CN207345668U - Vehicle - Google Patents
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- CN207345668U CN207345668U CN201721183201.5U CN201721183201U CN207345668U CN 207345668 U CN207345668 U CN 207345668U CN 201721183201 U CN201721183201 U CN 201721183201U CN 207345668 U CN207345668 U CN 207345668U
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Abstract
The utility model provides a kind of vehicle, including：Image collecting device, to obtain the limit for height facility of vehicle front or the parameter of passage；Range unit, to measure range unit to the distance of limit for height facility or passage；Processor, processor are connected with image collecting device and range unit, and processor is judging whether vehicle can be by limit for height facility or passage；Alarm system, is connected with processor and is used to send alarm signal according to the control signal of processor.Autonomous braking mechanism, it is processor controlled and to reduce the speed of vehicle.The technical solution of the utility model efficiently solves the problem of driver judges limit for height section to trigger traffic accident not in time in the prior art.
Description
Technical field
Vehicular field is the utility model is related to, in particular to a kind of vehicle.
Background technology
With progress of the epoch, the development of science and technology, automobile bring great convenience to the trip of the people.Automobile already into
For the walking-replacing tool of general population.A large amount of with user vehicle increase, and automobile is according to the demand of driver, shape, function
Also constantly changing with carrying.In more complicated road driving, new hand judges actual road conditions inaccurate, it is easy to sends out
Raw various traffic accidents, gently then block the traffic, heavy then threat to life.Only be improved the initiative intervention of automobile, by radar and
Laser video camera head monitors system early warning, could prevent and reduce the generation of traffic accident.
Such as hills landforms or mountainous region, often have bridge opening or mountain tunnel.New hand driver or to road conditions not
The driver of solution may open by mistake these to the conditional section of bodywork height, and driver reaction is not in time or error in judgement
Words, which are easy to collide, causes traffic accident and casualties.
Utility model content
The utility model aims to provide a kind of vehicle, and limit for height section is judged not in time with solving driver in the prior art
The problem of triggering traffic accident.
To achieve these goals, the utility model provides a kind of vehicle, including：Image collecting device, to obtain
The limit for height facility of vehicle front or the parameter of passage；Range unit, to measure range unit to limit for height facility or passage
Distance；Processor, processor are connected with image collecting device and range unit, and processor is judging whether vehicle can lead to
Cross limit for height facility or passage；Alarm system, is connected with processor and is used to send alarm signal according to the control signal of processor
Number；Autonomous braking mechanism, processor controlled, autonomous braking mechanism is reducing the speed of the vehicle.
Further, vehicle further includes the positioner being connected with processor, and positioner is obtaining the geography of vehicle
Position.
Further, autonomous braking mechanism includes brake pedal, motor and the driving member of connection motor and brake pedal.
Further, autonomous braking mechanism further includes the sensor being arranged between brake pedal and driving member, sensor
When the power detected is different from pre set force, motor operation to tighten or loosen driving member until the power that detects of sensor with it is default
Power is identical.
Further, processor is arranged in diamagnetic container.
Further, image collector is set to Laser video camera head, and range unit is radar.
Further, the detection angle of radar is 30 degree of wide-angles.
Further, vehicle further includes front bumper and driver's cabin, and range unit is arranged in front bumper, Image Acquisition
Device is arranged in driver's cabin.
Further, alarm system includes sound-producing device and light-emitting device, and alarm signal includes sound and/or light.
Further, light-emitting device includes taillight and the indicator light being arranged in driver's cabin.
Using the technical solution of the utility model, when vehicle front has limit for height section, vehicle passes through image collecting device
Headroom and the Distance Remaining in limit for height section can be reached with what range unit collected road ahead, by processor to above-mentioned letter
Breath is analyzed and judges that can vehicle pass through.If height of car exceedes the height of section limitation, vehicle cannot pass through
The section, then carry out early warning to driver, reminds the timely ramp to stop of driver, avoids vehicle from entering limit for height section, reduces and hands over
The generation of interpreter's event.If driver does not take braking action in time, processor can control autonomous braking mechanism to make vehicle
Slow down, ensure occupant safety.
Brief description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
New schematic description and description is used to explain the utility model, does not form the improper restriction to the utility model.
In the accompanying drawings：
Fig. 1 shows the simplification structure diagram of the embodiment of the method for early warning of vehicle according to the present utility model；
Fig. 2 shows the structure diagram of the autonomous braking mechanism of vehicle according to the present utility model；
Fig. 3 shows the principle schematic of the autonomous braking mechanism of Fig. 2；And
Fig. 4 shows the principle schematic of the method for early warning of Fig. 1.
Wherein, marked in attached drawing comprising the following drawings：
1st, brake pedal；2nd, motor；3rd, driving member；4th, sensor；5th, vacuum booster；6th, fixing point.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the application and its application or makes
Any restrictions.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall in the protection scope of this application.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited scope of the present application processed of formula and numerical value.At the same time, it should be appreciated that for the ease of description, each portion shown in attached drawing
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely exemplary, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
As shown in Figure 1, the vehicle of the present embodiment include image collecting device, range unit, processor, alarm system and
Autonomous braking mechanism.Wherein image collecting device is obtaining the limit for height facility of vehicle front or the parameter of passage.Ranging fills
Put to measure the range unit to the distance of limit for height facility or passage.Processor and image collecting device and range unit
It is connected, to judge whether vehicle can be by limit for height facility or passage.Alarm system is connected with processor and is used for basis
The control signal of processor sends alarm signal.Autonomous braking mechanism is processor controlled and to reduce the speed of vehicle.
Using the technical solution of the present embodiment, when vehicle front has limit for height section, vehicle by image collecting device and
What range unit collected road ahead headroom and can reach the Distance Remaining in limit for height section, by processor to above- mentioned information
Analyzed and judge that can vehicle pass through.If height of car exceedes the height of section limitation, vehicle cannot be by this
Section, then carry out early warning to driver, reminds the timely ramp to stop of driver, avoids vehicle from entering limit for height section, reduces traffic
The generation of accident.If driver does not take braking action in time, processor can control autonomous braking mechanism to subtract vehicle
Speed, ensures occupant safety.
Image collecting device is preferably Laser video camera head, and range unit is radar.The parameter of Laser video camera head detection includes
The transitable height of road ahead, width even geomery, Laser video camera head can capture dynamic and static object.Radar inspection
Front road conditions and the distance between with barrier.Then the information of acquisition is sent to processor and carries out processing analysis, handled
Device can calculate the information such as the speed, maximum height limit, passable width of vehicle according to these real time information, and with this car
Size contrasts, to judge that can this car pass through road ahead.The concrete restriction of limit for height facility or passage height can pass through
Identification limit for height mark directly obtains, can also by current scanline to height and the distance that measures be calculated limit for height facility or
The concrete restriction height of person's passage.
The body contour size of host vehicle can be stored in processor in advance, easy to compared with limit for height section, with
Judge whether vehicle can be normal through road ahead.If cannot be by road ahead, according to image collecting device and survey
The delivering alarm command directly or indirectly obtained away from device, control alarm system sends alarm signal or control vehicle performs
From main brake.
Vehicle for that can place bicycle or cargo in roof, car owner can be according to the demands of itself to processor
Typing sizes information.
Vehicle further includes front bumper and driver's cabin, it is preferable that range unit is arranged on the front of front bumper, and radar is excellent
Elect millimetre-wave radar as, its detection range is reached more than 200 meters, its detection angle for 30 degree of wide-angles with complete and accurate
Detect the distance of peripheral obstacle.Image collecting device is arranged in driver's cabin, to avoid the interference of outer signals and electromagnetic wave,
Processor is preferably provided at as made of aviation aluminum alloy material in diamagnetic container, so that the detection of signal and transmitting procedure are more fast
It is fast, safer, more reliable.
Further, the alarm system of the present embodiment includes sound-producing device and light-emitting device, and correspondingly, alarm signal includes
Sound and light.Sound and light pay attention to road ahead by the sense of hearing and visual alerts driver respectively, avoid driver because tired
Exhausted or other reasons are absent minded to be caused to fail to make a response in time.
Specifically, light-emitting device can include the indicator light being arranged in driver's cabin and the taillight for being arranged on vehicle rear-side,
Taillight is used for the timely reduction of speed of driver for reminding front vehicle, avoids the generation of rear-end collision.
The vehicle of the present embodiment can carry out early warning according to following methods, enter limit for height section to avoid vehicle.This early warning
Method needs real-time monitoring vehicle front to whether there is limit for height section.When there are during limit for height section, judging whether vehicle can lead to
Cross limit for height section.When vehicle can not be by limit for height section, vehicle is obtained to the real-time range between limit for height section.Vehicle according to
Real-time range sends alarm signal and/or automatic braking.
Specifically, the step of vehicle sends alarm signal and/or automatic braking according to distance in the present embodiment includes：Work as reality
When distance when being more than or equal to the first preset distance, vehicle sends the first alarm signal；Judge whether vehicle is braked, work as vehicle
Do not brake, and when real-time range is less than the first preset distance and when being more than or equal to the second preset distance, vehicle sends the
Two alarm signals, vehicle are tentatively braked；Judge whether vehicle is braked, when vehicle is not braked, and when real-time range is less than second
During preset distance, emergency brake of vehicle.
On the road for the limited high request artificially built, limit for height mark is generally provided with.When vehicle monitoring to limit for height
The first alarm signal is sent to driver during mark, prompts driver to be carried out before vehicle enters the first preset distance to vehicle
Braking, makes vehicle stop before limit for height mark is reached.First alarm signal can also include light rear brake lamp to remind behind
Vehicle slow down in time, avoid knocking into the back.When vehicle monitoring to driver does not make system yet when vehicle reaches the first preset distance
During action, actively vehicle is tentatively braked, to enable the vehicle to smoothly stop before limit for height mark is reached.Second report
Alert signal can include audio alert and light prompt, and operator brake reduction of speed is reminded by a variety of sense organs.Second preset distance
Minimum braking distance of the vehicle under present speed should be more than, so that vehicle fails to take the situation of braking in time in driver
Under also can autonomous reduction of speed, stop in time before colliding with limit for height mark, ensure the safety of driver and passenger.Second is predetermined
Distance can be calculated according to factors such as the speed of vehicle and braking qualities.
The double sudden strains of a muscle of taillight can be automatically turned on after emergency brake of vehicle, remind rear car note that preventing vehicle rear-end collision below
Cause more serious accident.
To realize above-mentioned autonomous reduction of speed, the vehicle of the present embodiment further includes autonomous braking mechanism, when processor judges vehicle
When needing autonomous reduction of speed, autonomous braking mechanism is operated to reduce car speed.Specifically, as shown in Fig. 2, the present embodiment it is autonomous
Braking mechanism includes brake pedal 1, motor 2 and the driving member 3 of connection motor 2 and brake pedal 1.Autonomous braking mechanism receives
Motor 2 operates after to the signal of processor, pulls brake pedal 1 by driving member 3, makes vehicle braking deceleration.Braking is stepped at the same time
1 movement of plate directly can transmit sense of touch to driver foot, further remind driver to reduce car speed.Preferably, it is driven
Part 3 is the flexible drive parts 3 such as chain.
Further, in order to ensure that autonomous braking mechanism can pull brake pedal 1 in first time, such as Fig. 2 and Fig. 3 institutes
Show, autonomous braking mechanism further includes the sensor 4 being arranged between brake pedal 1 and driving member 3.Specifically, as shown in figure 3,
Just the pre set force for tensing chain is set in vehicle traveling front sensor 4, the power detected in vehicle operation when sensor 4 with
When pre set force is different, the operation of motor 2 tightens or loosens driving member 3, and the power detected to sensor 4 is identical with pre set force.
As shown in Fig. 2, the autonomous braking mechanism of the present embodiment further includes vacuum booster 5, brake pedal 1 is pivotly solid
It is scheduled at fixing point 6, starts braking when brake pedal 1 is depressed counterclockwise, speed reduces；Brake pedal 1 takes when lifting clockwise
Disappear braking.Vacuum booster 5 is capable of providing the power for making that brake pedal 1 rotates counterclockwise in figure, to help driver to step on braking
Pedal 1 helps motor 2 to pull brake pedal 1 to realize that vehicle is braked.
Such as shown in Fig. 3, when stationary vehicle or normally travel, driver does not step on brake pedal 1, and motor 2 is first transported
Turn to make critical condition of the chain just at tension, the power of sensor 4 is pre set force at this time.When driver steps on brake pedal
When 1, chain relaxation, the power that sensor 4 measures is less than pre set force, and the power that the operating tightening chain of motor 2 is measured to sensor 4 is equal to
Pre set force, for chain in the critical condition tensed, motor 2 tenses chain again can pull brake pedal 1 at this time.Similarly, when driving
The person of sailing loosen the brake 1 when, brake pedal 1 automatically resets, and chain tenses, and the power that sensor 4 measures is more than pre set force, at this time
The reversion of motor 2 releases the power that chain to sensor 4 measures and is equal to pre set force, and chain is in the critical condition tensed, motor 2 at this time
Brake pedal 1 can be pulled by tensing chain again.The above process makes chain remain chain in " somewhat increasing pulling force can just draw
The state of dynamic brake pedal 1 ", and then ensure autonomous braking mechanism stable and reliable operation.
Above-mentioned pre set force, which can be set to, " to be marked zero " pre set force, when the running environment of vehicle changes or needs certainly
During main brake, above-mentioned pre set force can be adjusted to keep the deceleration of vehicle to stablize.Sensor 4 can select pressure sensor,
Other forms sensor can also be selected to measure the size of the power between brake pedal and driving member.
When vehicle enters the first pre-determined distance, autonomous braking mechanism tentatively brakes vehicle, and then processor can
To judge whether to improve brake force according to the information received, increase deceleration, and then in the premise for ensureing brake safe distance
The comfort of lower lifting vehicle, prevents because emergency brake causes that front vehicle knocks into the back and driver and passenger are because inertia is hindered
Evil.
As shown in figure 4, front limit for height facility farther out when (beyond the first pre-determined distance), image collecting device recognizes limit for height
Facility, alarm system can first prompt driver's information of " there is limit for height section in front ", remind driver to pay attention to.After lighting at the same time
Brake lamp, reminds front vehicle, prevents front vehicle from knocking into the back.When vehicle does not take system into the first pre-determined distance and driver
When dynamic, alarm system can prompt driver's information of " can not be by road ahead, it is necessary to braking deceleration ", processor according to away from
From and front speed information control motor 2 work, adjustment pre set force to 200N, vehicle is tentatively braked.If driver
Braking (within the second pre-determined distance) is not taken yet, and central processing unit directly promptly makes vehicle according to the information of collection
Dynamic to intervene, motor 2 is started to work, and adjustment pre set force to 500N, makes vehicle carry out emergency braking, make vehicle stop travelling as early as possible,
And open double dodge.
Above-mentioned " 200N ", " 500N " are the modes from main brake for illustrating the application, are being applied in different automobile types
During vehicle, " 200N ", " 500N " can be demarcated according to the actual conditions of vehicle, to adapt to the performance of different vehicle.
When there are other vehicles in front, radar can also measure the distance between Ben Che and front vehicles, in Ben Che and front
When the distance of vehicle is less than safe distance, autonomous braking mechanism also can active transport to increase the distance of this car and front vehicles,
Ensure the safety of driver and passenger.Central processing unit can also measure front by the information that radar and Laser video camera head gather
The travel speed of vehicle, and control the speed of this car identical with the speed of front truck, to keep running distance.
When there are construction section or barrier in front when the intransitable section of vehicle, processor can also make in time to be sentenced
It is disconnected, and remind driver or take self-actuating brake.
Further to improve the accuracy of early warning, the vehicle of the present embodiment further includes positioner, and positioner can be with
Obtain the geographical location of vehicle.And the maximum height limit in each bar limit for height section in each city is integrated within a processor, when vehicle leans on
During nearly limit for height section, alarm system sends the prompt message of voice prompt or other forms, enables a driver to make in time
Reaction, ensures traffic safety.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
When vehicle front has limit for height section, vehicle by image collecting device and range unit collect road ahead can
Headroom and the Distance Remaining for reaching limit for height section, analyze above- mentioned information by processor and judge that can vehicle suitable
Profit passes through.If height of car exceedes the height of section limitation, vehicle then cannot carry out early warning by the section to driver,
The timely ramp to stop of driver is reminded, avoids vehicle from entering limit for height section, reduces the generation of traffic accident.If driver does not have
Braking action is taken in time, and processor can control autonomous braking mechanism to make vehicle deceleration, ensure occupant safety.
In the description of the present application, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, vertical,
Vertically, orientation or position relationship indicated by level " and " top, bottom " etc. are normally based on orientation or position shown in the drawings and close
System, is for only for ease of description the application and simplifies description, in the case where not making conversely explanation, these nouns of locality do not indicate that
There must be specific orientation with the device or element for implying meaning or with specific azimuth configuration and operation, therefore cannot manage
Solve as the limitation to the application protection domain；The noun of locality " inside and outside " refers to relative to inside and outside each component profile in itself.
For the ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Furthermore, it is necessary to explanation, limits parts, it is only for be easy to using the word such as " first ", " second "
Corresponding parts to be distinguished, do not have Stated otherwise such as, above-mentioned word does not have particular meaning, therefore it is not intended that to this
Apply for the limitation of protection domain.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on, should be included within the scope of protection of this utility model.
Claims (10)
- A kind of 1. vehicle, it is characterised in that including：Image collecting device, to obtain the limit for height facility of vehicle front or the parameter of passage；Range unit, to measure the range unit to the distance of the limit for height facility or the passage；Processor, the processor are connected with described image harvester and the range unit, and the processor is judging Whether the vehicle can pass through the limit for height facility or passage；Alarm system, is connected with the processor and is used to send alarm signal according to the control signal of the processor；Autonomous braking mechanism, is controlled by the processor, and the autonomous braking mechanism is reducing the speed of the vehicle.
- 2. vehicle according to claim 1, it is characterised in that the vehicle further includes the positioning being connected with the processor Device, the positioner is obtaining the geographical location of the vehicle.
- 3. vehicle according to claim 1, it is characterised in that the autonomous braking mechanism include brake pedal, motor with And connect the driving member of the motor and the brake pedal.
- 4. vehicle according to claim 3, it is characterised in that the autonomous braking mechanism, which further includes, is arranged on the braking Sensor between pedal and the driving member, when the power that the sensor detects is different from pre set force, the motor operation To tighten or loosen the driving member up to the power that the sensor detects is identical with the pre set force.
- 5. vehicle according to claim 1, it is characterised in that the processor is arranged in diamagnetic container.
- 6. vehicle according to claim 1, it is characterised in that described image harvester is Laser video camera head, the survey It is radar away from device.
- 7. vehicle according to claim 6, it is characterised in that the detection angle of the radar is 30 degree of wide-angles.
- 8. vehicle according to claim 1, it is characterised in that the vehicle further includes front bumper and driver's cabin, described Range unit is arranged in the front bumper, and described image harvester is arranged in the driver's cabin.
- 9. vehicle according to claim 8, it is characterised in that the alarm system includes sound-producing device and light-emitting device, The alarm signal includes sound and/or light.
- 10. vehicle according to claim 9, it is characterised in that the light-emitting device includes taillight and is arranged on described drive Sail the indicator light in room.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721183201.5U CN207345668U (en) | 2017-09-14 | 2017-09-14 | Vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721183201.5U CN207345668U (en) | 2017-09-14 | 2017-09-14 | Vehicle |
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| CN207345668U true CN207345668U (en) | 2018-05-11 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622090A (en) * | 2018-06-25 | 2018-10-09 | 柳州智先行科技有限公司 | A kind of new vehicle safety height limiter |
| CN108819929A (en) * | 2018-06-25 | 2018-11-16 | 柳州智先行科技有限公司 | A kind of novel on-vehicle limit for height detection brake gear |
| CN108909622A (en) * | 2018-07-25 | 2018-11-30 | 合肥市智信汽车科技有限公司 | A kind of reminding method of vehicle braking |
| CN109677377A (en) * | 2018-12-27 | 2019-04-26 | 张庭宇 | A kind of road vehicle limit for height finds out system and the anti-collision protection device that actively brakes |
| CN109814102A (en) * | 2019-01-31 | 2019-05-28 | 厦门精益远达智能科技有限公司 | A kind of one-lane superelevation monitoring method, device, equipment and storage medium |
| CN110562137A (en) * | 2019-09-12 | 2019-12-13 | 东软睿驰汽车技术（沈阳）有限公司 | vehicle anti-collision method and device and vehicle |
| CN111661044A (en) * | 2020-06-29 | 2020-09-15 | 浙江吉利新能源商用车集团有限公司 | Vehicle anti-collision control method and system and vehicle |
| CN115440081A (en) * | 2021-06-04 | 2022-12-06 | 上海擎感智能科技有限公司 | Height-limiting road anti-collision method, computer-readable storage medium and electronic equipment |
-
2017
- 2017-09-14 CN CN201721183201.5U patent/CN207345668U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108622090A (en) * | 2018-06-25 | 2018-10-09 | 柳州智先行科技有限公司 | A kind of new vehicle safety height limiter |
| CN108819929A (en) * | 2018-06-25 | 2018-11-16 | 柳州智先行科技有限公司 | A kind of novel on-vehicle limit for height detection brake gear |
| CN108909622A (en) * | 2018-07-25 | 2018-11-30 | 合肥市智信汽车科技有限公司 | A kind of reminding method of vehicle braking |
| CN109677377A (en) * | 2018-12-27 | 2019-04-26 | 张庭宇 | A kind of road vehicle limit for height finds out system and the anti-collision protection device that actively brakes |
| CN109814102A (en) * | 2019-01-31 | 2019-05-28 | 厦门精益远达智能科技有限公司 | A kind of one-lane superelevation monitoring method, device, equipment and storage medium |
| CN110562137A (en) * | 2019-09-12 | 2019-12-13 | 东软睿驰汽车技术（沈阳）有限公司 | vehicle anti-collision method and device and vehicle |
| CN111661044A (en) * | 2020-06-29 | 2020-09-15 | 浙江吉利新能源商用车集团有限公司 | Vehicle anti-collision control method and system and vehicle |
| CN115440081A (en) * | 2021-06-04 | 2022-12-06 | 上海擎感智能科技有限公司 | Height-limiting road anti-collision method, computer-readable storage medium and electronic equipment |
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| GR01 | Patent grant |