WO2017128193A1 - Method and device for pushing information during lane departure warning - Google Patents
Method and device for pushing information during lane departure warning Download PDFInfo
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- WO2017128193A1 WO2017128193A1 PCT/CN2016/072539 CN2016072539W WO2017128193A1 WO 2017128193 A1 WO2017128193 A1 WO 2017128193A1 CN 2016072539 W CN2016072539 W CN 2016072539W WO 2017128193 A1 WO2017128193 A1 WO 2017128193A1
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- Prior art keywords
- road condition
- vehicle
- image
- information
- condition image
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Definitions
- the embodiment of the present invention is implemented by the method for pushing information in the vehicle offset warning, and the method includes:
- Another object of embodiments of the present invention is to provide a vehicle offset reminding device, the device comprising:
- An image acquisition module configured for the front camera to periodically obtain an image of the road ahead of the vehicle
- An image analysis module configured to analyze the road condition image
- An information push module for pushing patent information to a user.
- FIG. 1 is a flowchart of a method for pushing information when a vehicle offset warning is provided according to an embodiment of the present invention
- Embodiment 1 is a diagrammatic representation of Embodiment 1:
- FIG. 1 is a flowchart of a method for pushing information during vehicle offset warning according to a first embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.
- step S101 the head camera periodically acquires image information of the vehicle traveling front.
- the camera in front of the vehicle head transmits the obtained road condition image to the image processing module to process the road condition image. It is mainly to judge the position of the lane where the vehicle body is located, to determine whether the vehicle body is in the driving lane, or the vehicle body is about to drive out of the current lane.
- step S103 In the middle, when the road condition image shows that the car body is pressed to the lane line, an early warning message is issued, and the patent information is pushed to the user.
- the patent information includes, but is not limited to, the state of patent application of the technology, the patent application of the technology / Information on the right holder, the patent application number of the technology, the patent application date, and the like.
- the patent information is editable, and can be dynamically pushed to the user according to the authorization of the patent application: the patent is being applied for, the patent authorization has been obtained, and the like.
- step S104 when the road condition image indicates that the car is driving in the middle of the lane, returning to step S101, the head camera continues.
- the image information of the front of the vehicle is acquired regularly.
- the front camera periodically acquires the road condition image in front of the vehicle and analyzes the road condition image.
- the road condition image shows that the vehicle body is pressed to the lane line
- the driver is given an early warning message.
- the traffic image shows that the car is driving in the middle of the lane
- Head camera The image information of the front of the vehicle is acquired regularly. In this way, the car can automatically identify whether the vehicle is driving normally or during the driving process, which may cause an accident, greatly improve the safety of the car, and also protect and highlight the rights and interests of the inventor.
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- FIG 2 A structural diagram of a vehicle offset reminding device provided by an embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
- the vehicle offset reminding device includes: an image acquiring module 1, an image analyzing module 2, and an early warning module 3 . among them:
- the image acquisition module 1 is configured to obtain, by the front camera, a road condition image in front of the vehicle.
- the camera of the front end is started at a time to capture an image of the road ahead of the vehicle.
- the captured road condition image includes the lane where the vehicle body is located, the position information of the vehicle in front, and the road condition information of the lanes on both sides of the vehicle.
- the camera is intermittently shooting the road condition information in front of the vehicle, and the interval between the shooting is preset by the developer.
- the camera in front of the vehicle head transmits the obtained road condition image to the image processing module to process the road condition image. It is mainly to judge the position of the lane where the vehicle body is located, to determine whether the vehicle body is in the driving lane, or the vehicle body is about to drive out of the current lane.
- the head camera of the image acquisition module 1 continues to acquire the image information of the vehicle ahead.
- the warning module 3 is used to issue an early warning message when the road condition image shows that the vehicle body is pressed to the lane line.
- the information pushing module 4 is configured to push patent information to the user.
- the patent information includes, but is not limited to, the state of patent application of the technology, the patent application of the technology / Information on the right holder, the patent application number of the technology, the patent application date, and the like.
- the patent information is editable, and can be dynamically pushed to the user according to the authorization of the patent application: the patent is being applied for, the patent authorization has been obtained, and the like.
- the patent information is editable and can be based on patent application rights / The transfer of patent rights, dynamically pushed to the user: the current relevant rights holder of the patent.
- the pushing manner of the patent information may adopt a small frame display, a voice display, and the like, so that the user can perceive the push mode.
Abstract
A method and device for pushing information during lane departure warning. The method comprises: a camera on the head of an automobile regularly obtains a road condition image of a heading direction of the automobile (S101); analyzing the road condition image (S102); providing warning information if the road condition image shows that the automobile runs on a lane line, and pushing patent information to a user (S103). Therefore, an automobile can automatically identify whether it is running normally or in a lane departure state, which may cause an accident during running, thereby greatly improving automobile security; in addition, the rights of the inventor are also protected and demonstrated.
Description
本发明属于计算机应用领域，尤其涉及一种车辆偏移预警时的信息推送方法及装置。 The invention belongs to the field of computer applications, and in particular relates to a method and device for pushing information during vehicle offset warning.
知识产权在现在的产品和服务中越来越重要，其中主要包括著作权（版权）、商标权和专利权，这三种权利都能为权利人带来巨大的经济价值。
Intellectual property is becoming more and more important in current products and services, including copyright (copyright), trademark and patent rights, all of which can bring enormous economic value to rights holders.
但与著作权、商标权不同的是，专利权的权利归属比较难以为用户所认识和辨别。比如：一个培训教材或者一部电影里面，会明确的将'版权归特定人所有'的字样告知给用户；商标也以其显著的字或图的特征，在与其他标样区别的同时，也代表着商标权人以及商标权人生产的相关产品。但专利则不然，除了如'滑动解锁'等有限几个专利外，用户很难看到某一专利就知道该专利的申请/权利人。
However, unlike copyright and trademark rights, the ownership of patent rights is more difficult to recognize and discern. For example, in a training material or a movie, the words “copyright belongs to a specific person” will be clearly notified to the user; the trademark is also distinguished from other standards by its distinctive words or figures. Represents the related products produced by the trademark owner and the trademark owner. However, patents are not. Apart from a limited number of patents such as 'sliding and unlocking', it is difficult for a user to see a patent and know the application/right holder of the patent.
这种情况所带来的严重后果是： The serious consequences of this situation are:
1 、专利权的保护难度大，一项好的技术出来后，马上就被复制； 1. The protection of patent rights is difficult. Once a good technology comes out, it will be copied immediately;
2
、专利权/申请人通过专利彰显自己的产品特色的效果差，因为用户也分不清楚某一技术与专利权/申请人的联系。 2
The patent/applicant's effect of showing its own product features through patents is poor, because the user is also unclear about the connection between a certain technology and the patent/applicant.
综上，为充分保护本人的另外一个专利申请（名为《 车辆偏移提醒方法及装置
》），让该本人的专利申请价值最大化，特提出一个解决办法。 In summary, in order to fully protect my patent application (called "vehicle offset reminding method and device"
》), to maximize the value of my patent application, a special solution.
本发明实施例的目的在于提供一种 车辆偏移预警时的信息推送方法及装置 ，旨在解决现有的
汽车无法主动发现汽车行驶出现了偏移 的问题 ，同时也 保护、彰显发明创造者的权益 。 An object of the embodiments of the present invention is to provide an information push method and apparatus for vehicle offset warning, which aims to solve the existing
Cars can't proactively find that the car has a shift in driving, but also protect and highlight the rights of the inventors.
本发明实施例是这样实现的，一种 车辆偏移预警时的信息推送方法，所述方法包括： The embodiment of the present invention is implemented by the method for pushing information in the vehicle offset warning, and the method includes:
车头摄像头定时获取车辆行驶前方的路况图像； The front camera periodically acquires an image of the road ahead of the vehicle;
分析所述路况图像； Analyzing the road condition image;
当所述路况图像显示汽车车身压到车道线时，发出预警信息，并向用户推送专利信息。 When the road condition image shows that the vehicle body is pressed to the lane line, an early warning message is issued and the patent information is pushed to the user.
本发明实施例的另一目的在于提供一种 车辆偏移提醒装置 ，所述装置包括 ： Another object of embodiments of the present invention is to provide a vehicle offset reminding device, the device comprising:
图像获取模块，用于车头摄像头定时获取车辆行驶前方的路况图像； An image acquisition module, configured for the front camera to periodically obtain an image of the road ahead of the vehicle;
图像分析模块，用于 分析所述路况图像； An image analysis module, configured to analyze the road condition image;
预警 模块，用于 当所述路况图像显示汽车车身压到车道线时，发出预警信息； An early warning module, configured to issue an early warning message when the road condition image indicates that the automobile body is pressed to the lane line;
信息推送模块，用于向用户推送专利信息。 An information push module for pushing patent information to a user.
在本发明实施例中，
车头摄像头定时获取车辆行驶前方的路况图像，并分析路况图像，当路况图像显示汽车车身压到车道线时，向驾驶人员发出预警信息。若 路况图像显示汽车行驶在车道中间时，
车头摄像头 继续
定时获取车辆行驶前方图像信息。如此一来，汽车便可自动识别车辆是在正常行驶，还是行驶过程中发生了车身偏移，有可能造成事故，大大提高了汽车安全性，同时也保护、彰显发明创造者的权益。
In the embodiment of the present invention,
The front camera periodically acquires the road condition image in front of the vehicle and analyzes the road condition image. When the road condition image shows that the vehicle body is pressed to the lane line, the driver is given an early warning message. If the traffic image shows that the car is driving in the middle of the lane,
Head camera
The image information of the front of the vehicle is acquired regularly. In this way, the car can automatically identify whether the vehicle is driving normally or during the driving process, which may cause an accident, greatly improve the safety of the car, and also protect and highlight the rights and interests of the inventor.
图 1 是本发明 实施例提供的 车辆偏移预警时的信息推送方法的流程图； 1 is a flowchart of a method for pushing information when a vehicle offset warning is provided according to an embodiment of the present invention;
图 2 是本发明 实施例提供的 车辆偏移提醒装置 的结构图。 2 is a structural diagram of a vehicle offset reminding device according to an embodiment of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
为了说明本发明所述的技术方案，下面通过具体实施例来进行说明。 In order to explain the technical solution described in the present invention, the following description will be made by way of specific embodiments.
实施例一： Embodiment 1:
如图 1 所示为本发明第一实施例提供的一种车辆偏移预警时的信息推送方法的流程图，
为了便于说明，仅示出了与本发明实施例相关的部分。 FIG. 1 is a flowchart of a method for pushing information during vehicle offset warning according to a first embodiment of the present invention.
For the convenience of description, only parts related to the embodiment of the present invention are shown.
在步骤 S101 中， 车头摄像头定时获取车辆行驶前方图像信息。 In step S101, the head camera periodically acquires image information of the vehicle traveling front.
在本发明实施例中，车头的摄像头定时启动，拍摄车辆行驶前方的路况图像。一般而言，拍摄到的路况图像包括车身所在的车道，前方车辆的位置信息，及汽车两旁车道的路况信息。其中，摄像头是间歇性的对车辆行驶前方的路况信息进行拍摄的，其拍摄的间隔时间由开发人员预先设置，如可以为
2 秒， 5 秒等，在此不作限制。一般将摄像头安装在车辆的正前方，以便于能够最大范围的拍摄到车辆前方的路况信息，且安装在正前方，则拍摄角度较正。
In the embodiment of the present invention, the camera of the front end is started at a time to capture an image of the road ahead of the vehicle. In general, the captured road condition image includes the lane where the vehicle body is located, the position information of the vehicle in front, and the road condition information of the lanes on both sides of the vehicle. Among them, the camera is intermittently shooting the road condition information in front of the vehicle, and the interval between the shooting is preset by the developer, for example,
2 seconds, 5 seconds, etc., no restrictions here. Generally, the camera is installed directly in front of the vehicle, so that the road condition information in front of the vehicle can be photographed in the widest range, and the front angle is installed, and the shooting angle is correct.
在步骤 S102 中， 分析路况图像。 In step S102, the road condition image is analyzed.
在本发明实施例中，车头前方的摄像头将获得的路况图像传输到图像处理模块对路况图像进行处理。主要是对车身所在的车道位置进行判定，判断车身是否处于正在行驶的车道内，或车身即将驶出当前所在的车道。
In the embodiment of the present invention, the camera in front of the vehicle head transmits the obtained road condition image to the image processing module to process the road condition image. It is mainly to judge the position of the lane where the vehicle body is located, to determine whether the vehicle body is in the driving lane, or the vehicle body is about to drive out of the current lane.
在步骤 S103
中，当路况图像显示汽车车身压到车道线时，发出预警信息，同时向用户推送专利信息。 In step S103
In the middle, when the road condition image shows that the car body is pressed to the lane line, an early warning message is issued, and the patent information is pushed to the user.
在本发明实施例中，当分析路况图像发现汽车车身已经压倒车道线时，说明汽车发生了偏移，可能是驾驶员在驾驶途中出现了精力不集中的情况，此时要及时发出预警信息对驾驶员进行提醒。
其中，发出 预警信息 的方式可以有多种，如汽车状态显示屏上显示，汽车报警灯亮起等，此处不作限制。
In the embodiment of the present invention, when the road condition image is analyzed and it is found that the automobile body has overwhelmed the lane line, it indicates that the vehicle has been offset, which may be caused by the driver's lack of concentration during driving, and the warning information should be issued in time. The driver gives a reminder.
Among them, there are various ways to issue warning information, such as the display on the car status display, the car alarm light is on, etc., and there is no restriction here.
所述专利信息包括但不限于：该技术的专利申请状态，该技术的专利申请 /
权利人、该技术的专利申请号、专利申请日等信息。 The patent information includes, but is not limited to, the state of patent application of the technology, the patent application of the technology /
Information on the right holder, the patent application number of the technology, the patent application date, and the like.
所述专利信息是可编辑的，可以根据专利申请的授权与否，向用户动态推送：正在申请专利、已获得专利授权等信息。
The patent information is editable, and can be dynamically pushed to the user according to the authorization of the patent application: the patent is being applied for, the patent authorization has been obtained, and the like.
所述专利信息是可编辑的，可以根据专利申请权 /
专利权的转让情况，向用户动态推送：该专利的当前相关的权利人。 The patent information is editable and can be based on patent application rights /
The transfer of patent rights, dynamically pushed to the user: the current relevant rights holder of the patent.
所述专利信息的推送方式，可以采取小框显示、语音显示等让用户能够感知的推送方式。 The pushing manner of the patent information may adopt a small frame display, a voice display, and the like, so that the user can perceive the push mode.
在步骤S104中，当路况图像显示汽车行驶在车道中间时，返回步骤S101 车头摄像头 继续
定时获取车辆行驶前方图像信息。 In step S104, when the road condition image indicates that the car is driving in the middle of the lane, returning to step S101, the head camera continues.
The image information of the front of the vehicle is acquired regularly.
在本发明实施例中，若路况图像显示汽车行驶在车道中间，则说明汽车行驶正常，不需要发出预警，也不需做任何其他处理，只需继续获取车辆前方的路况图像即可。
In the embodiment of the present invention, if the road condition image shows that the car is driving in the middle of the lane, it means that the car is driving normally, no need to issue an early warning, and no other processing is needed, and only need to continue to obtain the road condition image in front of the vehicle.
在本发明实施例中，
车头摄像头定时获取车辆行驶前方的路况图像，并分析路况图像，当路况图像显示汽车车身压到车道线时，向驾驶人员发出预警信息。若 路况图像显示汽车行驶在车道中间时，
车头摄像头 继续
定时获取车辆行驶前方图像信息。如此一来，汽车便可自动识别车辆是在正常行驶，还是行驶过程中发生了车身偏移，有可能造成事故，大大提高了汽车安全性，同时也保护、彰显发明创造者的权益。 In the embodiment of the present invention,
The front camera periodically acquires the road condition image in front of the vehicle and analyzes the road condition image. When the road condition image shows that the vehicle body is pressed to the lane line, the driver is given an early warning message. If the traffic image shows that the car is driving in the middle of the lane,
Head camera
The image information of the front of the vehicle is acquired regularly. In this way, the car can automatically identify whether the vehicle is driving normally or during the driving process, which may cause an accident, greatly improve the safety of the car, and also protect and highlight the rights and interests of the inventor.
实施例二： Embodiment 2:
图 2
为本发明实施例提供的一种车辆偏移提醒装置的结构图，为了便于说明，仅示出了与本发明实施例相关的部份。 figure 2
A structural diagram of a vehicle offset reminding device provided by an embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
在本发明实施例中， 车辆偏移提醒装置 包括： 图像获取模块 1 、图像分析模块 2 及 预警 模块 3
。其中： In the embodiment of the present invention, the vehicle offset reminding device includes: an image acquiring module 1, an image analyzing module 2, and an early warning module 3
. among them:
图像获取模块 1 ，用于 车头摄像头定时获取车辆行驶前方的路况图像。 The image acquisition module 1 is configured to obtain, by the front camera, a road condition image in front of the vehicle.
在本发明实施例中，车头的摄像头定时启动，拍摄车辆行驶前方的路况图像。一般而言，拍摄到的路况图像包括车身所在的车道，前方车辆的位置信息，及汽车两旁车道的路况信息。其中，摄像头是间歇性的对车辆行驶前方的路况信息进行拍摄的，其拍摄的间隔时间由开发人员预先设置。
In the embodiment of the present invention, the camera of the front end is started at a time to capture an image of the road ahead of the vehicle. In general, the captured road condition image includes the lane where the vehicle body is located, the position information of the vehicle in front, and the road condition information of the lanes on both sides of the vehicle. Among them, the camera is intermittently shooting the road condition information in front of the vehicle, and the interval between the shooting is preset by the developer.
图像分析模块 2 ，用于 分析路况图像。 Image analysis module 2 for analyzing road condition images.
在本发明实施例中，车头前方的摄像头将获得的路况图像传输到图像处理模块对路况图像进行处理。主要是对车身所在的车道位置进行判定，判断车身是否处于正在行驶的车道内，或车身即将驶出当前所在的车道。
当路况图像显示汽车行驶在车道中间时， 图像获取模块 1 的 车头摄像头 继续 定时获取车辆行驶前方图像信息。
In the embodiment of the present invention, the camera in front of the vehicle head transmits the obtained road condition image to the image processing module to process the road condition image. It is mainly to judge the position of the lane where the vehicle body is located, to determine whether the vehicle body is in the driving lane, or the vehicle body is about to drive out of the current lane.
When the road condition image shows that the car is traveling in the middle of the lane, the head camera of the image acquisition module 1 continues to acquire the image information of the vehicle ahead.
预警 模块 3 ，用于 当路况图像显示汽车车身压到车道线时，发出预警信息。 The warning module 3 is used to issue an early warning message when the road condition image shows that the vehicle body is pressed to the lane line.
在本发明实施例中，当分析路况图像发现汽车车身已经压倒车道线时，及时发出预警信息对驾驶员进行提醒。
其中，发出 预警信息 的方式可以有多种，如汽车状态显示屏上显示，汽车报警灯亮起等，此处不作限制。 In the embodiment of the present invention, when analyzing the road condition image and finding that the automobile body has overwhelmed the lane line, the warning information is promptly issued to remind the driver.
Among them, there are various ways to issue warning information, such as the display on the car status display, the car alarm light is on, etc., and there is no restriction here.
信息推送模块 4 ，用于向用户推送专利信息。 The information pushing module 4 is configured to push patent information to the user.
所述专利信息包括但不限于：该技术的专利申请状态，该技术的专利申请 /
权利人、该技术的专利申请号、专利申请日等信息。 The patent information includes, but is not limited to, the state of patent application of the technology, the patent application of the technology /
Information on the right holder, the patent application number of the technology, the patent application date, and the like.
所述专利信息是可编辑的，可以根据专利申请的授权与否，向用户动态推送：正在申请专利、已获得专利授权等信息。
The patent information is editable, and can be dynamically pushed to the user according to the authorization of the patent application: the patent is being applied for, the patent authorization has been obtained, and the like.
所述专利信息是可编辑的，可以根据专利申请权 /
专利权的转让情况，向用户动态推送：该专利的当前相关的权利人。 The patent information is editable and can be based on patent application rights /
The transfer of patent rights, dynamically pushed to the user: the current relevant rights holder of the patent.
所述专利信息的推送方式，可以采取小框显示、语音显示等让用户能够感知的推送方式。 The pushing manner of the patent information may adopt a small frame display, a voice display, and the like, so that the user can perceive the push mode.
在本发明实施例中，
车头摄像头定时获取车辆行驶前方的路况图像，并分析路况图像，当路况图像显示汽车车身压到车道线时，向驾驶人员发出预警信息。若 路况图像显示汽车行驶在车道中间时，
车头摄像头 继续
定时获取车辆行驶前方图像信息。如此一来，汽车便可自动识别车辆是在正常行驶，还是行驶过程中发生了车身偏移，有可能造成事故，大大提高了汽车安全性，同时也保护、彰显发明创造者的权益。 In the embodiment of the present invention,
The front camera periodically acquires the road condition image in front of the vehicle and analyzes the road condition image. When the road condition image shows that the vehicle body is pressed to the lane line, the driver is given an early warning message. If the traffic image shows that the car is driving in the middle of the lane,
Head camera
The image information of the front of the vehicle is acquired regularly. In this way, the car can automatically identify whether the vehicle is driving normally or during the driving process, which may cause an accident, greatly improve the safety of the car, and also protect and highlight the rights and interests of the inventor.
本领域普通技术人员可以理解，实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，所述的程序可以在存储于一计算机可读取存储介质中，所述的存储介质，如
ROM/RAM 、磁盘、光盘等。
It will be understood by those skilled in the art that all or part of the steps of the foregoing embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium. Storage medium, such as
ROM/RAM, disk, CD, etc.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.
Claims (2)
- 一种车辆偏移预警时的信息推送方法，其特征在于，所述方法包括： An information pushing method for vehicle offset warning, characterized in that the method comprises:车头摄像头定时获取车辆行驶前方的路况图像；The front camera periodically acquires an image of the road ahead of the vehicle;分析所述路况图像；Analyzing the road condition image;当所述路况图像显示汽车车身压到车道线时，发出预警信息，并向用户推送专利信息。When the road condition image shows that the vehicle body is pressed to the lane line, an early warning message is issued and the patent information is pushed to the user.
- 一种车辆偏移提醒装置，其特征在于，所述装置包括：A vehicle offset reminding device, characterized in that the device comprises:图像获取模块，用于车头摄像头定时获取车辆行驶前方的路况图像；An image acquisition module, configured for the front camera to periodically obtain an image of the road ahead of the vehicle;图像分析模块，用于 分析所述路况图像；An image analysis module, configured to analyze the road condition image;预警 模块，用于 当所述路况图像显示汽车车身压到车道线时，发出预警信息；An early warning module, configured to issue an early warning message when the road condition image indicates that the automobile body is pressed to the lane line;信息推送模块，用于向用户推送专利信息。An information push module for pushing patent information to a user.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2016/072539 WO2017128193A1 (en) | 2016-01-28 | 2016-01-28 | Method and device for pushing information during lane departure warning |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2016/072539 WO2017128193A1 (en) | 2016-01-28 | 2016-01-28 | Method and device for pushing information during lane departure warning |
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