CN208225299U - A kind of highway low visibility area's traffic safety guides system - Google Patents

A kind of highway low visibility area's traffic safety guides system Download PDF

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CN208225299U
CN208225299U CN201820633433.4U CN201820633433U CN208225299U CN 208225299 U CN208225299 U CN 208225299U CN 201820633433 U CN201820633433 U CN 201820633433U CN 208225299 U CN208225299 U CN 208225299U
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vehicle
visibility
unit
detection device
alarm
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李曼
孙悦超
李明圣
弓满锋
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Lingnan Normal University
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Abstract

本实用新型公开一种一种高速公路低能见度区行车安全引导系统,包括固装于高速公路低能见度区的能见度检测装置,以及安装于汽车本体上的车载电源、车载检测装置和报警装置,所述车载检测装置和报警装置分别与车载电源连接;所述车载检测装置通过收集自身收集的距离信号、车速信号及能见度检测装置的能见度信号,和车本体照明开关系统中各照明灯开关的开启/闭合状态信号进行判定,以控制报警单元开启/关闭报警。上述高速公路低能见度区行车安全引导系统结构简单、成本低,对现有车辆系统无安全隐患,该系统根据同时检测的车辆状况信息及路面能见度信息,及时提醒驾驶员控制车辆车灯、车速及车距等状态信息,检测精度高,设计合理,提高行车安全,同时提高驾驶员的交通安全意识。

The utility model discloses a driving safety guidance system in a low-visibility area of an expressway, which includes a visibility detection device fixed in the low-visibility area of the expressway, and a vehicle-mounted power supply, a vehicle-mounted detection device and an alarm device installed on the vehicle body. The vehicle-mounted detection device and the alarm device are respectively connected with the vehicle-mounted power supply; the vehicle-mounted detection device collects the distance signal collected by itself, the vehicle speed signal and the visibility signal of the visibility detection device, and the opening/closing of each light switch in the vehicle body lighting switch system The closed state signal is judged to control the alarm unit to turn on/off the alarm. The above-mentioned driving safety guidance system in the low-visibility area of the expressway is simple in structure and low in cost, and has no safety hazards to the existing vehicle system. The system promptly reminds the driver to control the vehicle lights, vehicle speed and State information such as vehicle distance, high detection accuracy, reasonable design, improve driving safety, and at the same time improve the driver's traffic safety awareness.

Description

一种高速公路低能见度区行车安全引导系统A Driving Safety Guidance System in Low Visibility Area of Expressway

技术领域technical field

本实用新型涉及车载设备领域,具体涉及一种高速公路低能见度区行车安全引导系统。The utility model relates to the field of vehicle-mounted equipment, in particular to a driving safety guidance system in a low-visibility area of an expressway.

背景技术Background technique

随着汽车保有量的增加,高速公路汽车交通事故频频发生,其中一个主要原因是由于雨雾、雾霾等天气致使驾驶员视线差,发生汽车追尾碰撞等事故。现有技术中,解决高速公路低能见度区行车问题,主要有以下三种方式:一是通过广播系统及时告知驾驶员天气或道路情况;二是通过LED等显示装置及时发布天气状况等信息;三是借助汽车辅助驾驶设备降低事故的发生。以上方式功能单一,可靠性差,具有一定的局限性。另外,《中华人民共和国道路交通安全实施条例》第八十一条,规定:机动车在高速公路上行驶,遇有雾、雨、雪、沙尘、冰雹等低能见度气象条件时,应当遵守下列规定:(一)能见度小于200米时,开启雾灯、近光灯、示廓灯和前后位灯,车速不得超过每小时60公里,与同车道前车保持100米以上的距离;(二)能见度小于100米时,开启雾灯、近光灯、示廓灯、前后位灯和危险报警闪光灯,车速不得超过每小时40公里,与同车道前车保持50米以上的距离;(三)能见度小于50米时,开启雾灯、近光灯、示廓灯、前后位灯和危险报警闪光灯,车速不得超过每小时20公里,并从最近的出口尽快驶离高速公路。With the increase of car ownership, highway car traffic accidents occur frequently, one of the main reasons is that the driver's vision is poor due to rain, fog, haze and other weather, and car rear-end collisions and other accidents occur. In the prior art, there are mainly three ways to solve the problem of driving in the low-visibility area of the expressway: one is to inform the driver of the weather or road conditions in time through the broadcast system; the other is to release information such as weather conditions in time through display devices such as LEDs; It is to reduce the occurrence of accidents by means of automobile auxiliary driving equipment. The above methods have single functions, poor reliability and certain limitations. In addition, Article 81 of the "Regulations on the Implementation of Road Traffic Safety of the People's Republic of China" stipulates that when a motor vehicle is driving on an expressway and encounters low-visibility weather conditions such as fog, rain, snow, sand, and hail, it shall abide by the following: Regulations: (1) When the visibility is less than 200 meters, turn on the fog lights, dipped beam lights, position lights and front and rear position lights, the speed of the vehicle shall not exceed 60 kilometers per hour, and keep a distance of more than 100 meters from the vehicle ahead in the same lane; (2) When the visibility is less than 100 meters, turn on the fog lights, dipped beam lights, position lights, front and rear position lights and hazard warning flashing lights, the speed of the vehicle must not exceed 40 kilometers per hour, and keep a distance of more than 50 meters from the vehicle ahead in the same lane; (3) Visibility When the distance is less than 50 meters, turn on the fog lights, dipped beam lights, position lights, front and rear position lights and hazard warning lights, the speed of the vehicle must not exceed 20 kilometers per hour, and leave the expressway as soon as possible from the nearest exit.

实用新型内容Utility model content

本实用新型针对现有技术不能根据同时检测的车灯使用情况、车速以及车距等信息,判定安全信息,及时提醒驾驶员安全情况的问题,提供一种高速公路低能见度区行车安全引导系统。The utility model aims at the problem that the prior art cannot judge the safety information and remind the driver of the safety situation in time according to the simultaneously detected information such as the use of vehicle lights, vehicle speed, and vehicle distance, and provides a driving safety guidance system for low-visibility areas on expressways.

为达到上述目的,本实用新型的技术方案如下:In order to achieve the above object, the technical scheme of the utility model is as follows:

一种高速公路低能见度区行车安全引导系统,包括固装于高速公路低能见度区的能见度检测装置,以及安装于汽车本体上的车载电源、车载检测装置和报警装置,所述车载检测装置和报警装置分别与车载电源连接;所述车载检测装置通过收集自身收集的距离信号、车速信号及能见度检测装置的能见度信号,和车本体照明开关系统中各照明灯开关的开启/闭合状态信号进行判定,以控制报警单元开启/关闭报警。A driving safety guidance system in a low-visibility area of an expressway, including a visibility detection device fixed in a low-visibility area of an expressway, and a vehicle-mounted power supply, a vehicle-mounted detection device, and an alarm device installed on a car body, the vehicle-mounted detection device and alarm The devices are respectively connected to the on-board power supply; the on-board detection device judges by collecting the distance signal collected by itself, the vehicle speed signal and the visibility signal of the visibility detection device, and the on/off state signal of each light switch in the car body lighting switch system, To control the alarm unit to turn on/off the alarm.

其中,所述能见度检测设备包括能见度传感器、第一无线通信单元、能见度判定单元和供电电源;所述能见度传感器、第一无线通信单元、能见度判定单元分别与供电电源并联。Wherein, the visibility detection device includes a visibility sensor, a first wireless communication unit, a visibility judging unit and a power supply; the visibility sensor, the first wireless communication unit, and the visibility judging unit are respectively connected in parallel with the power supply.

所述车载检测装置包括雷达测距单元、车速传感单元、第二无线通信单元和车载主控单元;所述雷达测距单元、车速传感单元及报警单元、第二无线通信单元分别与车载主控单元连接;所述汽车本体内部还包括车控制面板;所述车载主控单元固装于车控制面板上;所述雷达测距单元、车速传感单元和第二无线通信单元分别安装于汽车本体外部的前侧。The vehicle-mounted detection device includes a radar ranging unit, a vehicle speed sensing unit, a second wireless communication unit and a vehicle-mounted main control unit; the radar ranging unit, the vehicle speed sensing unit and an alarm unit, and the second wireless communication unit communicate with the vehicle The main control unit is connected; the inside of the car body also includes a car control panel; the vehicle main control unit is fixed on the car control panel; the radar distance measuring unit, the vehicle speed sensing unit and the second wireless communication unit are respectively installed on the The front side of the car body exterior.

所述照明开关系统包括雾灯开关、近光灯开关、示廓灯开关、前后位灯开关和危险报警灯开关;所述雾灯开关、近光灯开关、示廓灯开关、前后位灯开关和危险报警灯开关分别与车载主控单元连接。The lighting switch system includes a fog light switch, a low beam light switch, a position light switch, a front and rear position light switch and a hazard warning light switch; and the hazard warning light switch are respectively connected with the vehicle-mounted main control unit.

优选地,所述车载主控单元为单片机MCU。Preferably, the vehicle-mounted main control unit is a single-chip microcomputer MCU.

优选地,所述的能见度检测设备安装于高速公路目标路段双向入口处。Preferably, the visibility detection device is installed at the two-way entrance of the target road section of the expressway.

优选地:所述的雷达测距单元安装于汽车本体外部前保险杠的中部。Preferably: the radar ranging unit is installed in the middle of the front bumper outside the car body.

优选地:所述的报警单元包括报警灯和语音提示单元,所述报警灯和语音提示单元分别安装于车载检测装置上。Preferably: the alarm unit includes a warning light and a voice prompt unit, and the warning light and the voice prompt unit are respectively installed on the vehicle detection device.

在上述高速公路低能见度区行车安全引导系统中,能见度检测装置检测并判定能见度传感器检测的能见度数值,通过装置中第一无线通信单元向所述的车载设备的第二无线通信单元发出能见度信号,若能见度小于50m时,所述的车载检测装置中的车载主控单元判定雾灯开关、近光灯开关、示廓灯开关、前后位灯开关和危险报警灯开关等是否闭合,车速传感单元检测到的车速是否小于20km/h,若其中一项或多项为否,则报警装置开启,直至各项都为是,报警消除;若能见度小于100m时,所述的车载主控单元判定雾灯开关、近光灯开关、示廓灯开关、前后位灯开关和危险报警灯开关等是否闭合,车速传感单元检测到的车速是否小于40km/h,雷达测距单元测得的与同车道前车距是否大于50m,若一项或多项为否,则报警灯闪烁,同时语音报警,直至各项为是,报警消除;若能见度小于200m时,所述的车载主控单元判定雾灯开关、近光灯开关、示廓灯开关、前后位灯开关是否闭合,车速传感器检测到的车速是否小于60km/h,雷达测距单元测得的与同车道前车距是否大于100m,若一项或多项为否,则报警装置开启,直至各项为是,报警消除;若能见度大于200m时,车载检测装置不工作。In the above-mentioned driving safety guidance system in the low-visibility area of the expressway, the visibility detection device detects and determines the visibility value detected by the visibility sensor, and sends a visibility signal to the second wireless communication unit of the vehicle-mounted device through the first wireless communication unit in the device, If the visibility is less than 50m, the vehicle-mounted main control unit in the vehicle-mounted detection device determines whether the fog light switch, the low beam light switch, the position light switch, the front and rear position light switches and the hazard warning light switch etc. are closed, and the vehicle speed sensing unit Whether the detected vehicle speed is less than 20km/h, if one or more of them are no, then the alarm device is turned on until all of the items are yes, and the alarm is eliminated; if the visibility is less than 100m, the vehicle-mounted main control unit determines that the fog Whether the light switch, low beam light switch, position indicator light switch, front and rear position light switch and hazard warning light switch are closed; Whether the front vehicle distance is greater than 50m, if one or more items are no, the warning lights will flash, and a voice alarm will be issued until each item is yes, and the alarm will be cleared; if the visibility is less than 200m, the vehicle-mounted main control unit will determine whether the fog lights Whether the switch, dipped beam switch, position indicator light switch, and front and rear position light switches are closed, whether the vehicle speed detected by the vehicle speed sensor is less than 60km/h, and whether the distance between the vehicle ahead and the vehicle in the same lane measured by the radar distance measuring unit is greater than 100m. If one or more items are false, the alarm device will be turned on until each item is yes, and the alarm will be eliminated; if the visibility is greater than 200m, the on-board detection device will not work.

与现有技术相比,本实用新型技术方案具有以下有益效果:Compared with the prior art, the technical solution of the utility model has the following beneficial effects:

上述高速公路低能见度区行车安全引导系统结构简单、成本低,对现有车辆系统无安全隐患,该系统根据同时检测的车辆状况信息及路面能见度信息,及时提醒驾驶员控制车辆车灯、车速及车距等状态信息,检测精度高,设计合理,提高行车安全,同时提高驾驶员的交通安全意识。The above-mentioned driving safety guidance system in the low-visibility area of the expressway is simple in structure and low in cost, and has no safety hazards to the existing vehicle system. The system timely reminds the driver to control the vehicle lights, vehicle speed and State information such as vehicle distance, high detection accuracy, reasonable design, improve driving safety, and at the same time improve the driver's traffic safety awareness.

附图说明:Description of drawings:

图1为本实用新型实施例1的结构示意图;Fig. 1 is the structural representation of the utility model embodiment 1;

其中,1-供电电源,2-能见度判定单元,3-第一无线通信单元,4-能见度传感器,5-第二无线通信单元,6-报警灯,7-车载主控单元,8-车载电源,9-雷达测距单元,10-车速传感单元,11-语音提示单元,12-雾灯开关,13-近光灯开关,14-示廓灯开关,15-前后位灯开关,16-危险报警灯开关。Among them, 1-power supply, 2-visibility determination unit, 3-first wireless communication unit, 4-visibility sensor, 5-second wireless communication unit, 6-warning lights, 7-vehicle main control unit, 8-vehicle power supply , 9-radar distance measuring unit, 10-vehicle speed sensing unit, 11-voice prompt unit, 12-fog light switch, 13-low beam light switch, 14-position lamp switch, 15-front and rear position light switch, 16- Hazard warning light switch.

具体实施方式:Detailed ways:

附图仅用于示例性(主要以小车为例)说明,不能理解为对本专利的限制;The drawings are only for illustration (mainly taking the trolley as an example), and should not be understood as limitations on this patent;

为了更好说明本实施例,附图某些部件会有省略、放大或缩小,并不代表实际产品的尺寸;In order to better illustrate this embodiment, some parts in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product;

下面结合图1对本实用新型进一步说明。Below in conjunction with Fig. 1 the utility model is further described.

如图1所示,一种高速公路低能见度区行车安全引导系统,包括固装于高速公路低能见度区的能见度检测装置,以及安装于汽车本体上的车载电源8、车载检测装置和报警装置,所述车载检测装置和报警装置分别与车载电源8连接;所述车载检测装置通过收集自身收集的距离信号、车速信号及能见度检测装置的能见度信号,和车本体照明开关系统中各照明灯开关的开启/闭合状态信号进行判定,以控制报警单元开启/关闭报警,所述的能见度检测设备可优选安装于高速公路目标路段双向入口处。As shown in Figure 1, a driving safety guidance system in a low-visibility area of an expressway includes a visibility detection device fixed in the low-visibility area of the expressway, and an on-board power supply 8 installed on the car body, an on-board detection device and an alarm device, The vehicle-mounted detection device and the alarm device are connected with the vehicle-mounted power supply 8 respectively; The opening/closing state signal is judged to control the alarm unit to open/close the alarm. The visibility detection equipment can be preferably installed at the two-way entrance of the target road section of the expressway.

所述能见度检测设备包括能见度传感器4、第一无线通信单元3、能见度判定单元2和供电电源1;所述能见度传感器4、第一无线通信单元3、能见度判定单元2分别与供电电源1并联。The visibility detection device includes a visibility sensor 4, a first wireless communication unit 3, a visibility judging unit 2 and a power supply 1; the visibility sensor 4, the first wireless communication unit 3, and the visibility judging unit 2 are respectively connected in parallel with the power supply 1.

所述车载检测装置包括雷达测距单元9、车速传感单元10、第二无线通信单元5和车载主控单元7;所述雷达测距单元9、车速传感单元10及报警单元、第二无线通信单元5分别与车载主控单元7连接;所述汽车本体内部还包括车控制面板;所述车载主控单元7固装于车控制面板上;所述雷达测距单元9、车速传感单元10和第二无线通信单元5分别安装于汽车本体外部的前侧,其中,所述车载主控单元7为单片机MCU,所述的雷达测距单元可优选安装于汽车本体外部前保险杠的中部。The vehicle-mounted detection device includes a radar ranging unit 9, a vehicle speed sensing unit 10, a second wireless communication unit 5 and a vehicle-mounted main control unit 7; the radar ranging unit 9, the vehicle speed sensing unit 10 and an alarm unit, the second The wireless communication unit 5 is respectively connected with the vehicle-mounted main control unit 7; the inside of the car body also includes a car control panel; the vehicle-mounted main control unit 7 is fixed on the vehicle control panel; the radar ranging unit 9, the vehicle speed sensor Unit 10 and the second wireless communication unit 5 are respectively installed on the front side outside the car body, wherein the vehicle-mounted main control unit 7 is a single-chip MCU, and the radar distance measuring unit can preferably be installed on the front bumper outside the car body. middle part.

所述照明开关系统包括雾灯开关12、近光灯开关13、示廓灯开关14、前后位灯开关15和危险报警灯开关16;所述雾灯开关12、近光灯开关13、示廓灯开关14、前后位灯开关15和危险报警灯开关16分别与车载主控单元7连接。Described lighting switch system comprises fog lamp switch 12, dipped beam switch 13, position lamp switch 14, front and rear position lamp switch 15 and hazard warning light switch 16; The light switch 14 , the front and rear position light switches 15 and the hazard warning light switch 16 are respectively connected with the vehicle-mounted main control unit 7 .

所述的报警单元包括报警灯6和语音提示单元11,所述报警灯和6语音提示单元11分别安装于车载检测装置上。The alarm unit includes an alarm lamp 6 and a voice prompt unit 11, and the alarm lamp and 6 voice prompt unit 11 are respectively installed on the vehicle-mounted detection device.

在上述高速公路低能见度区行车安全引导系统中,能见度检测装置检测并判定能见度传感器检测的能见度数值,通过装置中第一无线通信单元3向所述的车载设备的第二无线通信单元5发出能见度信号,若能见度小于50m时,所述的车载检测装置中的车载主控单元7判定雾灯开关12、近光灯开关13、示廓灯开关14、前后位灯开关15和危险报警灯开关16等是否闭合,车速传感单元10检测到的车速是否小于20km/h,若其中一项或多项为否,则报警装置开启,直至各项都为是,报警消除;若能见度小于100m时,所述的车载主控单元判定雾灯开关12、近光灯开关13、示廓灯开关14、前后位灯开关15和危险报警灯开关16等是否闭合,车速传感单元10检测到的车速是否小于40km/h,雷达测距单元9测得的与同车道前车距是否大于50m,若一项或多项为否,则报警灯6闪烁,同时语音提示单元11语音报警,直至各项为是,报警消除;若能见度小于200m时,所述的车载主控单元判定雾灯开关12、近光灯开关13、示廓灯开关14、前后位灯开关15是否闭合,车速传感单元10检测到的车速是否小于60km/h,雷达测距单元9测得的与同车道前车距是否大于100m,若一项或多项为否,则报警装置开启,直至各项为是,报警消除;若能见度大于200m时,车载检测装置不工作。In the above-mentioned driving safety guidance system in the low-visibility area of the expressway, the visibility detection device detects and determines the visibility value detected by the visibility sensor, and sends the visibility value to the second wireless communication unit 5 of the vehicle-mounted device through the first wireless communication unit 3 in the device. signal, if the visibility is less than 50m, the vehicle-mounted main control unit 7 in the vehicle-mounted detection device determines the fog light switch 12, the dipped beam light switch 13, the position marker light switch 14, the front and rear position light switches 15 and the hazard warning light switch 16 Wait whether closed, whether the speed of a vehicle detected by the speed sensing unit 10 is less than 20km/h, if one or more of them are no, then the alarm device is opened until each item is yes, and the alarm is eliminated; if the visibility is less than 100m, The vehicle-mounted main control unit determines whether the fog light switch 12, the low beam light switch 13, the position indicator light switch 14, the front and rear position light switches 15 and the hazard warning light switch 16 are closed, and whether the vehicle speed detected by the vehicle speed sensor unit 10 is Less than 40km/h, whether the distance between the vehicle in front of the same lane measured by the radar ranging unit 9 is greater than 50m, if one or more items are not, then the warning light 6 will flash, and the voice prompt unit 11 will give a voice alarm at the same time until each item is Yes, the alarm is cleared; if the visibility is less than 200m, the vehicle-mounted main control unit determines whether the fog light switch 12, the low beam light switch 13, the position light switch 14, and the front and rear position light switches 15 are closed, and the vehicle speed sensing unit 10 detects Whether the arriving vehicle speed is less than 60km/h, whether the distance between the vehicle in front of the same lane measured by the radar ranging unit 9 is greater than 100m, if one or more items are no, then the alarm device is turned on until each item is yes, and the alarm is eliminated; If the visibility is greater than 200m, the on-board detection device will not work.

显然,本实用新型的上述实施例仅仅是为清楚地说明本实用新型所作的举例,而并非是对本实用新型的实施方式的限定。对于所属领域的普通技术人员来说,在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本实用新型权利要求的保护范围之内。Apparently, the above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, rather than limiting the implementation manner of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims (5)

1. a kind of highway low visibility area's traffic safety guides system, it is characterised in that: low including being installed in highway The visibility detection device in visibility area, and the vehicle power supply, vehicle-mounted detection apparatus and the alarm dress that are installed on automobile body It sets, the vehicle-mounted detection apparatus and warning device are connected with a vehicle-mounted power supply respectively;The vehicle-mounted detection apparatus is by collecting itself It is each in the distance signal of collection, the visibility signal of speed signal and visibility detection device and vehicle ontology illuminating switch system The opened/closed status signal of luminous lamp switch is determined, to control alarm unit unlatching/closing alarm.
2. highway low visibility according to claim 1 area's traffic safety guides system, which is characterized in that the energy Degree of opinion detection device includes visibility sensor, wireless communication unit, visibility judging unit and power supply;The visibility Sensor, the first wireless communication unit, visibility judging unit are in parallel with power supply respectively.
3. highway low visibility according to claim 1 area's traffic safety guides system, which is characterized in that the vehicle Carrying detection device includes radar range finding unit, speed sensing unit, the second wireless communication unit and vehicle-mounted main control unit;The thunder It is connect respectively with vehicle-mounted main control unit up to distance measuring unit, speed sensing unit and alarm unit, the second wireless communication unit;It is described It further include vehicle control panel inside automobile body;The vehicle-mounted main control unit is installed on vehicle control panel;The radar range finding Unit, speed sensing unit and the second wireless communication unit are respectively arranged in the front side outside automobile body.
4. highway low visibility according to claim 1 area's traffic safety guides system, which is characterized in that the photograph Bright switching system includes fog lamp switch, dipped beam lamp switch, clearance lamps switch, anteroposterior position lamp switch and danger warning lamp switch;Institute State fog lamp switch, dipped beam lamp switch, clearance lamps switch, anteroposterior position lamp switch and danger warning lamp switch respectively with vehicle-mounted master control list Member connection.
5. highway low visibility according to claim 3 area's traffic safety guides system, which is characterized in that the vehicle Load main control unit is single-chip microprocessor MCU.
CN201820633433.4U 2018-04-28 2018-04-28 A kind of highway low visibility area's traffic safety guides system Active CN208225299U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111445714A (en) * 2020-04-09 2020-07-24 安徽皖通科技股份有限公司 Predictable severe weather analysis method for expressway
CN112977446A (en) * 2021-03-26 2021-06-18 吉林化工学院 Lane keeping system based on OpenMV

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111445714A (en) * 2020-04-09 2020-07-24 安徽皖通科技股份有限公司 Predictable severe weather analysis method for expressway
CN112977446A (en) * 2021-03-26 2021-06-18 吉林化工学院 Lane keeping system based on OpenMV

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