage in the future.
In the present embodiment, also comprise transmission and the receiver module of the wireless network (or cell phone) be connected with vehicle-mounted computer control module, during for there is turning traffic accident (as automobile dynamic system or brake system regulate malfunctioning time), send relevant information, signal etc. from trend car owner, traffic management system (traffic police) etc.
In the present embodiment, vehicle-mounted computer control module in described automobile turning safety assisting system comprises hardware components and intelligent control program, when running car, real-time reception angular transducer, distance measuring sensor, the automobile turning that speed of a motor vehicle sensing mould device transmits, the distance of the distance measuring sensor that pedestrian or object and headstock or the tailstock are arranged, distance measuring sensor corner size, pedestrian or object and be arranged at the distance (optional) of distance measuring sensor of automobile both sides, and corresponding speed information, through the possibility size whether computational analysis automatic decision pedestrian or object can collide with automobile.When this turning security ancillary system judges to find that this automobile adopts the original speed of a motor vehicle along the turning path walking expected, likely when scratching passerby or object, slow down at once and in real time multiple warning signal passed to driver and pedestrian by the acousto-optic device be contained in inside and outside car; When this safety assisting system judges to find, when this automobile adopts the original speed of a motor vehicle along the turning path walking expected, when being bound to collide or roll passerby or object, interrupt automobile power and emergency brake at once, guarantee automobile and pedestrains safety, in real time multiple warning signal is passed to driver and pedestrian by the acousto-optic device be contained in inside and outside car simultaneously.
Preferably, this automobile turning safety aid mainly according to described vehicle-mounted computer control module according to rule and automobile turning degree size and speed of a motor vehicle size in advance, automatic driving is positioned at longitudinal distance measuring sensor motor of headstock (or tailstock portion) both sides or other engine installations make this sensor turn over certain angle around its vertical axis, that obtained by longitudinal distance measuring sensor with pedestrian or object range signal and its corner size, and automatically to calculate with the distance size recorded by corner size and judge that pedestrian or object can noly collide or possibility size with automobile; Now, the distance measuring sensor be arranged in the transverse direction range finding sensing module of Automobile side obtain with pedestrian or object and automobile side angle apart from information as a supplement, guarantee that signal is accurately and reliably, Systematical control is errorless.
In the present embodiment, when being illustrated in figure 3 known automobile steering angle size, calculate the interior of automobile turning process front and back wheel and take turns poor schematic diagram, when wheelbase L, the wheelspan B of automobile and automobile steering angle δ known time, relevant parameters computing formula is as follows: Turning radius: R=L/ δ; The Turning radius of wheel in front-wheel: R1=(R-B/2)/cos α;
The Turning radius of wheel: R2=R-B/2 in trailing wheel; Trailing wheel moves inward distance when turning: △ R=R1-R2; Predict the driving trace of different corner automobile with this, and is combined with the motor vehicle environment things of detection, the possible and hazard level whether will collided with passerby or other objects by vehicle-mounted computer control module computational prediction automobile.
When described vehicle-mounted computer control module calculates and judges to obtain above data, described read-out display automobile ambient environment and display automobile turning track, driver can find out that automobile turning track and the surrounding pedestrian detected or object are with or without point of crossing on a display screen intuitively, if there is point of crossing to illustrate there is the possibility collided, then described vehicle-mounted computer control module will control sound and light alarm module and remind driver and pedestrian by LED flicker, go out alarm and reminding driver and pedestrian by loud speaker; If described vehicle-mounted computer control module not only controls alarm set when the distance of automobile and pedestrian or object is too near, but also direct intervention driver operation, control power system and automatically take in time to disconnect power and emergency brake, guarantee the safety of personnel and vehicle.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.The present invention also can directly apply to the various walking construction machinery and equipments such as loader, excavating machine, roller, bulldozer, hoisting crane, fork truck, and these application also belong to covering scope of the present invention.
Claims (8)
1. an automobile turning safety aid, is characterized in that: comprise a vehicle-mounted computer control module and coupled
One in order to obtain the rotational angle of vehicle steering or automobile steering roller angle sensor module,
One in order to obtain sensing module of finding range with the longitudinal direction of the distance size of the nearest pedestrian in vehicle body left and right and object, one in order to obtain car speed speed of a motor vehicle sensing module,
One in order to change automobile propulsive effort size and interrupt Automobile drive power automobile power module,
One in order to the automobile brake module of the braking force size and retro-speed that change automobile
And an acousto-optic warning module;
Described angle sensor module comprises a plurality of angular transducer in order to measured automobiles steering angle size and coupled capture card; Described longitudinally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card; Described speed of a motor vehicle sensing module comprises a plurality of car speed sensor in order to measured automobiles velocity magnitude and coupled capture card; Described distance measuring sensor, angular transducer and car speed sensor are connected with the input end of all coupled capture card, A/D conversion is carried out in order to the signal collected is inputed to described capture card, the mouth of described capture card is connected with described vehicle-mounted computer control module, and the signal after A/D conversion is inputed to described vehicle-mounted computer control module; In order to the range information according to real-time reception, angle information and speed information, described vehicle-mounted computer control module judges whether automobile can send with the passerby nearest apart from vehicle body and object and collides, if then control described automobile power module and automobile brake module realizes car deceleration and emergency braking, and control described acousto-optic warning module and send warning.
2. a kind of automobile turning safety aid according to claim 1, it is characterized in that: at least each distance measuring sensor in described longitudinally range finding sensing module is arranged on the left and right back mirror handle of automobile head and the protrusion of automobile tail both sides together with a coupled drive motor jointly, described drive motor drives coupled distance measuring sensor around the vertical axis horizontal hunting of himself, the pedestrian nearest in order to detecting distance vehicle body left and right and object, obtain the distance size of vehicle body and described pedestrian and object.
3. a kind of automobile turning safety aid according to claim 1, it is characterized in that: also comprise a transverse direction be connected with described vehicle-mounted computer control module and to find range sensing module, described laterally range finding sensing module comprises a plurality of distance measuring sensor and coupled capture card, described distance measuring sensor is arranged at both sides on Automobile, the pedestrian nearest in order to detecting distance vehicle body transverse distance and object, obtain the transverse distance size of vehicle body and described pedestrian and object.
4. a kind of automobile turning safety aid according to claim 1, is characterized in that: described distance measuring sensor comprises range only radar sensor, laser range sensor, infrared distance measuring sensor, ultrasonic distance-measuring sensor and vision sensor.
5. a kind of automobile turning safety aid according to claim 1, it is characterized in that: described acousto-optic warning module comprises LED and loud speaker, when described acousto-optic warning module sends warning, driver and pedestrian are reminded in described LED flicker, and described loud speaker gives the alarm and reminds driver and pedestrian.
6. a kind of automobile turning safety aid according to claim 1, it is characterized in that: also comprise a read-out be connected with described vehicle-mounted computer control module, described read-out is arranged in automobile instrument panel, in order to show the deterministic process of described vehicle-mounted computer control module and judged result and goers outside vehicle and subject image.
7. a kind of automobile turning safety aid according to claim 1, it is characterized in that: also comprise a memory module be connected with described vehicle-mounted computer control module, described memory module is hard disk, in order to store deterministic process and the judged result of described vehicle-mounted computer control module.
8. a kind of automobile turning safety aid according to claim 1, it is characterized in that: also comprise a wireless network be connected with described vehicle-mounted computer control module and send and receiver module, in order to realize sending narration information when there is turning traffic accident from trend car owner and traffic management system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520533657.4U CN204978641U (en) | 2015-07-22 | 2015-07-22 | Car turn safety auxiliary device |
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| CN201520533657.4U CN204978641U (en) | 2015-07-22 | 2015-07-22 | Car turn safety auxiliary device |
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| CN204978641U true CN204978641U (en) | 2016-01-20 |
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| CN201520533657.4U Expired - Fee Related CN204978641U (en) | 2015-07-22 | 2015-07-22 | Car turn safety auxiliary device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960466A (en) * | 2015-07-22 | 2015-10-07 | 福州大学 | Vehicle turning safety assisting system |
| CN108162958A (en) * | 2017-12-27 | 2018-06-15 | 长沙理工大学 | A kind of automobile active anti-collision control system and method |
| CN108372836A (en) * | 2018-03-12 | 2018-08-07 | 无锡市华吉型材科技有限公司 | Has the truck accessory guardrail of blind-spot detection and automatic illuminating function |
| CN110562222A (en) * | 2019-08-30 | 2019-12-13 | 驭势（上海）汽车科技有限公司 | Emergency braking control method for curve scene, vehicle-mounted device and storage medium |
| CN110654460A (en) * | 2019-12-02 | 2020-01-07 | 浙江中车电车有限公司 | Method and system for actively controlling vehicle turning |
| CN110667576A (en) * | 2019-10-18 | 2020-01-10 | 北京百度网讯科技有限公司 | Method, apparatus, device and medium for controlling passage of curve in automatically driven vehicle |
| CN112550282A (en) * | 2019-09-09 | 2021-03-26 | 大陆泰密克汽车系统（上海）有限公司 | Warning method and warning system for motor vehicle |
| CN116873081A (en) * | 2023-08-24 | 2023-10-13 | 北京阿帕科蓝科技有限公司 | Electric bicycle turning auxiliary method, device and system and electronic control unit |
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2015
- 2015-07-22 CN CN201520533657.4U patent/CN204978641U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960466A (en) * | 2015-07-22 | 2015-10-07 | 福州大学 | Vehicle turning safety assisting system |
| CN108162958A (en) * | 2017-12-27 | 2018-06-15 | 长沙理工大学 | A kind of automobile active anti-collision control system and method |
| CN108162958B (en) * | 2017-12-27 | 2019-09-20 | 长沙理工大学 | A kind of automobile active anti-collision control system |
| CN108372836A (en) * | 2018-03-12 | 2018-08-07 | 无锡市华吉型材科技有限公司 | Has the truck accessory guardrail of blind-spot detection and automatic illuminating function |
| CN110562222A (en) * | 2019-08-30 | 2019-12-13 | 驭势（上海）汽车科技有限公司 | Emergency braking control method for curve scene, vehicle-mounted device and storage medium |
| CN110562222B (en) * | 2019-08-30 | 2021-08-24 | 驭势（上海）汽车科技有限公司 | Emergency braking control method for curve scene, vehicle-mounted device and storage medium |
| CN112550282A (en) * | 2019-09-09 | 2021-03-26 | 大陆泰密克汽车系统（上海）有限公司 | Warning method and warning system for motor vehicle |
| CN110667576A (en) * | 2019-10-18 | 2020-01-10 | 北京百度网讯科技有限公司 | Method, apparatus, device and medium for controlling passage of curve in automatically driven vehicle |
| CN110667576B (en) * | 2019-10-18 | 2021-04-20 | 北京百度网讯科技有限公司 | Method, apparatus, device and medium for controlling passage of curve in automatically driven vehicle |
| US11623659B2 (en) | 2019-10-18 | 2023-04-11 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method for controlling autonomous vehicle to pass through curve, electronic device and medium |
| CN110654460B (en) * | 2019-12-02 | 2020-03-24 | 浙江中车电车有限公司 | Method for actively controlling vehicle turning |
| CN110654460A (en) * | 2019-12-02 | 2020-01-07 | 浙江中车电车有限公司 | Method and system for actively controlling vehicle turning |
| CN116873081A (en) * | 2023-08-24 | 2023-10-13 | 北京阿帕科蓝科技有限公司 | Electric bicycle turning auxiliary method, device and system and electronic control unit |
| CN116873081B (en) * | 2023-08-24 | 2024-01-26 | 北京阿帕科蓝科技有限公司 | Electric bicycle turning auxiliary method, device and system and electronic control unit |
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