KR19980051339A - Obstacle warning device for car reverse - Google Patents
Obstacle warning device for car reverse Download PDFInfo
- Publication number
- KR19980051339A KR19980051339A KR1019960070231A KR19960070231A KR19980051339A KR 19980051339 A KR19980051339 A KR 19980051339A KR 1019960070231 A KR1019960070231 A KR 1019960070231A KR 19960070231 A KR19960070231 A KR 19960070231A KR 19980051339 A KR19980051339 A KR 19980051339A
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- South Korea
- Prior art keywords
- distance
- obstacle
- primary
- control unit
- vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
Abstract
본 발명은 자동차 후진시 장애물 경고장치에 관한 것으로, 종래에는 후사경이나 룸밀러 등의 크기가 한정되어 있고, 차체의 구조상 후방에는 운전자가 볼 수없는 사각이 생겨 후방의 장애물과 충돌하거나 가끔 안전사고가 발생되는 문제가있었다. 특히, 차량의 후부 범퍼 아래에 있는 작은 물체는 룸밀러나 후사경을 통해 보이지도 않고 운전자가 고개를 돌려 후방을 살펴보더라도 전혀 보이지 않게 되어 접촉사고가 자주 발생하게 되는 문제점이 있었다.The present invention relates to an obstacle warning device when reversing an automobile, and in the related art, the size of a rear view mirror or a room mirror is limited, and a rear blind spot cannot be seen by the driver due to the structure of the vehicle, so that a collision with the rear obstacle or occasional safety accidents occurs. There was a problem that occurred. In particular, a small object under the rear bumper of the vehicle is not seen through the rear view mirror or rearview mirror, and even if the driver turns his head to look at the rear, there is a problem that frequent accidents occur.
본 발명은 예시도면 도 1 내지 도 3과 같이, 후진변속시에 후방에 장애물이 있을 때에 차량의 후방 리어범퍼(1)측에 장착된 1·2차 거리감지센서(12)(14)에서 장애물의 유무와 장애물과의 거리를 감지하게 된다. 이에 제어유닛(16)을 통해 룸미러(2)측에 설치된 1·2차 디지탈표시장치(18)(20)에 장애물과의 거리변화가 디지탈로 표시되고, 그 후 계속된 후진으로 상기한 장애물과의 거리가 제한거리안에 있다고 제어유닛(16)이 판단하면 1·2차 경고등(22)(24)을 점등시킴과 동시에 경보장치(26)에서 경고음을 발생하게 하여, 운전자로 하여금 무리한 후진을 경고토록 함으로 사고를 막도록 하는 것이다.1 to 3, the present invention is an obstacle in the primary and secondary distance sensor 12, 14 mounted on the rear rear bumper 1 side of the vehicle when there is an obstacle in the rear at the time of the reverse shift Detects the presence of an obstacle and the distance between obstacles. Accordingly, the distance change with the obstacle is digitally displayed on the primary and secondary digital display devices 18 and 20 installed on the rearview mirror 2 side through the control unit 16, and then the obstacle as described above is continued. If the control unit 16 determines that the distance between the vehicle and the vehicle is within the limited distance, the first and second warning lights 22 and 24 light up, and the alarm device 26 generates a warning sound, causing the driver to perform excessive backwards. The warning is to prevent accidents.
Description
본 발명은 자동차 후진시 장애물 경고장치에 관한 것으로, 더욱 상세하게는 후진시 후방의 장애물을 감지함과 동시에 상기 장애물과의 거리를 감지하여 룸미러에 구비된 디지탈표시장치에 거리를 나타내고, 장애물이 제한거리안에 있게 되면 경고등점등과 경고음을 발하게 하여 점촉사고를 방지토록 한 자동차 후진시 장애물 경고장치에 관한 것이다. 종래에는 자동차를 협소한 주차공간에서 주차 시키기 위해 후진 할때나 주택가 등에서 방향전환을 위하여 후진을 하게 될때 운전자가 운전석에 앉아 고개를 뒤로 돌려 뒤를 돌아보거나 좌우 후사경이나 룸밀러를 통해 후방에 물체가 있는지 여부를 확인하면서 후진하게 된다.The present invention relates to an obstacle warning device for reversing a vehicle, and more particularly, to detect an obstacle behind the vehicle at the time of reversing and to detect a distance from the obstacle to indicate a distance to a digital display device provided in a room mirror. The present invention relates to an obstacle warning device for reversing the vehicle to prevent a headlight accident by causing a warning light and a warning sound when the vehicle is within a limited distance. Conventionally, when reversing to park a car in a narrow parking space or when reversing to change direction in a residential area, the driver sits in the driver's seat, turns his head backward and looks back, or is there an object behind the left or right rearview mirror or room mirror? Check back to see if you are back.
그러나, 종래에는 후사경이나 룸밀러 등의 크기가 한정되어 있고, 차체의 구조상 후방에는 운전자가 볼 수 없는 사각이 생겨 후방의 장애물과 충돌하거나 가끔 안전사고가 발생되는 문제가 있었다. 특히, 차량의 후부 범퍼 아래에 있는 작은 물체는 룸밀러나 후사경을 통해 보이지도 않고 운전자가 고개를 돌려 후방을 살펴보더라도 전혀 보이지 않게 되어 접촉사고가 자주 발생하게 되는 문제점이 있었다. 따라서, 본 발명은 상기한 종래의 문제를 해결하기 위하여 안출된 것으로,후진시 초음파센서와 같은 거리감지센서를 이용하여 장애물의 유무와 함께 상기 장애물과의 거리를 감지하여 룸미러에 구비된 디지탈표시장치에 거리를 나타내고, 장애물이 제한거리안에 있게 되면 경고등점등과 경고음을 발하게 하여 접촉사고를 방지토록 한 자동차 후진시 장애물 경고장치를 제공하고자 함에 발명의 목적이 있다.However, in the related art, the size of a rearview mirror or a room mirror is limited, and a blind spot cannot be seen by the driver due to the structure of the vehicle body, so that there is a problem that a collision with an obstacle or a safety accident occurs sometimes. In particular, a small object under the rear bumper of the vehicle is not seen through the rear view mirror or rearview mirror, and even if the driver turns his head to look at the rear, there is a problem that frequent accidents occur. Accordingly, the present invention has been made to solve the above-mentioned conventional problem, by using a distance sensor such as an ultrasonic sensor when reversing to detect the distance with the obstacle with or without a digital display provided in the room mirror It is an object of the present invention to provide an obstacle warning device for reversing an automobile to indicate a distance to the device and to cause a warning light and a warning sound when the obstacle is within a limited distance to prevent a contact accident.
상기와 같은 목적을 실현하기 위한 본 발명은 후진기어변속이 이루어지면 상기 후진신호를 출력하도록 된 TCU(Transmission Contro1 Unit)와, 리어범퍼의 상단에 설치되어 범퍼높이의 장애물을 감지하도록 된 1차 거리감지센서와, 리어범퍼의 하단에 설치되어 범퍼높이 아래의 장애물을 감지하도록 된 2차 거리감지센서와,상기한 감지신호들이 입력되어 1·2차 거리감지센서로 부터 감지된 거리신호와 제한거리를 대비하는 제어유닛과, 상기 제어유닛의 출력단에 상기 제어유닛으로부터 출력된 거리출력신호를 받아 디지탈로 표시하도록 룸미러에 설치된 1·2차 디지탈표시장치와, 상기 1·2차 디지탈표시장치내에 장착되어 제어유닛의 출력신호로 점등되는 1·2차경고등 및 경보음발생을 위한 스피커를 갖는 경보장치로 이루어진 것이다. 따라서, 본 발명은 후진변속시에 후방에 장애물이 있을 때에 차량의 후방 리어범퍼측에 장착된 1·2차 거리감지센서에서 장애물의 유무와 장애물과의 거리를 감지하게 된다. 이에 제어유닛을 통해 룸미러측에 설치된 1·2차 디지탈표시장치에 장애물과의 거리변화가 디지탈로 표시되고, 그 후 계속된 후진으로 상기한 장애물과의 거리가 제한거리안에 있다고 제어유닛이 판단하면 1·2차경고등을 점등시킴과 동시에 경보장치에서 경고음을 발생하게 하여, 운전자로 하여금 무리한 후진을 경고토록 함으로 사고를 막도록 하는 것이다.The present invention for realizing the above object is the first distance that is installed on the top of the rear bumper and the transmission control unit (TCU) to output the reverse signal when the reverse gear shift is made, the primary distance to detect the obstacle of the bumper height A sensor, a secondary distance sensor installed at the bottom of the rear bumper to detect an obstacle below the bumper height, and the distance signal and the limited distance detected from the primary and secondary distance sensor by inputting the above-described detection signals. A control unit for preparing a digital display device, a primary digital display device installed in a room mirror to receive a distance output signal output from the control unit at the output terminal of the control unit, and display the digital signal in the room mirror; It is composed of an alarm device having a primary and secondary warning light and a speaker for generating an alarm sound which are mounted and lit by the output signal of the control unit. Therefore, the present invention is to detect the presence of the obstacle and the distance from the obstacle in the primary and secondary distance sensor mounted on the rear rear bumper side of the vehicle when there is an obstacle at the rear during the reverse shift. Accordingly, the control unit judges that the distance to the obstacle is digitally displayed on the primary and secondary digital display devices installed on the room mirror side through the control unit, and the distance to the obstacle is within the limited distance. When the first and second warning lights are turned on at the same time, a warning sound is generated by the alarm device, and the driver is warned of excessive backwards to prevent an accident.
도 1은 본 발명에 따른 후진시 장애물 경고장치의 구성도,1 is a block diagram of an obstacle warning device when reversing according to the present invention,
도 2의 (가)는 본 발명에 따른 1·2차 거리감지센서의 장착을 도시한 개요도,2 (a) is a schematic diagram showing the mounting of the primary distance sensor according to the present invention,
(나)는 본 발명에 따른 1·2차 디지탈표시장치와 1·2차 경고등 및 스피커가 장착된 룸미러를 보인 개요도;(B) is a schematic diagram showing a room mirror equipped with a primary and secondary digital display device, primary and secondary warning lights and a speaker according to the present invention;
도 3는 본 발명에 따른 후진시 장애물 경고장치의 흐름도이다.3 is a flow chart of the obstacle warning device during the reverse in accordance with the present invention.
* 도면의 주요부분에 대한 부흐의 설명* Description of Buch for the main parts of the drawing
1 - 리어범퍼, 2 - 룸미러,1-rear bumper, 2-room mirror,
10 - TCU, 12 - 1차 거리감지센서,10-TCU, 12-1st distance sensor,
14 - 2차 거리감지센서, 16 - 제어유닛,14-secondary distance sensor, 16-control unit,
18 - 1차 디지탈표시장치, 20 - 2차 디지탈표시장치,18-primary digital display, 20-secondary digital display,
22 - 1차 경고등, 24 - 2차 경고등,22-1st warning light, 24-2nd warning light,
26 - 경보장치, 28 - 스피커.26-alarm, 28-speaker.
본 발명의 구성 및 작용 효과를 첨부된 예시도면에 의거하여 상세히 설명하면 다음과 같다.Referring to the configuration and operation of the present invention in detail based on the accompanying drawings as follows.
본 발명은 후진기어변속이 이루어지면 상기 후진신호를 출력하도록 된TCU(Transmission ControI Unit) (l0)와, 리어범퍼(1)의 상단에 설치되어 범퍼높이의 장애물을 감지하도록 된 1차 거리감지센서(12)와, 리어범퍼(1)의 하단에 설치되어 범퍼높이 아래의 장애물을 감지하도록 된 2차 거리감지센서(14)와, 상기한 감지신호들이 입력되어 1.2차 거리감지센서(12) (14)로 부터 감지된 거리신호와 제한거리를 대비하는 제어유닛(16)과, 상기 제어유닛(16)의 출력단에 상기 제어유닛(16)으로부터 출력된 거리출력신호를 받아 디지탈로 표시하도록 룸미러(2)에 설치된 1· 2차 디지탈표시장치(18)(20)와, 상기 1·2차 디지탈표시장치(18)(20)내에 장착되어 제어유닛(16)의 출력신호로 점등되는 1·2차경고등(22) (24) 및 경보음발생을 위한 스피커(28)를 갖는 경보장치(26)로 이루어진 자동차 후진시 장애물 경고장치이다.According to the present invention, a reverse distance shift sensor (TCU) is configured to output the reverse signal when a reverse gear shift is made, and a primary distance sensor installed at an upper end of the rear bumper 1 to detect an obstacle at a bumper height. 12, a secondary distance detection sensor 14 installed at the lower end of the rear bumper 1 to detect an obstacle below the bumper height, and the above-described detection signals are input to the 1.2th distance detection sensor 12 ( A control unit 16 for contrasting the distance signal detected from the control unit 14 with the limited distance, and a room mirror to receive the distance output signal output from the control unit 16 at the output terminal of the control unit 16 and display it digitally. A primary digital display device (18) (20) provided in (2) and a primary digital display device (18) (20) mounted in the primary and secondary digital display devices (18) (20) and lit by an output signal of the control unit (16). Vehicle comprising alarm device 26 with secondary warning lights 22 and 24 and speaker 28 for generating an alarm sound Exhibition is an obstacle warning system.
예시도면 도 1은 본 발명에 따른 후진시 장애물 경고장치의 구성도이고, 도2의 (가)는 본 발명에 따른 1·2차 거리감지센서의 장착을 도시한 개요도이며, (나)는 본 발명에 따른 1·2차 디지탈표시장치와 1·2차경고등 및 스피커가 장착된 룸미러를 보인 개요도이다. 여기서, TCU(10)는 변속기를 제어하는 수단으로, 상기 기능에 더하여 후진변속시에 제어유닛(16)측에 후진신호를 입력토록 하여 현 차량이 후진주행임을 알려주며 상기와 같이 후진신호가 제어유닛(16)에 입력됨으로 본 발명의 작동이 시작되는 것이다.Exemplary drawings Figure 1 is a block diagram of the obstacle warning device when reversing according to the present invention, Figure 2 (a) is a schematic diagram showing the mounting of the primary and secondary distance sensor according to the present invention, (b) is A schematic view showing a room mirror equipped with a primary and secondary digital display device, a primary and secondary warning lamp and a speaker according to the present invention. Here, the TCU 10 is a means for controlling the transmission. In addition to the above function, the TCU 10 inputs a reverse signal to the control unit 16 at the time of reverse shift, indicating that the current vehicle is traveling backward, and the reverse signal is the control unit as described above. The operation of the present invention is started by inputting at (16).
그리고, 리어범퍼(1)상단에 설치된 1차 거리감지센서(12)와, 하단에 설치된 2차 거리감지센서(14)는 초음파를 이용하여 거리를 감지하도록 되어 있으며, 각각이 초음파 발신부와 초음파 수신부가 구성되어져 있는 것이며, 1차 거리감지센서(12)는 리어범퍼(1)높이에 있는 장애물의 유무와 상기 장애물과 리어범퍼(1)와의 거리를 측정토록 하는 수단이고, 2차 거리감지센서(14)는 리어범퍼(1)높이 아래로경사지게 초음파를 발사하여 범퍼높이 아래에 있는 둔턱과 같은 장애물 즉 1차 거리감지센서(12)로는 감지되기 어려운 장애물을 감지하여 거리를 측정토록 하는 것이다.In addition, the primary distance detection sensor 12 installed at the upper end of the rear bumper 1 and the secondary distance detection sensor 14 installed at the lower end are configured to detect distance by using ultrasonic waves, each of which is an ultrasonic transmitter and an ultrasonic wave. The receiver is configured, the primary distance sensor 12 is a means for measuring the presence of the obstacle at the height of the rear bumper (1) and the distance between the obstacle and the rear bumper (1), the secondary distance sensor 14 is to emit an ultrasonic wave inclined down the height of the rear bumper 1 to detect an obstacle such as a barrier below the bumper height, that is, an obstacle that is hard to be detected by the primary distance sensor 12 to measure the distance.
제어유닛(16)은 TCU(10)로 부터의 후진변속신호로 하여 본 발명의 작동을 개시토록 하고, 1·2차 거리감지센서(12) (14)로 부터 장애물의 유무와 상기 장애물과의 거리신호를 입력받게 되면 1·2차 디지탈표시장치(18)(20)가 각 장애물과의 거리변화를 계속 디스플레이하게 한다. 또한, 상기 제어유닛(16)은 1차 거리감지센서(12)나 2차 거리감지센서(14)에서 보내온 거리신호를 미리 제어유닛(16)의 기억저장소에 입력된 제한거리와 비교하여 후진주행을 계속하게 됨에 따라 변하는 장애물과의 거리가 제한거리안으로 들어오게 되면 경고음작동과 경고등작동을 위한 신호전압을 출력하게 되는 것이다.The control unit 16 starts the operation of the present invention as a reverse shift signal from the TCU 10, and the presence or absence of an obstacle from the primary and secondary distance detection sensors 12 and 14 and the obstacle. When the distance signal is received, the primary and secondary digital display devices 18 and 20 continue to display the distance change with each obstacle. In addition, the control unit 16 compares the distance signal sent from the primary distance sensor 12 or the secondary distance sensor 14 with the limit distance input in advance to the storage of the control unit 16 to travel backward. If the distance from the obstacle that changes as it enters within the limit distance, and outputs the signal voltage for the warning sound operation and warning light operation.
상기한 1·2차 디지탈표시장치(18) (20)는 그 액경화면에 후진변속이 시작됨과 동시에 장애물과의 거리변화가 표시되어지며, 룸미러(2)측부에 상하로 하여 설치되어 있어서 운전자가 주행시 룸미러(2)를 보게 되면 저절로 시야에 들어오게 한것이다.그리고, 상기 1·2차 디지탈표시장치(18) (20)에는 1차 경고등(22)과 2차 경고등(24)이 구비되어 있으며, 1·2차 디진탈표시장치(18)(20)하단에는 경보장치(26)의 경고음을 출력하는 스피커(28)가 부착되어 있다.The first and second digital display devices 18 and 20 described above are displayed with the change of distance from the obstacle at the same time as the reverse shift is started on the liquid level screen, and are installed up and down on the side of the room mirror 2. If you see the room mirror (2) while driving, you will enter the field by itself. The primary and secondary digital display device (18) (20) is provided with a primary warning light (22) and a secondary warning light (24). At the bottom of the primary and secondary digital display apparatuses 18 and 20, a speaker 28 for outputting a warning sound of the alarm device 26 is attached.
따라서, 본 발명은 예시도면 도 3과 같이, 후진주행시 작동을 개시하게 되고, 이어 1·2차 거리감지센서(12) (14)에서 장애물의 유무를 감지하여 1·2차 디지탈표시장치(18)(20)에 장애물과 리어범퍼(1)사이의 거리를 디스플레이하게 된다. 이에 상기한 센서중에서 감지된 장애물과의 거리가 제한거리내에 들어오게 되면 제어유닛(16)이 이를 판단하여 1·2차 경고등(22)(24)중 하나나 또는 둘다를 점등시켜주게 되며, 이와 동시에 경보장치(26)에 신호전압을 입력시켜 스피커(28)로 경고음을 출력토록하여 운전자에게 위험을 경고하게 된다.Accordingly, the present invention starts the operation during the reverse driving, as shown in Figure 3, and then the primary and secondary digital display device 18 by detecting the presence or absence of obstacles in the primary and secondary distance sensor (12) (14) In 20, the distance between the obstacle and the rear bumper 1 is displayed. When the distance to the obstacle detected by the sensor is within the limit distance, the control unit 16 determines this and turns on one or both of the primary and secondary warning lights 22, 24, and the like. At the same time, a signal voltage is input to the alarm device 26 to output a warning sound to the speaker 28 to warn the driver of danger.
상기한 바와 같이, 본 발명은 후진변속시에 후방에 장애물이 있을 때에 차량의 후방 리어범퍼(1)측에 장착된 1·2차 거리감지센서(12)(14)에서 장애물의 유무와 장애물과의 거리를 감지하게 된다. 이에 제어유닛(16)을 통해 룸미러(2)측에 설치된 1·2차 디지탈표시장치(18) (20)에 장애물과의 거리변화가 디지탈로 표시되고, 그 후 계속된 후진으로 상기한 장애물과의 거리가 제한거리안에 있다고 제어유닛(16)이 판단하면 1·2차경고등(22)(24)을 점등시킴과 동시에 경보장치(26)에서 경고음을 발생하게 하여, 운전자로 하여금 무리한 후진을 경고토록 함으로 사고를 막도록 하는 효과가 있다.As described above, the present invention provides the presence and absence of obstacles and obstacles in the primary and secondary distance detection sensors 12 and 14 mounted on the rear rear bumper 1 side of the vehicle when there is an obstacle at the rear during the reverse shift. Will detect the distance. Accordingly, the distance change with the obstacle is digitally displayed on the primary and secondary digital display devices 18 and 20 installed on the rearview mirror 2 side through the control unit 16, and then the obstacle as described above is continued. If the control unit 16 determines that the distance to the vehicle is within the limit distance, the primary warning lights 22 and 24 are turned on, and the alarm device 26 generates a warning sound, causing the driver to perform excessive backwards. Warnings have the effect of preventing accidents.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960070231A KR100204775B1 (en) | 1996-12-23 | 1996-12-23 | Obstacle warning device of a car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960070231A KR100204775B1 (en) | 1996-12-23 | 1996-12-23 | Obstacle warning device of a car |
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| Publication Number | Publication Date |
|---|---|
| KR19980051339A true KR19980051339A (en) | 1998-09-15 |
| KR100204775B1 KR100204775B1 (en) | 1999-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019960070231A KR100204775B1 (en) | 1996-12-23 | 1996-12-23 | Obstacle warning device of a car |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100709001B1 (en) * | 2005-11-30 | 2007-04-18 | 지멘스 오토모티브 주식회사 | Method and apparatus for protecting traffic accident using rfid system |
| KR100810899B1 (en) * | 2007-06-30 | 2008-03-10 | 이향제 | Vehicles approach perception device that power generation module uses included passivity radio frequency id |
-
1996
- 1996-12-23 KR KR1019960070231A patent/KR100204775B1/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100709001B1 (en) * | 2005-11-30 | 2007-04-18 | 지멘스 오토모티브 주식회사 | Method and apparatus for protecting traffic accident using rfid system |
| KR100810899B1 (en) * | 2007-06-30 | 2008-03-10 | 이향제 | Vehicles approach perception device that power generation module uses included passivity radio frequency id |
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| Publication number | Publication date |
|---|---|
| KR100204775B1 (en) | 1999-06-15 |
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