CN210363587U - Auxiliary driving system - Google Patents
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- CN210363587U CN210363587U CN201920204854.XU CN201920204854U CN210363587U CN 210363587 U CN210363587 U CN 210363587U CN 201920204854 U CN201920204854 U CN 201920204854U CN 210363587 U CN210363587 U CN 210363587U
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Abstract
The application relates to a driving assistance system, which comprises a camera, a corner sensor, a signal processor and a display; the camera is used for acquiring a monitoring video of a road surface in front of the vehicle in real time and sending the monitoring video to the signal processor; the corner sensor is used for acquiring the angle information of the corner of the vehicle wheel in real time and sending the angle information to the signal processor; the signal processor is used for calculating the advancing track line of the vehicle wheel according to the received angle information, determining a target monitoring video according to the track line and the monitoring video, and sending the target monitoring video to the display; and the display is used for displaying the target monitoring video so that the driver can select a safe driving route to drive the vehicle. According to the embodiment of the application, the target monitoring video with the advancing track line of the vehicle wheel is displayed on the display, so that a driver can adjust the route in time according to the content displayed on the display, and then a safe driving route is selected.
Description
Technical Field
The application relates to the technical field of vehicle assistant driving, in particular to an assistant driving system.
Background
At present, vehicles pass through pothole roads and depend on the technical level of drivers, sometimes, because of insufficient experience of the drivers, the wheels of the vehicles fall into the potholes or collide with obstacles, the vehicles cannot continue to run, and troubles are brought to the drivers. The wheels are the basis for normal running of the vehicle, but the existing driving assisting technology generally aims at protecting the vehicle outline, and the technology for assisting the driver to protect the wheels is lacked, and can only be ensured by depending on the technical level of the driver. Moreover, the design position of the current vehicle wheel is usually in the vehicle outline, which increases the difficulty for the driver to judge the wheel position.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a driving assistance system, which enables a driver to adjust a route in time according to the content displayed on a display through a target monitoring video with a trajectory line along which a vehicle wheel advances, so as to select a safe driving route.
The embodiment of the application provides a driving assistance system, which comprises a camera, a corner sensor, a signal processor and a display, wherein the camera is arranged on the front end of the camera; wherein the content of the first and second substances,
the camera is in communication connection with the signal processor and is used for acquiring a monitoring video of a road surface in front of a vehicle in real time and sending the monitoring video to the signal processor;
the corner sensor is in communication connection with the signal processor and is used for acquiring angle information of a vehicle wheel corner in real time and sending the angle information to the signal processor;
the signal processor is used for calculating a track line of the advancing vehicle wheels according to the received angle information, determining a target monitoring video according to the track line and the monitoring video, and sending the target monitoring video to the display;
and the display is in communication connection with the signal processor and is used for displaying the target monitoring video so that a driver can select a safe driving route to drive the vehicle.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, and the driving assistance system further includes:
the radar is in communication connection with the signal processor and is used for detecting whether an obstacle higher than the ground clearance of the vehicle exists on the road surface in front of the vehicle in real time and sending the information of the detected obstacle to the signal processor;
the signal processor is further configured to determine the target surveillance video according to the information of the obstacle, the trajectory line, and the surveillance video.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, and the driving assistance system further includes:
the memory is in communication connection with the signal processor and is used for storing the contour image and the wheel position information of the vehicle so that the signal processor can obtain the contour image and the wheel position information;
the signal processor is further configured to determine the target surveillance video according to the contour image, the wheel position information, the information of the obstacle, the trajectory line, and the surveillance video.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, and the signal processor is further configured to calculate an early warning area according to the information of the obstacle and the trajectory line, and determine the target surveillance video according to the early warning area, the contour image, the wheel position information, the information of the obstacle, the trajectory line, and the surveillance video.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, and the driving assistance system further includes:
the signal processor is further used for judging whether the early warning area is superposed with the track line;
and the alarm device is in communication connection with the signal processor and is used for giving an alarm when the signal processor judges that the early warning area is superposed with the track line so as to prompt the driver to adjust the driving route.
With reference to the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the driving assistance system further includes:
and the selection switch is in communication connection with the signal processor and is used for enabling or disabling the signal processor to perform a driving assistance function by the driver.
With reference to the first aspect, embodiments of the present application provide a sixth possible implementation manner of the first aspect, where the steering angle sensor is a steering wheel steering angle sensor mounted on a steering wheel.
In combination with the first aspect, the present embodiments provide a seventh possible implementation manner of the first aspect, where the steering angle sensor is a wheel steering angle sensor mounted on a front wheel of the vehicle.
With reference to the eighth possible implementation manner of the first aspect, this application provides a ninth possible implementation manner of the first aspect, and the alarm device is a buzzer or a voice player.
With reference to the first aspect and any one of the first to eighth possible implementation manners of the first aspect, in this application, the embodiment provides a ninth possible implementation manner of the first aspect, and the signal processor is of the type MCUSPC 5602B.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a functional block diagram of a driving assistance system provided in accordance with an embodiment of the present disclosure;
FIG. 2 is a second functional block diagram of a driving assistance system according to a second embodiment of the present disclosure;
FIG. 3 is a third functional block diagram of a driving assistance system provided in a third embodiment of the present application;
fig. 4 shows the content displayed by the display in the driving assistance system provided in the third embodiment of the present application.
Icon: 101-a camera; 102-a rotation angle sensor; 103-a signal processor; 104-a display; 105-a radar; 106-a memory; 107-alarm means; 108-selection switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In order to enable a person skilled in the art to use the present disclosure, the following embodiments are given in conjunction with corresponding application scenarios, such as driving scenarios. Specifically, the method and the device can be applied to the scenes, and the driver can adjust the route in time according to the content displayed on the display through the target monitoring video with the advancing track line of the vehicle wheels displayed on the display, so that the driver can select the safe driving route.
At present, vehicles in the prior art all depend on the technical level of drivers when passing through potholes, sometimes, because of insufficient experience of the drivers, the wheels of the vehicles fall into the potholes or collide against obstacles, the vehicles cannot continuously run, and troubles are brought to the drivers. Furthermore, the wheel is the basis that the vehicle can normally travel, but technologies such as rear-view mirror, front/back radar all protect the outline of vehicle at present, lack the technology of assisting driver's protection to the wheel, can only rely on driver's technical merit to guarantee, but vehicle wheel design position is usually less than the automobile body width usually, has increased very big degree of difficulty to driver's judgement wheel position like this, often lead to the wheel to damage because of driving the technological deficiency or fall into in the adverse circumstances, can't continue to travel, bring very big trouble for the driver, also can cause certain economic loss simultaneously.
Therefore, in order to avoid that wheels fall into a pit or collide with an obstacle in the driving process of a vehicle and meet the requirement that the vehicle can drive in a specific area (such as the situations of lifting machines, vehicle logistics trucks, stopping beside road teeth and the like), the application provides the driving assisting system which can be applied to any different types of vehicles, for example, the vehicles can be electric vehicles, automobiles, trucks and the like.
Based on this, this application embodiment provides a driving assistance system, through installing the road condition in the front in the anterior camera monitoring of vehicle to through signal processor calculates the track line that the vehicle wheel gos forward, the driver can be according to wheel track line and road surface condition on the display and adjust, and then selects safe route of traveling. Meanwhile, the driving assistance system can also be applied as an assistance system of unmanned technology, and the driving assistance system is described in detail below.
Example one
Referring to fig. 1, a driving assistance system according to an embodiment of the present application includes a camera 101, a rotation angle sensor 102, a signal processor 103, and a display 104; wherein the content of the first and second substances,
the camera 101 is in communication connection with the signal processor 103 and is used for acquiring a monitoring video of a road surface in front of a vehicle in real time and sending the monitoring video to the signal processor 103;
the corner sensor 102 is in communication connection with the signal processor 103, and is configured to collect angle information of a vehicle wheel corner in real time and send the angle information to the signal processor 103;
the signal processor 103 is configured to calculate a track line of a vehicle wheel advancing according to the received angle information, determine a target surveillance video according to the track line and the surveillance video, and send the target surveillance video to the display 104;
and the display 104 is in communication connection with the signal processor 103 and is used for displaying the target monitoring video so that a driver can select a safe driving route to drive the vehicle.
The driving assistance system comprises a camera 101, a corner sensor 102, a signal processor 103 and a display 104, wherein the camera 101 is installed at the position of a license plate lamp of a license plate frame and embedded into a bumper, so that a monitoring video of the road surface condition of a road in front of the driving direction of a vehicle can be acquired in real time, and the monitoring video reflecting the road surface condition is sent to the signal processor 103; the corner sensor 102 is used for acquiring the angle information of the corner of the vehicle wheel in real time and sending the angle information to the signal processor 103 so that the signal processor 103 can know the angle information of the corner of the vehicle wheel; the signal processor 103 is a Microcontroller Unit (MCU) and can process, calculate and analyze the received signal, after receiving the angle information, the signal processor 103 can calculate the future advancing trajectory of the vehicle wheel, and synthesize the received monitoring video and the trajectory in real time to obtain a target monitoring video with the trajectory, and send the target monitoring video to the display 104 so that the display 104 can display the target monitoring video; the display 104 is a conventional vehicle-mounted display, and is installed in front of the vehicle cab near the windshield, and is used for displaying the target monitoring video, so that the driver can adjust the route in time according to the track line of the future advancing wheels in the target monitoring video and the road condition in front of the vehicle, and further select a safe driving route.
Example two
Referring to fig. 2, a second embodiment of the present application provides a driving assistance system, which includes a camera 101, a rotation angle sensor 102, a signal processor 103, a display 104, and a radar 105; wherein the content of the first and second substances,
the camera 101 is in communication connection with the signal processor 103 and is used for acquiring a monitoring video of a road surface in front of a vehicle in real time and sending the monitoring video to the signal processor 103;
the corner sensor 102 is in communication connection with the signal processor 103, and is configured to collect angle information of a vehicle wheel corner in real time and send the angle information to the signal processor 103;
the radar 105 is in communication connection with the signal processor 103 and is used for detecting whether an obstacle higher than the ground clearance of the vehicle exists on the road surface in front of the vehicle in real time and sending the information of the detected obstacle to the signal processor 103;
the signal processor 103 is configured to calculate a track line of a vehicle wheel advancing according to the received angle information, determine the target surveillance video according to the information of the obstacle, the track line and the surveillance video, and send the target surveillance video to the display 104;
and the display 104 is in communication connection with the signal processor 103 and is used for displaying the target monitoring video so that a driver can select a safe driving route to drive the vehicle.
Here, the driving assistance system further includes a radar 105, and the radar 105 is a laser detection radar for detecting whether an obstacle higher than a ground clearance of the vehicle exists on a road surface ahead of the vehicle in real time, and transmitting information of the detected obstacle higher than the ground clearance to the signal processor 103.
It should be noted that, after receiving the information of the obstacle, the signal processor 103 may synthesize the trajectory line, the information of the obstacle, and the monitoring video, so as to obtain a target monitoring video with the information of the obstacle and the trajectory line of the future wheel, and send the synthesized target monitoring video to the display 104, so that the driver can adjust the route in time according to the content displayed on the display 104, and further select a safe driving route.
EXAMPLE III
Referring to fig. 3, a third embodiment of the present application provides a driving assistance system, which includes a camera 101, a rotation angle sensor 102, a signal processor 103, a display 104, a radar 105, and a memory 106; wherein the content of the first and second substances,
the camera 101 is in communication connection with the signal processor 103 and is used for acquiring a monitoring video of a road surface in front of a vehicle in real time and sending the monitoring video to the signal processor 103;
the corner sensor 102 is in communication connection with the signal processor 103, and is configured to collect angle information of a vehicle wheel corner in real time and send the angle information to the signal processor 103;
the radar 105 is in communication connection with the signal processor 103 and is used for detecting whether an obstacle higher than the ground clearance of the vehicle exists on the road surface in front of the vehicle in real time and sending the information of the detected obstacle to the signal processor 103;
a memory 106, communicatively connected to the signal processor 103, for storing the contour image and the wheel position information of the vehicle, so that the signal processor 103 can obtain the contour image and the wheel position information;
the signal processor 103 is configured to calculate a trajectory of a vehicle wheel advancing according to the received angle information, determine a target surveillance video according to the contour image, the wheel position information, the information of the obstacle, the trajectory and the surveillance video, and send the target surveillance video to the display 104;
and the display 104 is in communication connection with the signal processor 103 and is used for displaying the target monitoring video so that a driver can select a safe driving route to drive the vehicle.
Here, the memory 106 is a read only memory or a random access memory, and is capable of storing a contour image of a vehicle that has been drawn at the time of vehicle development, wheel position information, and other data.
It should be noted that after the contour image and the wheel position information are acquired, the signal processor 103 may synthesize the contour image, the wheel position information, the obstacle information, the trajectory line and the monitoring video to obtain a target monitoring video with the contour image, the wheel position information, the obstacle information and the future trajectory line of the wheel, and send the synthesized target monitoring video to the display 104, so that the driver can assist the driver in driving the vehicle according to the content displayed on the display 104.
In this embodiment, the signal processor 103 is further configured to calculate an early warning area according to the information of the obstacle and the trajectory line, and determine the target monitoring video according to the early warning area, the contour image, the wheel position information, the information of the obstacle, the trajectory line, and the monitoring video. Referring to fig. 4, the driving assistance system provided in the third embodiment is provided, in which the content displayed on the display 104 includes the warning area, the track line, the wheel position, and the position of the contour image of the vehicle.
Here, in order to enable the driver to know in advance whether the wheel may collide with the obstacle, in the embodiment of the present application, the signal processor 103 calculates the early warning area, and the early warning area is also synthesized into the monitoring video, so that the driver can conveniently confirm whether to adjust the driving route according to the actual situation, and the wheel is prevented from colliding with the obstacle.
It should be noted that the maximum distance between the wheels is generally smaller than the width of the vehicle body, and the relative positions of the wheels and the side walls are determined according to the vehicle type and the brand, so that the positions of the wheels are not easy to be judged by the driver, and the system is added to help the driver to select the optimal road surface for driving, and particularly, the early warning area can be displayed in the display 104.
The early warning area can be divided into red, yellow and green areas, the red area is highly early-warned, the yellow area is moderately early-warned, the green area is slightly early-warned, and the blind color area represents a distance different from that of the wheel.
In this embodiment, the driving assist system further includes:
the signal processor 103 is further configured to determine whether the early warning area coincides with the trajectory line;
and the alarm device 107 is in communication connection with the signal processor 103 and is used for giving an alarm when the signal processor 103 judges that the early warning area is overlapped with the track line so as to prompt the driver to adjust the driving route.
Here, the driving assistance system further includes an alarm device 107 that gives an alarm when the signal processor 103 determines that the early warning region coincides with a future advancing trajectory line of the vehicle to prompt the driver to adjust the traveling route in time to avoid collision of the wheels with the obstacle.
In this embodiment, the driving assist system further includes:
and the selection switch 108 is in communication connection with the signal processor 103 and is used for the driver to selectively turn on or off the function of the signal processor 103 for driving assistance.
Here, the driving assistance system further includes a selection switch 108, and the driver can turn on or off the function of assisting driving by the signal processor 103 through the selection switch 108, thereby further improving the user experience.
In this embodiment, the rotation angle sensor 102 is a steering wheel rotation angle sensor mounted on a steering wheel.
Here, the steering angle sensor 102 is a steering wheel angle sensor mounted on a steering column, a relationship curve between a steering wheel angle and a steering angle of a front side steering wheel of the vehicle is stored in the memory 106, the signal processor 103 finds the steering wheel angle measured by the steering wheel angle sensor, obtains a steering angle of the front side steering wheel of the vehicle when the vehicle turns, that is, angle information in the relationship curve, and calculates a trajectory line of the future advance of the vehicle based on the angle information.
In this embodiment, the rotation angle sensor 102 is a wheel rotation angle sensor mounted on a front wheel of the vehicle.
Here, the turning angle sensor 102 is a wheel turning angle sensor mounted on a front wheel of the vehicle, and is configured to collect angle information of a turning angle of a wheel of the vehicle in real time and transmit the angle information to the signal processor 103, and the signal processor 103 calculates a trajectory line of the vehicle advancing in the future according to the received turning angle.
In this embodiment, the alarm device 107 is a buzzer or a voice player.
Here, the alarm device 107 may be a buzzer, which is an electronic buzzer of an integrated structure, and when the signal processor 103 determines that the early warning area coincides with the track line, the buzzer is triggered and emits a warning ring to prompt the driver to pay attention to the road condition and adjust the driving route in time; the warning device 107 may also be a voice player, and when the signal processor 103 determines that the early warning area coincides with the track line, the voice player plays warning information to remind the driver of paying attention to the current road condition and driving carefully.
In this embodiment, the signal processor 103 is of the type MCUSPC 5602B.
Here, the signal processor 103 selected in the embodiment of the present application has a model of the MCUSPC5602B, and the MCUSPC5602B is capable of receiving, processing, calculating, analyzing, transmitting, and the like, a signal.
EXAMPLE five
The embodiment of the application also provides a method for working by applying the assistant driving system, which comprises the following steps:
step 501, a driver starts a signal processor through a selection switch to perform a driving assistance function;
502, a camera collects a monitoring video of a road surface in front of a vehicle in real time and sends the monitoring video to a signal processor; the method comprises the steps that a corner sensor collects angle information of a corner of a vehicle wheel in real time and sends the angle information to a signal processor; the radar detects whether an obstacle higher than the ground clearance of the vehicle exists on the road surface in front of the vehicle in real time and sends the detected information of the obstacle to the signal processor;
step 503, the signal processor calculates a track line of the vehicle wheel advancing according to the received angle information, calculates an early warning area according to the received information of the obstacle and the track line, acquires a contour image and wheel position information of the vehicle from the memory, synthesizes the early warning area, the contour image, the wheel position information, the information of the obstacle, the track line and the monitoring video to obtain a target monitoring video, and sends the target monitoring video to the display;
and step 504, displaying the target monitoring video by the display, so that a driver can select a safe driving route to drive the vehicle according to the target monitoring video on the display.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The driving assistance system is characterized by comprising a camera, a corner sensor, a signal processor and a display; wherein the content of the first and second substances,
the camera is in communication connection with the signal processor, is installed at the position of a license plate lamp of the license plate frame, is embedded into the bumper, and is used for acquiring a monitoring video of a road surface in front of a vehicle in real time and sending the monitoring video to the signal processor;
the corner sensor is in communication connection with the signal processor and is used for acquiring angle information of a vehicle wheel corner in real time and sending the angle information to the signal processor;
the signal processor is used for calculating a track line of the advancing vehicle wheels according to the received angle information, determining a target monitoring video according to the track line and the monitoring video, and sending the target monitoring video to the display;
the display is in communication connection with the signal processor and is used for displaying the target monitoring video so that a driver can select a safe driving route to drive the vehicle;
the system further comprises:
the radar is in communication connection with the signal processor and is used for detecting whether an obstacle higher than the ground clearance of the vehicle exists on the road surface in front of the vehicle in real time and sending the information of the detected obstacle to the signal processor;
the signal processor is further configured to determine the target surveillance video according to the information of the obstacle, the trajectory line, and the surveillance video.
2. The system of claim 1, further comprising:
the memory is in communication connection with the signal processor and is used for storing the contour image and the wheel position information of the vehicle so that the signal processor can obtain the contour image and the wheel position information;
the signal processor is further configured to determine the target surveillance video according to the contour image, the wheel position information, the information of the obstacle, the trajectory line, and the surveillance video.
3. The system of claim 2,
the signal processor is further configured to calculate an early warning area according to the information of the obstacle and the trajectory line, and determine the target monitoring video according to the early warning area, the contour image, the wheel position information, the information of the obstacle, the trajectory line, and the monitoring video.
4. The system of claim 3, further comprising:
the signal processor is further used for judging whether the early warning area is superposed with the track line;
and the alarm device is in communication connection with the signal processor and is used for giving an alarm when the signal processor judges that the early warning area is superposed with the track line so as to prompt the driver to adjust the driving route.
5. The system of claim 1, further comprising:
and the selection switch is in communication connection with the signal processor and is used for enabling or disabling the signal processor to perform a driving assistance function by the driver.
6. The system of claim 1, wherein the rotation angle sensor is a steering wheel rotation angle sensor mounted on a steering wheel.
7. The system of claim 1, wherein the steering angle sensor is a wheel steering angle sensor mounted on a front wheel of the vehicle.
8. The system of claim 4, wherein the alarm device is a buzzer or a voice player.
9. The system of any one of claims 1 to 8, wherein the signal processor is model number MCUSPC 5602B.
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| CN201920204854.XU CN210363587U (en) | 2019-02-15 | 2019-02-15 | Auxiliary driving system |
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| CN201920204854.XU CN210363587U (en) | 2019-02-15 | 2019-02-15 | Auxiliary driving system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113569692A (en) * | 2021-07-22 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Driving assistance method, system, device, and computer-readable storage medium |
| CN113867361A (en) * | 2021-10-20 | 2021-12-31 | 北京经纬恒润科技股份有限公司 | Auxiliary driving method and related equipment |
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2019
- 2019-02-15 CN CN201920204854.XU patent/CN210363587U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113569692A (en) * | 2021-07-22 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Driving assistance method, system, device, and computer-readable storage medium |
| CN113569692B (en) * | 2021-07-22 | 2024-02-09 | 上汽通用五菱汽车股份有限公司 | Driving assistance method, system, apparatus, and computer-readable storage medium |
| CN113867361A (en) * | 2021-10-20 | 2021-12-31 | 北京经纬恒润科技股份有限公司 | Auxiliary driving method and related equipment |
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| GR01 | Patent grant |