CN203172620U - Device for lane changing safety judging and forewarning for driver - Google Patents
Device for lane changing safety judging and forewarning for driver Download PDFInfo
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- CN203172620U CN203172620U CN 201220673334 CN201220673334U CN203172620U CN 203172620 U CN203172620 U CN 203172620U CN 201220673334 CN201220673334 CN 201220673334 CN 201220673334 U CN201220673334 U CN 201220673334U CN 203172620 U CN203172620 U CN 203172620U
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Abstract
The utility model discloses a device for lane changing safety judging and forewarning for a driver. The device is characterized by comprising a microprocessor, an eye movement tracing instrument, a millimeter-wave radar, a vehicle speed sensor, a lane line recognition system, a green signal lamp and a red signal lamp, wherein the microprocessor is arranged in a vehicle body; the eye movement tracing instrument is fixed on a position in the front of the vehicle body, and a data receiving terminal of the eye movement tracing instrument is connected with a port of the microprocessor through a USB data line; the vehicle speed sensor is mounted on a right front wheel of a vehicle and sends signals of the vehicle speed to the microprocessor through a guide line via an I / O port; the lane line recognition system is arranged on the front portion of the vehicle body and connected with the microprocessor through a guide line; the millimeter-wave radar is fixed in the center of the rear end of the vehicle and connected with the microprocessor through a guide line; the green signal lamp and the red signal lamp are electrically connected with the microprocessor.
Description
Technical field:
The utility model relates to the traffic safety field, is specifically related to a kind ofly chaufeur be changed safety is judged and the device of early warning.
Background technology:
Travel with respect to keeping in the current track, chaufeur except paying close attention to this place ahead, track traffic scene, also needs to pay close attention to rear associated vehicle state of kinematic motion in real time by inside rear-view mirror and rearview mirror when carrying out lane changing.For guaranteeing to change safety, require chaufeur perception-judgement to make a strategic decision-control and wait the perfect unity of each submodule.If chaufeur is unskilled to vehicle performance, perhaps inaccurate to judging from car and other vehicle relative motion relation on every side, very easily lead to and knock into the back or scrape accident, cause personal casualty and property damage.
Along with technology rapid development such as computing machine, telecommunications, expedited the emergence of all kinds of DAS (Driver Assistant System), to reduce accident rate, improve travel safety.Current practical application change that ancillary system is many judges the lane-changing intentions of chaufeur with the steering indicating light signal, in side back mirror zone camera is installed, the mode of handling by image is calculated vehicle and the relative distance of other vehicles on every side, judges and changes safety.If there is associated vehicle in the rear in setting safety distance, then further chaufeur is carried out early warning.There is following problem in this type of ancillary system in application: in many driver drives vehicle processes operation lack of standardization, as open the later steering indicating light of even not beating of steering indicating light before changing, cause system to occur failing to report alert or fail and in time report to the police; In addition, change many driving habit and the behavioral traits according to external chaufeur of ancillary system and formulate the early warning rule, because the difference of factors such as traffic environment and driving habit between country variant, in China's actual application, may cause chaufeur to the incompatibility of system, to such an extent as to can't bring into play its due safe booster action.
The utility model content:
The technical problems to be solved in the utility model is to propose a kind of device and method for early warning that the lane for driver conversion is carried out safe early warning, dynamic acquisition driver's eyes and head movement information when driving, the lane changing intention of Real time identification chaufeur, further to judge the final safe early warning of realizing lane for driver conversion behavior from car and other vehicles especially relative motion relation of proceeds posterolateral vehicle.
In order to achieve the above object, the utility model is achieved by the following technical solutions.
Technical scheme one:
A kind of chaufeur changes safety and judges the also device of early warning, comprises microprocessor, eye motion tracker, millimeter wave radar, car speed sensor, lane mark recognition system, greensignal light and red eye; Microprocessor is arranged on car body inside; The eye motion tracker is fixed in position, car body dead ahead, and by the usb data line eye motion tracker data receiving terminal is connected with Microprocessor Interface; Car speed sensor is installed on the vehicle off front wheel, and by lead vehicle speed signal is sent to microprocessor through the I/O interface; The lane mark recognition system is arranged on Vehicular body front, is connected with microprocessor by lead; Millimeter wave radar is fixed on center, automobile rear end, and connects microprocessor by lead; Greensignal light and red eye are electrically connected with microprocessor.
Described eye motion tracker is the contactless eye motion tracker of faceLAB5, and this eye motion tracker is fixedly installed in the facia board top, is used for measuring in real time driver's eyes and head movement parameter, according to this identification of driver lane changing intention.Described eye motion tracker data collection station is electrically connected microprocessor by USB interface, and eyes and head movement parameter are continued to be sent in the microprocessor.
Described millimeter wave radar is the 77GHz millimeter wave radar, and this millimeter wave radar is installed on the automobile rear bumper place, is used for measuring the parameters such as relative distance, relative velocity and relative angle from car and other target vehicles.Described millimeter wave radar terminal is electrically connected on microprocessor, by signal wire (SW) above parameter signal is sent in the microprocessor.
Described car speed sensor is 4s2m type car speed sensor, and this sensor is installed on the wheel and rotates with wheel, is used for measurement of vehicle speed.Described car speed sensor is electrically connected on microprocessor, by signal wire (SW) vehicle speed signal is sent in the microprocessor.
Described lane mark recognition system is installed on the front windshield place, the horizontal position information of mode collection vehicle in the track that adopts image to handle, comprise that front left wheel is to the distance of a left side, track line, the distance of right front wheel right line to the track can obtain longitudinal direction of car center projection line to the distance of track left side line and right line through changing.Described lane mark recognition system is electrically connected on microprocessor, by signal wire (SW) vehicle speed signal is sent in the microprocessor.
Described microprocessor is TMS320LF2407A type dsp processor, and this microprocessor is installed on the meter panel of motor vehicle lower inner and is electrically connected on eye motion tracker, car speed sensor, lane mark recognition system and millimeter wave radar and signal lamp etc.
The green LED signal lamp of an indication safety and the unsafe red LED signal lamp of indication are separately fixed at the meter panel of motor vehicle top.
Technical scheme two:
A kind of lane for driver conversion method for early warning, safety is judged and the device of early warning so that chaufeur is changed, and it is characterized in that, described method comprises changes possibility identification and changes two steps of safety judgement.
Consider under the urban highway low speed driving condition irrelevant fixation object to the interference of chaufeur, and the influence of moving velocity exchange road safe early warning, native system only is operated in more than the speed of a motor vehicle 40km/h, and vehicle speed value is obtained by the car speed sensor in the scheme one.Chaufeur changes the possibility identification following scheme by microprocessor software and is achieved:
(1) utilize the driver eye movements tracker that real-time head and the eye motion state of chaufeur in the driving procedure are monitored, extract real-time back mirror fixation time T, horizontal view angle standard deviation ε, head level angle standard deviation sigma are as weighing the characteristic index that the steerman plan is changed.
(2) be the set time window with 5s, take the data processing method of " with advancing with going out ", chaufeur is changed possibility continue identification in real time.Chaufeur is changed possibility be divided into 4 grades, very big, bigger, general and less, concrete recognition rule is as follows:
If T〉0.5s, ε〉13 °, σ〉9 °, then the chaufeur possibility of changing is " very big ";
T〉0.5s, ε〉13 °, σ≤9 °, then the chaufeur possibility of changing is " bigger ";
T〉0.5s, ε≤13 °, σ〉9 °, then the chaufeur possibility of changing is " bigger ";
T〉0.5s, ε≤13 °, σ≤9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε〉13 °, σ〉9 °, then the chaufeur possibility of changing is " bigger ";
T≤0.5s, ε〉13 °, σ≤9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε≤13 °, σ〉9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε≤13 °, σ≤9 °, then the chaufeur possibility of changing is " less ".
(3) after judgement finishes, be " very big " or " bigger " if chaufeur changes possibility, then chaufeur changes the possibility recognition result and is labeled as 1 at this moment, and expression identifies the chaufeur plan and changes, otherwise is labeled as 0.
(4) recognition result is 1 o'clock, supposes that chaufeur has blinkpunkt to drop on the left-hand mirror zone in the time window of fixing 5s, and then the anticipation chaufeur is planned " changing " left; If chaufeur has blinkpunkt to drop on right back visor zone, think that then chaufeur plans " changing " to the right; If back mirror zone, the left and right sides all has blinkpunkt and stops, think that then chaufeur plans to change, but can't anticipation its change direction.
(5) changing the possibility recognition result is 1 o'clock, then carries out the follow-up safety of changing and judges.
Chaufeur changes the safety judgement and is achieved by following steps:
1, radar parameter is demarcated: the vehicle H of device millimeter wave radar
1, another test vehicle H
2With speeding H
1Travel, testing crew records the speed V of two cars
1And V
2, obtaining the two difference V ', the actual two car relative velocity Δ V that record compare with millimeter wave radar; When two cars were static, with the actual distance in tape measuring two workshops, the relative distance that records with millimeter wave radar compared, and finishes the demarcation to the millimeter wave radar parameter.
2, millimeter wave radar dynamic object screening.If the vehicle speed value V that car speed sensor records
1The relative velocity Δ V that records certain target with millimeter wave radar equates, then is considered as static object, and with its rejecting, remaining target is dynamic object.
3, microprocessor receives and changes the final output signal of possibility identification module, and when recognition result was 0, the safety judge module was not worked, otherwise enters next step.
4, the relative angle parameter of gathering based on millimeter wave radar
, filter out
Dynamic object, i.e. H
1Left back related objective vehicle; And
The time, then target vehicle is positioned at H
1Travel in the rear, right side.
5, based on the lane mark recognition system gather from the horizontal position information of car in the track, obtain longitudinal direction of car center projection line to the distance B of left and right sides lane mark
1And D
2, the relative angle of each target that records in conjunction with millimeter wave radar
And relative distance L: when
The time, think then that this target is positioned at from car H1 left-hand lane rear to travel;
The time, this thinks this target and H
1Be in same track.The definite of right-hand lane front vehicle can carry out based on similar approach.
6, early warning target lock-on.In numerous potential targets of in (5), determining, if certain target satisfies
Minimum, then with it as the final early warning target for the treatment of.
7, early warning Rulemaking and enforcement.Parameters such as the relative distance of the early warning target that stimulates based on millimeter wave radar and relative velocity, in conjunction with self speed of a motor vehicle, real-time judge is changed safety.If result of determination is dangerous, then with red eye chaufeur is pointed out, otherwise, with greensignal light steerman is pointed out.
It is point of penetration that the utility model is carried out the eyes and the head movement characteristic that show before the lane changing with chaufeur, whether identify chaufeur in advance plans to change, and change the main foundation of safety as judgement with the parameter of millimeter wave radar collection, can avoid because chaufeur is not beaten the alert problem of failing to report that steering indicating light causes, and pre-warning time effectively shifted to an earlier date, improve chaufeur and change safety.
Description of drawings:
Fig. 1 is the structural representation of lane changing forewarn system among the utility model embodiment;
Fig. 2 is the signal input and output scheme drawing of microprocessor;
More than among two figure: 1 is microprocessor; 2 is the eye motion tracker; 3 is car speed sensor; 4 is the lane mark recognition system; 5 is millimeter wave radar; 6 is greensignal light; 7 is red eye; 8 is USB interface; 9 is vehicle speed signal I/O interface; 10 is lane mark recognition system I/O interface; 11 is MMW RADAR SIGNAL USING I/O interface; 12 is greensignal light I/O interface; 13 is red eye I/O interface.
Fig. 3 is millimeter wave radar adjacent lane target discrimination scheme drawing;
Fig. 4 is the microprocessor logic decision flow chart.
The specific embodiment:
Below in conjunction with accompanying drawing the utility model is done and to be described in further detail:
The concrete implementation step of lane for driver conversion forewarn system is as follows:
(1) in conjunction with Fig. 1, Fig. 2, at first changes the installation of forewarn system equipment.
Then faceLAB5 eye motion tracker 2 is fixedly installed in position, chaufeur dead ahead, instrument carrier panel top by bearing, the main frame camera is towards chaufeur, its scene camera is fixed in the front windshield place by seccotine, installs outwardly, is used for real time recording driving procedure the place ahead information.By the usb data line eye motion tracker data receiving terminal is connected with Microprocessor Interface 8.
Car speed sensor 3 is installed on the vehicle off front wheel, by lead vehicle speed signal is sent to microprocessor through I/O interface 9.
Lane mark recognition system 4 is consolidated in the front windshield place by seccotine, by lead the lateral direction of car location information is continued to be sent to microprocessor by I/O interface 10.
Millimeter wave radar 5 is via being bolted to the automobile rear bumper center, and is sent in the microprocessor through I/O interface 11 by the parameters such as the relative distance from car and other vehicles, relative velocity and relative angle that lead will be gathered.
Carry out the installation of green and red eye at last, greensignal light 6 is electrically connected on microprocessor I/O interface 12, microprocessor changes in order to point out can carry out under chaufeur the present situation by control greensignal light 6, is used for the prompting steerman by I/O interface 13 7 of control red eyes and abandons lane changing.
(2) demarcation of faceLAB5 eye motion tracker
In faceLAB5 main program software, set up the head of chaufeur and follow the trail of model, and in Worldview software, set up the model of typical target such as back mirror, instrument carrier panel.Place a scaling board in the vehicle dead ahead, be marked with upper left, the lower-left of symmetry, upper right and four calibration points in bottom right respectively, the guiding chaufeur is finished successively to the watching attentively of four calibration points, when actual blinkpunkt agrees with fully with the viewpoint of system demonstration, finishes calibration process.
(3) radar parameter is demarcated
Millimeter wave radar can be followed the trail of 64 targets simultaneously, for ease of locking during lane changing chaufeur plan to change to the rear, track threaten vehicle, need to reject static object.Vehicle H with the device millimeter wave radar
1Travel to open area test site, drive at a regular speed, another test vehicle H
2At the uniform velocity with speeding H
1Travel (distance is in 200m), testing crew records the different speed V of two cars constantly respectively
1And V
2, obtaining the two difference V ', the actual two car relative velocity Δ V that record compare with millimeter wave radar; When two cars are static, with the distance of tape measuring two cars, and compare with the output valve of millimeter wave radar, if precision is higher, then finish above calibration process.
(4) eyes and head movement parameter acquisition
After finishing calibration process, system namely can enter mode of operation.When microprocessor is judged V 〉=40km/h by the vehicle speed signal that receives car speed sensor and gather, with the frequency screening of 20HZ and receive the eye motion tracker, eyes and head movement parameter that portable computers sends comprise back mirror fixation time T, horizontal view angle standard deviation ε, head level angle standard deviation sigma etc.; When microprocessor judges vehicle velocity V＜40km/h, stop the collection to eye motion tracker output parameter.
(5) chaufeur changes possibility identification
Drafting 5s is the set time window, takes the data processing method of " with advancing with going out ", chaufeur is changed possibility continue identification.Chaufeur is changed possibility be divided into 4 grades, very big, bigger, general and less, it is as follows to formulate recognition rule:
If T〉0.5s, ε〉13 °, σ〉9 °, then the chaufeur possibility of changing is " very big ";
T〉0.5s, ε〉13 °, σ≤9 °, then the chaufeur possibility of changing is " bigger ";
T〉0.5s, ε≤13 °, σ〉9 °, then the chaufeur possibility of changing is " bigger ";
T〉0.5s, ε≤13 °, σ≤9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε〉13 °, σ〉9 °, then the chaufeur possibility of changing is " bigger ";
T≤0.5s, ε〉13 °, σ≤9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε≤13 °, σ〉9 °, then the chaufeur possibility of changing is " generally ";
T≤0.5s, ε≤13 °, σ≤9 °, then the chaufeur possibility of changing is " less ".
If when identification of driver changes possibility for " very big " or " bigger ", then recognition result is labeled as 1, expression identifies chaufeur and plans to change; And when recognition result is " generally " or " less ", then recognition result being labeled as 0, the plan of expression chaufeur continues to maintain current lanes.
Carry the realistic model that can set up zone such as left-hand mirror, right back visor and instrument carrier panel in the worldview software at the eye motion tracker, when chaufeur was watched these representative regions attentively, microprocessor can collect the object observing information of chaufeur in real time.Be under 1 the condition at recognition result, suppose that chaufeur has blinkpunkt to drop on the left-hand mirror zone in the time window of fixing 5s, then the anticipation chaufeur is planned " changing " left; If chaufeur has viewpoint to drop on right back visor zone, think that then chaufeur plans " changing " to the right; If all not have blinkpunkt resident for back mirror zone, the left and right sides, think that then chaufeur plans to change, change direction but can't identify it.Changing the possibility recognition result is 1 o'clock, all enters next step.
(6) radar is gathered the target screening
When the relative velocity Δ V of certain object that the vehicle speed value V that records when the microprocessor judges car speed sensor and radar record equates, then this target is considered as static object, otherwise is dynamic object.
When the result who changes possibility identification is " changing " left, based on the relative angle parameter of millimeter wave radar collection
, filter out
Dynamic object, namely from car left back related objective vehicle.Recognition result extracts based on similar method for the right side target vehicle of " changing to the right ".
(7) early warning target is determined
Microprocessor receive that the lane mark recognition system gathers from the horizontal position information of car in the track, suppose that the distance of vehicle front left wheel left line to the track is l
1, the right front distance that takes turns to the right line in track is l
2, body width is definite value k
0, then longitudinal direction of car center projection line is to the distance B of left and right sides lane mark
1And D
2Can be obtained by following formula respectively:
D
1＝l
1+k
0/2
D
2＝l
2+k
0/2
Suppose that millimeter wave radar is measured certain target and be L from car relative distance that relative angle is
, when
The time, determine that then this target is positioned at from car H
1Travel in the left-hand lane rear, as shown in Figure 3; When
The time, this thinks this target and H
1Be in same track.Definite employing similar fashion of right-hand lane rear area target is carried out.
At the H that determines according to said method
1In the numerous potential targets of left-hand lane, suppose that certain target can realize
Minimum then determines that it is recognition result final early warning target for the treatment of when changing left.Recognition result H when changing to the right
1Right-hand lane treats that the early warning target takes similar approach to determine.If changing the possibility recognition result is 1, but unpredictable its changes direction, and then all satisfy at millimeter wave radar
Dynamic object in (this moment needn't consider
For on the occasion of still negative value), directly filter out satisfied
Minimum target is as treating the early warning object.
(8) early warning Rulemaking
When the early warning target vehicle with cross when near from spacing, even target vehicle velocity is lower than from car, its also exist unexpected acceleration by or the potential possibility of emergency braking, these two kinds of situations all might cause the generation of rear-end collision.Consider system works more than speed of a motor vehicle 40km/h, when millimeter wave radar record target vehicle with from car relative distance during less than 20m, it is shinny that microprocessor will control red eye, points out under chaufeur the present situation not possess the condition of changing.When relative distance value during greater than 20m, enter next step judgement.
The relative velocity Δ V that millimeter wave radar is recorded judges, as Δ V〉0 the time, show that the early warning target vehicle speed of a motor vehicle is lower than from the car speed of a motor vehicle, microprocessor control greensignal light is bright, and the signal chaufeur can be carried out lane changing this moment; If Δ V≤0 then enters next step.
Definition
, wherein TTC is the traffic conflict time, and unit is s, and L unit is m, and Δ V unit is m/s.TTC can reflect the potential possibility that has an accident between vehicle, and its value is more little, and the potential possibility that bumps is more big.As TTC during less than 3.5s, microprocessor control red eye is bright, and the prompting chaufeur should not carry out lane changing this moment; As TTC during greater than 3.5s, it is bright that microprocessor will be controlled greensignal light, and the signal chaufeur can guarantee to change safety this moment.
Fig. 4 is the logic decision flow chart of microprocessor.
The above, it only is preferred embodiment of the present utility model, be not that the utility model is done any pro forma restriction, though the utility model discloses as above with preferred embodiment, yet be not in order to limit the utility model, any those skilled in the art, in not breaking away from the technical solutions of the utility model scope, when the method that can utilize above-mentioned announcement and technology contents are made a little change or be modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solutions of the utility model, any simple modification that foundation technical spirit of the present utility model is done above embodiment, equivalent variations and modification still belong in the scope of technical solutions of the utility model.
Claims (5)
1. one kind is changed to chaufeur that safety is judged and the device of early warning, it is characterized in that: comprise microprocessor, eye motion tracker, millimeter wave radar, car speed sensor, lane mark recognition system, greensignal light and red eye; Microprocessor is arranged on car body inside; The eye motion tracker is fixed in position, car body dead ahead, and by the usb data line eye motion tracker data receiving terminal is connected with Microprocessor Interface; Car speed sensor is installed on the vehicle off front wheel, and by lead vehicle speed signal is sent to microprocessor through the I/O interface; The lane mark recognition system is arranged on Vehicular body front, is connected with microprocessor by lead; Millimeter wave radar is fixed on center, automobile rear end, and connects microprocessor by lead; Greensignal light and red eye are electrically connected with microprocessor.
2. according to claim 1 chaufeur is changed safety and judge the also device of early warning, it is characterized in that: described eye motion tracker is faceLAB5 eye motion tracker, it is fixedly installed in position, chaufeur dead ahead, instrument carrier panel top by bearing, the main frame camera is towards chaufeur, its scene camera is fixed in the front windshield place by seccotine, install outwardly, be used for real time recording driving procedure the place ahead information.
3. according to claim 1 chaufeur is changed safety and judge the also device of early warning, it is characterized in that: described lane mark recognition system is consolidated in the front windshield place by seccotine, by lead the lateral direction of car location information is continued to be sent to microprocessor by the I/O interface.
4. according to claim 1 chaufeur is changed safety and judge the also device of early warning, it is characterized in that: described millimeter wave radar is via being bolted to the automobile rear bumper center, and is sent in the microprocessor through the I/O interface by the relative distance from car and other vehicles, relative velocity and the relative angle parameter that lead will be gathered.
5. according to claim 1 chaufeur is changed safety and judge the also device of early warning, it is characterized in that: described greensignal light is electrically connected on microprocessor I/O interface; Microprocessor changes in order to point out can carry out under chaufeur the present situation by the control greensignal light, and by I/O interface control red eye, red eye then is used for the prompting steerman and abandons lane changing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673334 CN203172620U (en) | 2012-12-07 | 2012-12-07 | Device for lane changing safety judging and forewarning for driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673334 CN203172620U (en) | 2012-12-07 | 2012-12-07 | Device for lane changing safety judging and forewarning for driver |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991504A (en) * | 2012-12-07 | 2013-03-27 | 长安大学 | Device and method for determining and prewarning lane change safety of drivers |
| CN106080437A (en) * | 2016-06-20 | 2016-11-09 | 武汉恒通汽车线束有限公司 | Wire harness is protected after a kind of automobile |
| CN106781822A (en) * | 2016-12-03 | 2017-05-31 | 西安科锐盛创新科技有限公司 | The system and method for improving drive safety |
| WO2017139916A1 (en) * | 2016-02-15 | 2017-08-24 | 吴伟民 | Vehicle lane-change assistant driving method and system |
| CN107176095A (en) * | 2016-03-10 | 2017-09-19 | 松下电器（美国）知识产权公司 | Recognition result suggestion device and its method, identification object suggestion device and its method |
| CN109353337A (en) * | 2018-08-10 | 2019-02-19 | 重庆大数据研究院有限公司 | A kind of intelligent vehicle lane-change stage collision probability safety predicting method |
| CN113103937A (en) * | 2021-04-30 | 2021-07-13 | 东风汽车集团股份有限公司 | Method and system for controlling active headrest in rear-end collision and vehicle |
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2012
- 2012-12-07 CN CN 201220673334 patent/CN203172620U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991504A (en) * | 2012-12-07 | 2013-03-27 | 长安大学 | Device and method for determining and prewarning lane change safety of drivers |
| CN102991504B (en) * | 2012-12-07 | 2015-06-03 | 长安大学 | Method for determining and prewarning lane change safety of drivers |
| WO2017139916A1 (en) * | 2016-02-15 | 2017-08-24 | 吴伟民 | Vehicle lane-change assistant driving method and system |
| CN107176095A (en) * | 2016-03-10 | 2017-09-19 | 松下电器（美国）知识产权公司 | Recognition result suggestion device and its method, identification object suggestion device and its method |
| CN107176095B (en) * | 2016-03-10 | 2021-12-24 | 松下电器（美国）知识产权公司 | Recognition result presentation device and method, and recognition object presentation device and method |
| CN106080437A (en) * | 2016-06-20 | 2016-11-09 | 武汉恒通汽车线束有限公司 | Wire harness is protected after a kind of automobile |
| CN106781822A (en) * | 2016-12-03 | 2017-05-31 | 西安科锐盛创新科技有限公司 | The system and method for improving drive safety |
| CN106781822B (en) * | 2016-12-03 | 2019-07-05 | 西安科锐盛创新科技有限公司 | The system and method for improving drive safety |
| CN109353337A (en) * | 2018-08-10 | 2019-02-19 | 重庆大数据研究院有限公司 | A kind of intelligent vehicle lane-change stage collision probability safety predicting method |
| CN109353337B (en) * | 2018-08-10 | 2021-07-30 | 重庆大数据研究院有限公司 | Intelligent vehicle lane change stage collision probability safety prediction method |
| CN113103937A (en) * | 2021-04-30 | 2021-07-13 | 东风汽车集团股份有限公司 | Method and system for controlling active headrest in rear-end collision and vehicle |
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