CN206374737U - A kind of vehicle avoids accessory system - Google Patents
A kind of vehicle avoids accessory system Download PDFInfo
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- CN206374737U CN206374737U CN201720091714.7U CN201720091714U CN206374737U CN 206374737 U CN206374737 U CN 206374737U CN 201720091714 U CN201720091714 U CN 201720091714U CN 206374737 U CN206374737 U CN 206374737U
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Abstract
The utility model is related to technical field of vehicle and avoids accessory system there is provided a kind of vehicle, and the vehicle, which avoids accessory system, to be included：Harvester, for gathering the road information of this car, vehicle body information and the driving information to always car to always car；Processor, connects the harvester, for the road information according to this car, the vehicle body information to always car, the driving information to always car and the vehicle body information of this car and Ben Che driving information generate control instruction for controlling this car to be avoided；And performs device, the processor is connected, for obtaining and performing the control instruction.Vehicle described in the utility model avoids accessory system for preferable road and non-ideal road, can obtain avoidance strategy the most suitable, and that realizes complicated road environment effectively keeps away car, so that advantageously in the security for ensureing driving.
Description
Technical field
The utility model is related to technical field of vehicle, and more particularly to a kind of vehicle avoids accessory system.
Background technology
With the increase of automobile usage amount, in the process of moving, road is narrow or can pass through the limited situation of peak width
Happen occasionally.In this case, for avoid vehicle scratch and traffic accident generation, one is correspondingly proposed in the prior art
A little obstacle avoidance systems.
But, present inventor has found during the application is realized：These obstacle avoidance systems are mostly dependent on sensing
The auxiliary equipments such as device detect the distance of this car and barrier, further according to the distance value of detection carry out avoidance forecast.But, pass
The use of the auxiliary equipment of sensor class adds the cost of obstacle avoidance system, and corresponding information process is sufficiently complex and is difficult to
Realize, be only more applicable in normal road traveling, for complicated road environment, then without operability.
Utility model content
In view of this, the utility model is directed to a kind of vehicle and avoids accessory system, to realize in complicated road environment
In vehicle avoid.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of vehicle avoids accessory system, including：Harvester, for gathering the road information of this car, to always car
Vehicle body information and the driving information to always car；Processor, connects the harvester, for being believed according to the road of this car
The driving information life of breath, the vehicle body information of the vehicle body information to always car, the driving information to always car and this car and Ben Che
Into the control instruction for controlling this car to be avoided；And performs device, the processor is connected, for obtaining and performing institute
State control instruction.
Further, the harvester includes：Image unit, on this car, for gather road image and
To always car image；And image identification unit, the image unit is connected, for recognizing the road that the image unit is gathered
Road image and to always car image to obtain the road information of this car, vehicle body information and the row to always car to always car
Sail information.
Further, the image unit uses infrared camera, and the infrared camera is arranged on the Chinese herbaceous peony of this car
On windshield.
Further, the processor includes：Acquiring unit, connects the harvester, the road for obtaining this car
Information, vehicle body information and the driving information to always car to always car, are additionally operable to obtain the vehicle body information and sheet of this car
The driving information of car；Computing unit, the vehicle body information for the road information according to this car, to always car, the row to always car
Information, the vehicle body information of this car and the driving information of this car are sailed, the avoidance strategy that this car is avoided is calculated, and based on described
Avoidance strategy generates the control instruction for controlling this car to be avoided；And transmitting element, for sending the control instruction.
Further, the performs device includes：Reminding unit, for according to the control instruction remind this car with to
Whether carry out car being capable of safety meeting；Display unit, for showing the avoidance strategy that this car is avoided according to the control instruction；
And/or component control unit, the associated components for controlling this car are acted to perform the control instruction.
Further, the reminding unit includes the vehicle-mounted voice system and/or lighting system installed in this car.
Further, the display unit uses the middle control display screen of this car.
Further, the display unit also communicates with the harvester, is gathered with to show the harvester
The road information of this car, vehicle body information and the driving information to car to car.
Further, the component control unit includes：Engine control module, for being controlled according to the control instruction
The engine of this car is so that this car slows down；Steering control module, the steering for controlling this car according to the control instruction
System is to adjust vehicle angles；And/or rear-view mirror control module, for being controlled the rearview mirror of this car to enter according to the control instruction
Row is folded.
Further, the vehicle avoids accessory system and also included：Memory, connects the harvester and the processing
Device, the road information and geography information of this car are gathered for storing the harvester；Wherein, the processor is additionally operable to
The road information and the geography information are obtained from the memory, and according to the road information and the geography information
This car and the feasible crossing place to always car are calculated, and the packet of the feasible crossing place is contained to the control instruction
In.
Relative to prior art, vehicle described in the utility model avoids accessory system and had the advantage that：
(1) vehicle described in the utility model avoids accessory system for preferable road and non-ideal road, can obtain
Avoidance strategy the most suitable, realize complicated road environment effectively keeps away car, so that advantageously in the security for ensureing driving,
And without the auxiliary equipment of separately install sensor class, cost is relatively low and the degree of accuracy is higher.
(2) the utility model carries out image taking based on infrared collection mode, can also complete to clap under dark condition
Take the photograph, so as to ensure that the accuracy of the image information of collection.
(3) the utility model can calculate avoidance strategy the most suitable in time, and avoidance strategy can be shown to this
Car driver or the section components execution avoidance strategy for automatically controlling vehicle, be both suitable for the automobile of pilot steering, be applied to again
Pilotless automobile.
(4) by way of the utility model realizes successfully meeting folding wing mirror, it can be avoided as limited road
A kind of effective means.
Other features and advantages of the utility model will be described in detail in subsequent embodiment part.
Brief description of the drawings
Constitute a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The exemplary embodiment of type and its illustrate be used for explain the utility model, do not constitute to it is of the present utility model it is improper limit.
In the accompanying drawings：
Fig. 1 is the structural representation of the vehicle avoidance accessory system described in the utility model embodiment；
Fig. 2 is the structural representation of the harvester described in the utility model embodiment；
Fig. 3 is the schematic diagram of infrared camera progress IMAQ in the utility model embodiment；
Fig. 4 is the structural representation of the processor described in the utility model embodiment；
Fig. 5 is the structural representation of the performs device described in the utility model embodiment；
Fig. 6 is the structural representation of the component control unit described in the utility model embodiment；
Fig. 7 is that the schematic diagram of meeting is realized by folding wing mirror in the utility model embodiment；
Fig. 8 is the schematic diagram given another the right of way on non-ideal road in the utility model embodiment.
Description of reference numerals：
1- harvesters, 2- processors, 3- performs devices, 4- memories, 11- image units, 12- image identification units,
21- acquiring units, 22- computing units, 23- transmitting elements, 31- reminding units, 32- display units, 33- component control units,
331- engine control module, 332- steering control modules, 333- rear-view mirror control modules.
Embodiment
It should be noted that in the case where not conflicting, the spy in embodiment and embodiment in the utility model
Levying to be mutually combined.
In addition, the preferable road being previously mentioned in embodiment of the present utility model can be regarded as that two conventional cars can be made very
To the wider road of more car parallel runnings, and non-ideal road relative can then be understood to correspond to the narrow road of wider road
Road.
Below with reference to the accompanying drawings and combine embodiment and describe the utility model in detail.
The utility model embodiment proposes a kind of vehicle and avoids accessory system, as shown in figure 1, the vehicle avoids auxiliary
System includes：Harvester 1, for gathering the road information of this car, vehicle body information and the row to always car to always car
Sail information；Processor 2, connects the harvester 1, vehicle body information for the road information according to this car, to always car, right
Always the driving information of the vehicle body information and Ben Che of the driving information of car and this car generates what is avoided for controlling this car
Control instruction；And performs device 3, the processor 2 is connected, for obtaining and performing the control instruction.
Preferably, as shown in Fig. 2 the harvester 1 can include：Image unit 11, on this car, for adopting
Collect road image and to always car image；And image identification unit 12, the image unit 11 is connected, it is described for recognizing
Road image that image unit 11 is gathered and to always car image to obtain the road information of this car, the vehicle body of always car believed
Cease and to the driving information of always car.
It is further preferable that the image unit 11 can use infrared camera.As shown in figure 3, the infrared camera
It may be mounted on the Chinese herbaceous peony windshield of this car, it includes road boundary and obstacle information for the scanning range of road,
Include vehicle body boundary scan (including vehicle body border when rearview mirror folding or opening), backsight for the scanning range to always car
Specular state (open or fold) and travel route etc..It should be noted that, infrared camera can be also arranged on to other positions of this car
Put, the utility model embodiment does not limit its installation site.
In the present embodiment, infrared camera carries out image taking based on infrared collection mode, also can under dark condition
It is enough to complete to shoot, so as to ensure that the accuracy of the image information of collection.
In addition, described image recognition unit 12 can gather conventional images process chip, such as XC6131 Digital Image Processing core
Piece, so that the acquired image of image unit 11 to be identified, obtains road information, vehicle body information and row to always car
Sail information etc..Wherein, it is conventional image that size, speed and acceleration of vehicle etc. are identified by the image being continuously shot
Treatment technology, is then no longer repeated at this.
Here, described image recognition unit 12 can also be integrated to image unit 11 to enrich the work(of image unit 11
Can, such as infrared camera of the configuration with image identification function.In addition, there is figure there is also other modes in the prior art
As the camera of identification function, it is also applied for the utility model embodiment.
Further, the road information of this car includes obstacle information that road can be on line width and road etc.；To
Carrying out the vehicle body information of car and this car includes overall width, vehicle mirrors opening imformation, roof light information etc.；To always car and this car
Driving information include traffic route, speed and acceleration information etc..The specific effect of each information will be combined and will be illustrated below.
In this way, processor 2 by analyze road information, the vehicle body information to always car and this car and to always car and this
The driving information of car can calculate Ben Che and the crossing place to always car, and further determine that in the crossing place, this car
With the meeting that whether can succeed to always car.Here, the calculating on processor 2 and analysis process, will be described in more detail below.
Preferably, as shown in figure 4, the processor 2 of the present embodiment can include：Acquiring unit 21, connects the collection dress
1 is put, for obtaining the road information of this car, vehicle body information and the driving information to always car to always car, is additionally operable to obtain
Take the vehicle body information of this car and the driving information of this car；Computing unit 22, for the road information according to this car, to always car
Vehicle body information, the driving information to always car, the vehicle body information of this car and the driving information of this car, calculate this car and kept away
The avoidance strategy allowed, and the control instruction for controlling this car to be avoided is generated based on the avoidance strategy；And send single
Member 23, for sending the control instruction.
Wherein, the acquiring unit 21 can obtain the road information of this car, to always from described image recognition unit 12
The vehicle body information and the driving information to always car of car, and can also be by CAN from portions such as the entire car controllers of this car
The vehicle body information of this car and the driving information of this car are obtained in part.
Wherein, road information of the computing unit 22 according to this car, the vehicle body information to always car, the row to always car
Avoidance strategy that the driving information of information, the vehicle body information of this car and this car calculated is sailed below in connection with performs device
3 are described in detail.
Wherein, multiple parts of the transmitting element 23 and vehicle, such as lighting system, backsight mirror motor, engine, steering
System etc., which is set up, correspondence, to send control instruction to these parts, and makes these parts perform control instruction to realize
Corresponding avoidance strategy.
Preferably, as shown in figure 5, the performs device 3 in the utility model embodiment can include：Reminding unit 31, is used
According to the control instruction remind this car with whether being capable of safety meeting to always car；Display unit 32, for according to described
Control instruction shows the avoidance strategy that this car is avoided；And/or component control unit 33, the associated components for controlling this car
Acted to perform the control instruction.
Wherein, the reminding unit 31 preferably comprises the vehicle-mounted voice system and/or lighting system installed in this car, uses
With Ben Che with to always car can safety meeting when to being sent to always car " can safety meeting " voice or light prompting, with
And Ben Che with to always car can not safety meeting when to other side Lai Che send request coordinate meeting prompting.
Wherein, the display unit 32 can use the middle control display screen of this car, and its object is to show avoidance strategy
This car driver is given, such as crossing place, suggestion folding wing mirror, suggestion slow down to change crossing place.
In addition, the display unit 32 directly can also communicate with harvester 1, to show that the harvester 1 is gathered
The road information of this car, vehicle body information and the driving information to car to car, this car driver is grasped in time and run over
Road and the concrete condition to always car in journey, to make correct judgement.Specifically, display unit 32 can directly display described
Road image that image unit 11 is gathered and to car image, or display image recognition unit 12 are identified based on image
To information such as car speed and travel routes, this car driver passes through to road image, to car image and related data information
Observe to judge the meeting risk being likely to occur, it is as too fast to always car drive speed in observed, and travel route is in S
Shape, then be likely to be in dangerous driving to always car, it should is avoided to ensure this car safety as early as possible.
Wherein, as shown in fig. 6, the component control unit 33 is preferably comprised：Engine control module 331, for root
The engine of this car is controlled according to the control instruction so that this car slows down；Steering control module 332, for according to the control
System instruction controls the steering of this car to adjust vehicle angles；And/or rear-view mirror control module 333, for according to the control
System instruction controls the rearview mirror of this car to be folded.
Wherein, the setting main purpose of the component control unit 33 is to make vehicle perform phase automatically according to control instruction
Avoidance strategy is answered, pilotless automobile is particularly suitable for use in, and for the automobile of pilot steering, can also be not provided with component control unit
33, and make avoidance strategy of the driver according to display unit 33 come after slowing down manually, adjusting vehicle angles and fold
Visor etc..
Further, the vehicle of the present embodiment avoids accessory system and can also included：Memory 4, connects the collection dress
1 and processor 2 are put, the road information and geography information of this car are gathered for storing the harvester.Accordingly, the place
Reason device 2 is additionally operable to calculate this car and the feasible crossing place to always car according to the road information and the geography information, and
The packet of the feasible crossing place is contained into the control instruction.
Wherein, the geography information is preferably extraction in the high-precision map stored from memory 4.
Accordingly, with reference to performs device 3 and memory 4, the computing unit 22 of the present embodiment combine the road information of this car,
The driving information of the vehicle body information of always car, the driving information to always car, the vehicle body information of this car and this car is calculated
The avoidance strategy gone out mainly include it is following some：
1) whether the road width for calculating crossing place is enough to make two cars in parallel through if then passing through lighting system and car
Carrying voice system signal can safety meeting to always car.
Specifically, if road width is H1, width sum when two cars are parallel is H2, if the distance value that H1 subtracts H2 far surpasses
Go out the first threshold h1 of setting, then can determine that present road is preferable road, two cars can succeed meeting.
If 2) road width of crossing place be insufficient to allow two cars in parallel through, but two cars it is parallel exist in road it is smaller
Spacing, then judge whether can succeed meeting by folding wing mirror.
Specifically, if the distance value that H1 subtracts H2 is less than the first threshold h1 of setting but more than the Second Threshold h2 of setting,
Then can determine whether present road is non-ideal road.As shown in fig. 7, on non-ideal road, although two cars in normal condition
Can not be succeeded meeting, if but after this car folding wing mirror, then H1 can be made to subtract H2 first threshold of the distance value beyond setting
H1, and make two cars success meeting.In this regard, the avoidance of " foldable rear-view mirror " can be shown by display unit 32 to this car driver
Strategy, so that driver carries out the operation of folding wing mirror, or is directly sent to rear-view mirror control module by control instruction
333, so that rearview mirror auto-folder.
If 3) kind of width of the road width of crossing place much smaller than two cars when parallel, even if judging folding wing mirror
Two cars can not also succeed meeting.Now, present road is also non-ideal road, and computing unit 22 is combined and carried from high-precision map
Whether the geography information and the road information of this car taken, searching in the route or near zone that this garage crosses has feasible meeting
Car place, if then providing the specifying information and travel route of the feasible crossing place.Wherein, the specific letter of feasible crossing place
Breath and travel route can be shown by display unit 32 to this car driver, so as to driver by car with driving to feasible meeting
Point, or for relatively simple situation, than the situation as shown in Figure 8 given another the right of way on non-ideal road, feasible meeting
Place just in the side of this front side, then can send control to engine control module 331 and steering control module 332 and refer to
Order, controls the speed and steering of this car, this car is successfully arrived at feasible crossing place in time of cars meeting, successfully can with realizing
Car.
There is light flash to the vehicle of always car if 4) identify, opposed vehicle is likely to special car, it is such as anxious
Car, fire fighting truck etc. are rescued, for special car, then controls this car to be avoided in advance, makes special car leading.
Except above-mentioned 1) -4) avoidance strategy in addition to, the utility model embodiment can also also include some other expansible
Avoidance scheme, such as communicated with to always car, notify to slow down to always car or folding wing mirror etc..
In summary, the vehicle of the utility model embodiment avoids accessory system for preferable road and non-ideal road,
Avoidance strategy the most suitable can be obtained, that realizes complicated road environment effectively keeps away car, so that advantageously in guarantee driving
Security.Meanwhile, the vehicle of the utility model embodiment avoids accessory system and set without the auxiliary of separately install sensor class
Standby, cost is relatively low and the degree of accuracy is higher.
The foregoing is only better embodiment of the present utility model, not to limit the utility model, it is all
Within spirit and principle of the present utility model, any modification, equivalent substitution and improvements made etc. should be included in this practicality new
Within the protection domain of type.
Claims (10)
1. a kind of vehicle avoids accessory system, it is characterised in that the vehicle, which avoids accessory system, to be included：
Harvester (1), for gathering the road information of this car, the vehicle body information to always car and the letter of the traveling to always car
Breath；
Processor (2), connects the harvester (1), vehicle body information for the road information according to this car, to always car,
The vehicle body information of driving information and this car to always car and Ben Che driving information are generated for controlling this car to avoid
Control instruction；And
Performs device (3), connects the processor (2), for obtaining and performing the control instruction.
2. vehicle according to claim 1 avoids accessory system, it is characterised in that the harvester (1) includes：
Image unit (11), on this car, for gathering road image and to always car image；And
Image identification unit (12), connects the image unit (11), for recognizing the road that the image unit (11) is gathered
Road image and to always car image to obtain the road information of this car, vehicle body information and the row to always car to always car
Sail information.
3. vehicle according to claim 2 avoids accessory system, it is characterised in that the image unit (11) is using infrared
Camera, and the infrared camera is on the Chinese herbaceous peony windshield of this car.
4. vehicle according to claim 1 avoids accessory system, it is characterised in that the processor (2) includes：
Acquiring unit (21), connects the harvester (1), for obtaining the road information of this car, the vehicle body letter to always car
Cease and to the driving information of always car, be additionally operable to obtain the vehicle body information of this car and the driving information of this car；
Computing unit (22), for the road information according to this car, the vehicle body information to always car, the traveling to always car letter
Breath, the vehicle body information of this car and the driving information of this car, calculate the avoidance strategy that this car is avoided, and avoid based on described
Strategy generating is used to control the control instruction that this car is avoided；And
Transmitting element (23), for sending the control instruction.
5. vehicle according to claim 4 avoids accessory system, it is characterised in that the performs device (3) includes：
Reminding unit (31), for according to the control instruction remind this car with whether being capable of safety meeting to always car；
Display unit (32), for showing the avoidance strategy that this car is avoided according to the control instruction；And/or
Component control unit (33), the associated components for controlling this car are acted to perform the control instruction.
6. vehicle according to claim 5 avoids accessory system, it is characterised in that the reminding unit (31) includes installing
In the vehicle-mounted voice system and/or lighting system of this car.
7. vehicle according to claim 5 avoids accessory system, it is characterised in that the display unit (32) uses this car
Middle control display screen.
8. vehicle according to claim 5 avoids accessory system, it is characterised in that the display unit (32) also with it is described
Harvester (1) communicates, with show the road information of this car that the harvester (1) is gathered, the vehicle body information to car and
To the driving information of car.
9. vehicle according to claim 5 avoids accessory system, it is characterised in that component control unit (33) bag
Include：
Engine control module (331), for controlling the engine of this car according to the control instruction so that this car slows down；
Steering control module (332), for controlling the steering of this car according to the control instruction to adjust vehicle angle
Degree；And/or
Rear-view mirror control module (333), for being controlled the rearview mirror of this car to be folded according to the control instruction.
10. vehicle as claimed in any of claims 1 to 9 avoids accessory system, it is characterised in that the vehicle is kept away
Accessory system is allowed also to include：
Memory (4), connects the harvester (1) and the processor (2), is adopted for storing the harvester (1)
Collect the road information and geography information of this car；
Wherein, the processor (2) is additionally operable to obtain the road information and the geography information from the memory (4),
And this car and the feasible crossing place to always car are calculated according to the road information and the geography information, and will be described feasible
The packet of crossing place contains into the control instruction.
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| CN201720091714.7U CN206374737U (en) | 2017-01-22 | 2017-01-22 | A kind of vehicle avoids accessory system |
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| CN201720091714.7U CN206374737U (en) | 2017-01-22 | 2017-01-22 | A kind of vehicle avoids accessory system |
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Cited By (17)
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| CN108399792A (en) * | 2018-01-25 | 2018-08-14 | 北京墨丘科技有限公司 | A kind of automatic driving vehicle preventing collision method, device and electronic equipment |
| CN108711299A (en) * | 2018-06-01 | 2018-10-26 | Oppo广东移动通信有限公司 | Lights of vehicle based reminding method, device, terminal, server and storage medium |
| CN109116850A (en) * | 2018-09-04 | 2019-01-01 | 盐城骏拔汽车零部件有限公司 | Automatic driving vehicle managing and control system and method |
| CN109740433A (en) * | 2018-11-29 | 2019-05-10 | 深圳市元征科技股份有限公司 | A kind of vehicle preventing collision method and car-mounted terminal |
| CN110310515A (en) * | 2019-04-23 | 2019-10-08 | 绿桥(泰州)生态修复有限公司 | Field data Recognition feedback system |
| CN110316067A (en) * | 2018-03-30 | 2019-10-11 | 深圳市掌网科技股份有限公司 | A kind of vehicle DAS (Driver Assistant System) and method |
| CN110333727A (en) * | 2019-08-01 | 2019-10-15 | 上海钛米机器人科技有限公司 | Robot path planning method, device, equipment and medium |
| CN110364023A (en) * | 2018-04-10 | 2019-10-22 | 奥迪股份公司 | Driving assistance system and method |
| CN111464942A (en) * | 2020-04-24 | 2020-07-28 | 捷开通讯(深圳)有限公司 | Vehicle driving control method and device, storage medium and terminal |
| CN111526498A (en) * | 2019-02-05 | 2020-08-11 | 株式会社电装 | Station and vehicle-mounted device |
| CN112298171A (en) * | 2019-08-01 | 2021-02-02 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112721931A (en) * | 2021-01-18 | 2021-04-30 | 智马达汽车有限公司 | Vehicle meeting method, device, equipment and storage medium |
| CN113119976A (en) * | 2021-04-26 | 2021-07-16 | 宝能(广州)汽车研究院有限公司 | Narrow road automatic driving method, device, equipment and storage medium |
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| CN113906486A (en) * | 2019-06-25 | 2022-01-07 | 国际商业机器公司 | Intelligent vehicle pass information sharing |
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| CN108399792A (en) * | 2018-01-25 | 2018-08-14 | 北京墨丘科技有限公司 | A kind of automatic driving vehicle preventing collision method, device and electronic equipment |
| CN110316067A (en) * | 2018-03-30 | 2019-10-11 | 深圳市掌网科技股份有限公司 | A kind of vehicle DAS (Driver Assistant System) and method |
| CN110364023A (en) * | 2018-04-10 | 2019-10-22 | 奥迪股份公司 | Driving assistance system and method |
| CN108711299A (en) * | 2018-06-01 | 2018-10-26 | Oppo广东移动通信有限公司 | Lights of vehicle based reminding method, device, terminal, server and storage medium |
| CN109116850A (en) * | 2018-09-04 | 2019-01-01 | 盐城骏拔汽车零部件有限公司 | Automatic driving vehicle managing and control system and method |
| CN109740433A (en) * | 2018-11-29 | 2019-05-10 | 深圳市元征科技股份有限公司 | A kind of vehicle preventing collision method and car-mounted terminal |
| CN111526498A (en) * | 2019-02-05 | 2020-08-11 | 株式会社电装 | Station and vehicle-mounted device |
| CN111526498B (en) * | 2019-02-05 | 2024-03-12 | 株式会社电装 | Station and in-vehicle device |
| CN110310515B (en) * | 2019-04-23 | 2020-11-03 | 绍兴越元科技有限公司 | On-site information identification feedback system |
| CN110310515A (en) * | 2019-04-23 | 2019-10-08 | 绿桥(泰州)生态修复有限公司 | Field data Recognition feedback system |
| CN113906486A (en) * | 2019-06-25 | 2022-01-07 | 国际商业机器公司 | Intelligent vehicle pass information sharing |
| US11587434B2 (en) | 2019-06-25 | 2023-02-21 | International Business Machines Corporation | Intelligent vehicle pass-by information sharing |
| CN110333727A (en) * | 2019-08-01 | 2019-10-15 | 上海钛米机器人科技有限公司 | Robot path planning method, device, equipment and medium |
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| CN113353071B (en) * | 2021-05-28 | 2023-12-19 | 云度新能源汽车有限公司 | Narrow area intersection vehicle safety auxiliary method and system based on deep learning |
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