CN113744562B - Vehicle continuous rear-end collision early warning method and device based on V2V communication - Google Patents
Vehicle continuous rear-end collision early warning method and device based on V2V communication Download PDFInfo
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- CN113744562B CN113744562B CN202010475585.8A CN202010475585A CN113744562B CN 113744562 B CN113744562 B CN 113744562B CN 202010475585 A CN202010475585 A CN 202010475585A CN 113744562 B CN113744562 B CN 113744562B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The invention relates to a V2V communication-based vehicle continuous rear-end collision early warning method which comprises the steps of obtaining position information and real-time motion state information of adjacent vehicles and far vehicles on the same lane; judging whether the remote vehicles are in an emergency braking state, if so, calculating the collision time between the remote vehicles; judging whether the collision time between the remote vehicles is less than the preset time, if so, executing the next judgment; judging whether the collision time between the adjacent vehicle and the distant vehicle is less than the preset time, if so, executing the next judgment; and judging whether the collision time between the current vehicle and the adjacent vehicle is less than the preset time, if so, sending continuous collision early warning to the current vehicle, and otherwise, avoiding the risk of continuous rear-end collision of the current vehicle. The V2V communication module helps a driver to acquire the driving states of remote and multi-target vehicles so as to sense the driving states of adjacent vehicles and remote vehicles of a front vehicle, reduce the occurrence of rear-end collision, improve the passing efficiency and reduce the safety risk.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a vehicle continuous rear-end collision early warning method and device based on V2V communication.
Background
As is well known, with the continuous improvement of road traffic infrastructure, the number of vehicles on a road increases, when a vehicle is driven at a high speed or under a complex road condition, a driver cannot know the emergency braking condition of adjacent vehicles and distant vehicles in the lane under the condition that the sight line is blocked, and thus a traffic accident of multiple continuous rear-end collisions is easily caused.
At present, a driving assistance system installed on a vehicle mostly uses radars, cameras and the like, can only acquire the driving states of a front vehicle and an adjacent vehicle, cannot sense the driving states of an adjacent vehicle and a far vehicle of the front vehicle, and has great space limitation.
Disclosure of Invention
Based on the situation, a vehicle continuous rear-end collision early warning method and device based on V2V communication are needed to be designed, wherein the vehicle running state of a long distance and multiple targets can be acquired, so that the running states of an adjacent vehicle and a far vehicle of a front vehicle can be sensed, and the occurrence rate of rear-end collision between the vehicles is reduced.
A vehicle continuous rear-end collision early warning method based on V2V communication comprises the following steps:
acquiring position information and real-time motion state information of adjacent vehicles and far vehicles on the same lane;
judging whether the remote vehicles are in an emergency braking state, if so, calculating the collision time between the remote vehicles;
judging whether the collision time between the far vehicles is less than the preset time, if so, executing the next judgment, otherwise, avoiding the risk of continuous rear-end collision of the current vehicle;
Judging whether the collision time between the adjacent vehicle and the distant vehicle is less than the preset time, if so, executing the next judgment, otherwise, the current vehicle has no risk of continuous rear-end collision;
and judging whether the collision time between the current vehicle and the adjacent vehicle is less than the preset time, if so, sending continuous collision early warning to the current vehicle, and otherwise, avoiding the risk of continuous rear-end collision of the current vehicle.
In one embodiment, the preset time is any value between 2.5 and 3.5 seconds.
In one embodiment, the acquiring the position information of the adjacent vehicle and the far vehicle in the same lane comprises: obtaining position information of surrounding vehicles through a GNSS positioning module in the current vehicle, and obtaining position information of adjacent vehicles and distant vehicles in the same lane through calculation of a collision early warning processing module in the current vehicle;
the method for acquiring the real-time motion state information of the adjacent vehicle and the far vehicle in the same lane comprises the following steps: and obtaining real-time motion state information of adjacent vehicles and distant vehicles in the same lane through the V2V communication module in the current vehicle.
In one embodiment, the step of judging whether the remote vehicle is in the emergency braking state comprises the following steps:
obtaining braking information of a remote vehicle through a V2V communication module in the current vehicle;
Judging whether the remote vehicle has a brake signal, if so, calculating the brake acceleration of the remote vehicle;
and judging whether the braking acceleration of the remote vehicle is greater than a preset braking acceleration or not, and if so, determining that the remote vehicle is in an emergency braking state.
In one embodiment, the preset braking acceleration is 3.5m/s 2 -4.0m/s 2 Any value in between.
In one embodiment, the first remote vehicle is set to be RV2, the second remote vehicle is set to be RV3, and the time to collision between the remote vehicles is set to be TTC RV2-RV3 The relative distance between distant cars is S RV2-RV3 The braking distance of the second remote car is S RV3 ', the half-car length of the first faraway car is 1/2L RV2 The half car length of the second far car is 1/2L RV3 The driving speed of the first far vehicle is V RV2 ，TTC RV2-RV3 The calculation formula of (a) is as follows:
TTC RV2-RV3 ＝(S RV2-RV3 +S RV3 '-1/2L RV3 -1/2L RV2 )/V RV2 。
in one embodiment, the adjacent vehicle is set to be RV1, and the collision time between the adjacent vehicle and the far vehicle is set to be TTC RV1-RV2 The relative distance between the adjacent vehicle and the first far vehicle is S RV1-RV2 The braking distance of the first far car is S RV2 ', the reaction time of the first driver is t 1 ' the braking acceleration of the first remote car is a 1 The half length of the adjacent vehicle is 1/2L RV1 The half-car length of the first far car is 1/2L RV2 The running speed of the adjacent vehicle is V RV1 ，TTC RV1-RV2 The calculation formula of (c) is as follows:
TTC RV1-RV2 ＝(S RV1-RV2 +S RV2 '-1/2L RV2 -1/2L RV1 )/V RV1 wherein, in the process,
S RV2 '＝V RV2 *t 1 '+V RV2 2 /2V a 1 。
in one embodiment, the current vehicle is set as HV, and the time to collision between the current vehicle and the adjacent vehicle is set as TTC HV-RV1 The relative distance between the current vehicle and the adjacent vehicle is S HV-RV1 The braking distance of the adjacent vehicle is S RV1 ', the reaction time of the driver of the adjacent vehicle is t 2 ' braking acceleration of adjacent vehicle is a 2 The current half-length of the vehicle is 1/2L HV The half length of the adjacent vehicle is 1/2L RV1 The current running speed of the vehicle is V HV ，TTC HV-RV1 The calculation formula of (a) is as follows:
TTC HV-RV1 ＝(S HV-RV1 +S RV1 '-1/2L RV1 -1/2L HV )/V HV wherein, in the step (A),
S RV1 '＝V RV1 *t 2 '+V RV1 2 /2V a 2 。
in one embodiment, the relative distance between the remote vehicles, the relative distance between the adjacent vehicle and the first remote vehicle, and the relative distance between the current vehicle and the adjacent vehicle are obtained by a GNSS positioning module in the current vehicle.
A vehicle continuous rear-end collision early warning device based on V2V communication comprises:
the GNSS positioning module is used for acquiring the position information of surrounding vehicles;
the V2V communication module is used for acquiring real-time motion state information of adjacent vehicles and distant vehicles on the same lane;
and the collision early warning processing module is used for calculating to obtain the position information of adjacent vehicles and distant vehicles in the same lane, making collision early warning judgment and sending continuous collision early warning to the current vehicle.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a V2V communication-based vehicle continuous rear-end collision early warning method which can help a driver to evaluate the running states of an adjacent vehicle and a far vehicle in advance and react in time aiming at the emergency braking condition, namely, the V2V communication module can acquire the running states of the long-distance and multi-target vehicles so as to sense the running states of the adjacent vehicle and the far vehicle of a front vehicle, reduce the occurrence of rear-end collision, improve the traffic efficiency and reduce the safety risk.
Drawings
Fig. 1 is a flowchart illustrating steps of a vehicle continuous rear-end collision warning method based on V2V communication according to an embodiment of the present invention.
FIG. 2 is a schematic illustration of the emergency braking of a non-close proximity vehicle of the present invention.
Fig. 3 is a block diagram of a vehicle continuous rear-end collision early warning device based on V2V communication according to an embodiment of the present invention.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the present invention more comprehensible to those skilled in the art, and will thus provide a clear definition of the scope of the present invention.
Please refer to fig. 1, which is a flowchart illustrating a method for warning of a vehicle rear-end collision based on V2V communication according to an embodiment of the present invention. A vehicle continuous rear-end collision early warning method based on V2V communication comprises the following steps:
S01: and acquiring the position information and the real-time motion state information of the adjacent vehicle and the far vehicle in the same lane.
In an embodiment, the acquiring the position information of the adjacent vehicle and the distant vehicle in the same lane includes: the method comprises the steps that position information of surrounding vehicles is obtained through a GNSS positioning module in the current vehicle, the collision early warning processing module in the current vehicle calculates and obtains position information of adjacent vehicles and distant vehicles in the same lane, namely the position information of the surrounding vehicles is obtained through the GNSS positioning module, the collision early warning processing module calculates a relative position relation with the current vehicle HV, and adjacent vehicles and one distant vehicle or a plurality of distant vehicles in the same lane front of the current vehicle are screened out, wherein the adjacent vehicles and the one distant vehicle or the plurality of distant vehicles are shown in figure 2, for example, the current vehicle HV (host vehicle), the adjacent vehicle RV1 (remote vehicle), the first distant vehicle RV2 and the second distant vehicle RV3 are shown in figure 2, namely the current vehicle RV1 is a first vehicle in the same lane as the HV, the RV2 is a second vehicle in the same lane as the HV, the RV3 is a third vehicle in the same lane as the HV, and the precision of the GNSS positioning module can reach the centimeter level. The acquiring of the real-time motion state information of the adjacent vehicle and the far vehicle in the same lane comprises the following steps: and obtaining real-time motion state information of adjacent vehicles and far vehicles in the same lane through the V2V communication module in the current vehicle, namely obtaining the running states, braking signals and the like of related vehicles RV1, RV2 and RV3 in front of the current vehicle HV in the same lane through the V2V communication module. The V2V communication module is a communication technology that is not limited to a fixed base station, and provides direct end-to-end wireless communication for moving vehicles. That is, the vehicle terminals directly exchange wireless information with each other through the V2V communication module without being forwarded through the base station. It should be noted that, please refer to fig. 2, when the vehicle is in a traffic congestion road condition, there are far vehicles RV1, RV2, RV3 in front of the current lane where the vehicle HV is located, when RV3 suddenly brakes suddenly and emergently, RV3 is within the visible range of RV2, RV2 can brake in time to avoid collision with RV3, but the front sight line of the vehicle is obstructed by RV1 and RV2 relative to HV, so that the message of RV3 emergency braking cannot be obtained in time, and due to the delay of the reaction time of RV1 and RV2 braking in succession, HV is too late to react to brake, and rear-end collision may be caused.
S02: and judging whether the remote vehicles are in an emergency braking state, if so, calculating the collision time between the remote vehicles. In one embodiment, the braking information of a remote vehicle is obtained through a V2V communication module in the current vehicle; judging whether the remote vehicle has a brake signal, if so, calculating the brake acceleration of the remote vehicle; and judging whether the braking acceleration of the remote vehicle is greater than a preset braking acceleration or not, and if so, determining that the remote vehicle is in an emergency braking state. For another example, the preset braking acceleration is any value between 3.5m/s2 and 4.0m/s2, and preferably, the preset braking acceleration is 4.0m/s2. It should be noted that there are many emergency brake early warning algorithms, and the invention mainly highlights emergency brake early warning in multi-vehicle situations.
S03: and judging whether the collision time between the far vehicles is less than the preset time, if so, executing the next judgment, and if not, avoiding the risk of continuous rear-end collision of the current vehicle.
In one embodiment, a first remote vehicle is set as RV2, a second remote vehicle is set as RV3, collision time between the remote vehicles is TTC RV2-RV3, relative distance between the remote vehicles is set as S RV2-RV3, braking distance of the second remote vehicle is set as S RV3', the half-vehicle length of the first remote vehicle is 1/2L RV2, the half-vehicle length of the second remote vehicle is 1/2L RV3, the driving speed of the first remote vehicle is VRV2, and a calculation formula of TTC RV2-RV3 is as follows: TTC RV2-RV3= (S RV2-RV3+ S RV3' -1/2L RV3-1/2L RV2)/VRV 2, and if the preset time is any value between 2.5 and 3.5S, preferably, the preset time is 3S, and if TTC RV2-RV3<3S, the RV2 and RV3 are considered to have collision risk, and it is necessary to further calculate whether the RV1 and RV2 have collision risk; otherwise, there is no risk of a continuous rear-end collision for HV.
S04: and judging whether the collision time between the adjacent vehicle and the distant vehicle is less than the preset time, if so, executing the next judgment, and if not, avoiding the risk of continuous rear-end collision of the current vehicle.
In one embodiment, the adjacent vehicle is set to be RV1, the collision time between the adjacent vehicle and the distant vehicle is TTC RV1-RV2, the relative distance between the adjacent vehicle and the first distant vehicle is set to be S RV1-RV2, the braking distance of the first distant vehicle is set to be S RV2', the reaction time of the driver of the first distant vehicle is set to be t1', the braking acceleration of the first distant vehicle is a1, the half-car length of the adjacent vehicle is 1/2L RV1, the half-car length of the first distant vehicle is 1/2L RV2, the driving speed of the adjacent vehicle is VRV1, and the calculation formula of TTC RV1-RV2 is as follows: TTC RV1-RV2= (S RV1-RV2+ S RV2' -1/2LRV2-1/2L RV1)/VRV 1, wherein S RV2' = VRV2 x t1' + VRV22/2V a1. If RV2 and RV3 have collision risks, whether RV1 and RV2 have collision risks or not needs to be judged, at the moment, it needs to be assumed that RV2 takes speed reduction measures under the condition that RV3 is known to brake emergently, if TTC RV1-RV2<3s, and RV1 and RV2 have collision risks, whether RV1 and HV have collision risks or not needs to be further judged, and otherwise, no collision risk of rear-end collision exists for HV.
S05: and judging whether the collision time between the current vehicle and the adjacent vehicle is less than the preset time, if so, sending continuous collision early warning to the current vehicle, and otherwise, avoiding the risk of continuous rear-end collision of the current vehicle.
In one embodiment, the current vehicle is set as HV, the collision time between the current vehicle and the adjacent vehicle is TTC HV-RV1, the relative distance between the current vehicle and the adjacent vehicle is SHV-RV1, the braking distance of the adjacent vehicle is SRV1', the reaction time of the driver of the adjacent vehicle is t2', the braking acceleration of the adjacent vehicle is a2, the vehicle length of the current vehicle is 1/2LHV, the vehicle length of the adjacent vehicle is 1/2L RV1, the driving speed of the current vehicle is VHV, and the calculation formula of TTC HV-RV1 is as follows: TTC HV-RV1= (SHV-RV1 + S RV1' -1/2L RV1-1/2L HV)/VHV, wherein S RV1' = VRV1 × (t 2 ') + VRV12/2V a2. If RV1 and RV2 have collision risks, RV1 may only need braking measures, whether the RV1 and the HV have collision risks or not needs to be calculated, if TTC HV-RV1 is less than 3s, the RV1 and the HV have collision risks, namely the risk of continuous rear-end collision of HV, RV1, RV2 and RV3 exists, and collision early warning needs to be given to the HV.
In one embodiment, the relative distance between the remote vehicles, the relative distance between the adjacent vehicle and the first remote vehicle, and the relative distance between the current vehicle and the adjacent vehicle are obtained by a GNSS positioning module in the current vehicle.
Referring to fig. 3, the present invention further includes a vehicle continuous rear-end collision early warning device 10 based on V2V communication, including: the GNSS positioning module 100 is configured to obtain position information of surrounding vehicles; the V2V communication module 200 is used for acquiring real-time motion state information of adjacent vehicles and far vehicles in the same lane; and a collision early warning processing module 300, configured to calculate to obtain position information of an adjacent vehicle and a distant vehicle in the same lane, and further configured to make a collision early warning judgment and send a continuous collision early warning to the current vehicle.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a V2V communication-based vehicle continuous rear-end collision early warning method which can help a driver to evaluate the running states of an adjacent vehicle and a distant vehicle in advance and make a response in time aiming at the emergency braking condition, namely, the V2V communication module can acquire the long-distance and multi-target vehicle running states so as to sense the running states of the adjacent vehicle and the distant vehicle of a front vehicle, reduce the occurrence of rear-end collision, improve the traffic efficiency and reduce the safety risk.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A vehicle continuous rear-end collision early warning method based on V2V communication is characterized by comprising the following steps:
the method comprises the steps that position information of surrounding vehicles is obtained through a GNSS positioning module in a current vehicle, and the collision early warning processing module in the current vehicle calculates the position information of adjacent vehicles and distant vehicles in the same lane;
Obtaining real-time motion state information of adjacent vehicles and distant vehicles in the same lane through a V2V communication module in the current vehicle;
judging whether the remote vehicles are in an emergency braking state, if so, calculating the collision time between the remote vehicles, wherein if the remote vehicles have brake signals and the braking acceleration of the remote vehicles is greater than the preset braking acceleration, the remote vehicles are in the emergency braking state;
judging whether the collision time between the far vehicles is less than the preset time, if so, executing the next judgment, otherwise, avoiding the risk of continuous rear-end collision of the current vehicle;
judging whether the collision time between the adjacent vehicle and the distant vehicle is less than the preset time, if so, executing the next judgment, otherwise, the current vehicle has no risk of continuous rear-end collision;
judging whether the collision time between the current vehicle and the adjacent vehicle is less than the preset time, if so, sending a continuous collision early warning to the current vehicle, otherwise, avoiding the risk of continuous rear-end collision of the current vehicle;
the first remote vehicle is set to be RV2, the second remote vehicle is set to be RV3, and the collision time between the remote vehicles is set to be TTC RV2-RV3 The relative distance between distant cars is S RV2-RV3 The braking distance of the second remote car is S RV3 ', the half-car length of the first faraway car is 1/2L RV2 The half-car length of the second far car is 1/2L RV3 The driving speed of the first remote vehicle is V RV2 ，TTC RV2-RV3 The calculation formula of (a) is as follows:
TTC RV2-RV3 ＝(S RV2-RV3 +S RV3 '-1/2L RV3 -1/2L RV2 )/V RV2 ；
setting adjacent vehicleRV1, and TTC RV1-RV2 The relative distance between the adjacent vehicle and the first far vehicle is S RV1-RV2 The braking distance of the first far car is S RV2 ', the reaction time of the first driver is t 1 ' the braking acceleration of the first remote car is a 1 The half length of the adjacent vehicle is 1/2L RV1 The half-car length of the first far car is 1/2L RV2 The running speed of the adjacent vehicle is V RV1 ，TTC RV1-RV2 The calculation formula of (a) is as follows:
TTC RV1-RV2 ＝(S RV1-RV2 +S RV2 '-1/2L RV2 -1/2L RV1 )/V RV1 wherein, in the step (A),
S RV2 '＝V RV2 *t 1 '+V RV2 2 /2V a 1 ；
setting the current vehicle as HV and the time of collision between the current vehicle and the adjacent vehicle as TTC HV-RV1 The relative distance between the current vehicle and the adjacent vehicle is S HV-RV1 The braking distance of the adjacent vehicle is S RV1 ', the reaction time of the driver of the adjacent vehicle is t 2 ' braking acceleration of adjacent vehicle is a 2 The half-length of the current vehicle is 1/2L HV The half length of the adjacent vehicle is 1/2L RV1 The current driving speed of the vehicle is V HV ，TTC HV-RV1 The calculation formula of (a) is as follows:
TTC HV-RV1 ＝(S HV-RV1 +S RV1 '-1/2L RV1 -1/2L HV )/V HV wherein, in the step (A),
S RV1 '＝V RV1 *t 2 '+V RV1 2 /2V a 2 。
2. the V2V communication-based vehicle continuous rear-end collision early warning method as claimed in claim 1, wherein the preset time is any value between 2.5 and 3.5 s.
3. The V2V communication-based vehicle continuous rear-end collision early warning method according to claim 1, wherein the preset braking acceleration is 3.5m/s 2 -4.0m/s 2 Any value in between.
4. The V2V communication-based vehicle continuous rear-end collision early warning method according to claim 1, wherein the relative distance between the distant vehicles, the relative distance between the adjacent vehicle and the first distant vehicle and the relative distance between the current vehicle and the adjacent vehicle are obtained through a GNSS positioning module in the current vehicle.
5. The V2V communication-based vehicle continuous rear-end collision early warning method as claimed in claim 1, wherein the method is used for a V2V communication-based vehicle continuous rear-end collision early warning device, and the device comprises:
the GNSS positioning module is used for acquiring the position information of surrounding vehicles;
the V2V communication module is used for acquiring real-time motion state information of adjacent vehicles and far vehicles in the same lane; and
and the collision early warning processing module is used for calculating to obtain the position information of adjacent vehicles and far vehicles in the same lane, making collision early warning judgment and sending continuous collision early warning to the current vehicle.
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| CN105015546B (en) * | 2015-07-31 | 2018-05-01 | 浙江吉利汽车研究院有限公司 | The active emergency turn system and method for pre- vehicle rear-end collision prevention |
| KR101850392B1 (en) * | 2016-05-12 | 2018-04-19 | 엘지전자 주식회사 | Control device mounted on vehicle and method for controlling the same |
| CN108263360B (en) * | 2017-01-04 | 2022-02-25 | 本田技研工业株式会社 | System and method for vehicle control in an immediate scene |
| CN206480160U (en) * | 2017-02-28 | 2017-09-08 | 山东大学 | The anti-company of highway automobile hits prior-warning device |
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| CN110155045A (en) * | 2019-04-04 | 2019-08-23 | 芜湖伯特利汽车安全***股份有限公司 | A kind of vehicle promptly accelerates Self-Protection Subsystem and its self-protection method |
| CN210454790U (en) * | 2019-04-04 | 2020-05-05 | 芜湖伯特利汽车安全***股份有限公司 | Vehicle emergency acceleration self-protection system |
| CN110164183A (en) * | 2019-05-17 | 2019-08-23 | 武汉理工大学 | A kind of safety assistant driving method for early warning considering his vehicle driving intention under the conditions of truck traffic |
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| CN110525429A (en) * | 2019-08-31 | 2019-12-03 | 武汉理工大学 | A kind of commercial vehicle emergency braking method based on V2X |
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