CN105599682A - Automobile driving assisting system and method based on dead zone detection and looking-around image monitoring - Google Patents
Automobile driving assisting system and method based on dead zone detection and looking-around image monitoring Download PDFInfo
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- CN105599682A CN105599682A CN201610074991.7A CN201610074991A CN105599682A CN 105599682 A CN105599682 A CN 105599682A CN 201610074991 A CN201610074991 A CN 201610074991A CN 105599682 A CN105599682 A CN 105599682A
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- master controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8073—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle security, e.g. parked vehicle surveillance, burglar detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses an automobile driving assisting system based on a microwave radar dead zone detection system and a panoramic looking-around image monitoring system, which is convenient to operate, has relatively good safety and is convenient for a driver to safely drive. The automobile driving assisting system comprises two sensors, three cameras, a main controller and a display screen, wherein the two sensors are mounted at the positions of the left rear side and the right rear side of an automobile respectively and are used for detecting a dead zone on the lateral rear side in real time, and transmitting detected data to the main controller; the three cameras are mounted at the positions of the rear side, left side and right side of the automobile respectively, and are used for carrying out panoramic scanning on the two sides and the rear side of the automobile to obtain panoramic looking-around images on the two sides and the rear side of the automobile and transmitting the obtained panoramic looking-around images to the main controller; the main controller is used for controlling the two sensors and the three cameras to move, and receiving obstacle position triggering signals transmitted by the two sensors and the panoramic looking-around images transmitted by the three cameras at the same time; and the display screen is used for displaying the panoramic looking-around images when the sensors detect that obstacles move in the corresponding dead zones.
Description
Technical field
The present invention relates to a kind of automobile assistant driving system, specifically, relate to one simple in structure,Easy to operate, security is better, utilizes BSD system to carry out the detection of microwave radar blind area, utilizes AVMSystem is carried out the automobile assistant driving system of panoramic looking-around image monitoring.
Background technology
Along with expanding economy, automobile has obtained further universal, and becoming can not in daily lifeOr the instrument lacking, but meanwhile, the people who even often drives for new hand, OKIn car process, doubling blind area is to be all difficult to eliminate, due to the cause of vehicle body design, and reflective mirror instituteThe visual range that can offer us always has some blind areas and exists, and can not see clearly in blind area to be in timeNo have moving vehicle barrier and the real-time condition thereof such as vehicle, especially dense fog, rain, snow, a nightDeng the severe running environment of low visibility, as steering vehicle changing Lane now, exist very largePotential safety hazard. The traffic that how to help driver to cause due to changing Lane in as far as possible avoiding travellingAccident also becomes the topic that people pay close attention to day by day.
Existing microwave radar blind area detection system BSD technology, can only detect within the scope of blind area and moveHaving or not of motor vehicle barrier, can not see clearly be in real time what moving vehicle barrier and concreteSituation.
Existing AVM panoramic looking-around monitoring system is to be mostly for reversing and to reflect vehicle while parkingThe real-time condition of surrounding, and do not possess within the scope of detection blind area, whether there are the merits such as moving vehicle barrierEnergy.
Summary of the invention
For above deficiency, the invention provides one simple in structure, easy to operate, securityBetter the automobile based on microwave radar blind area detection system and panoramic looking-around image monitoring is auxiliaryControl loop, it comprises:
Two sensors, are arranged on respectively left rear side and the right lateral side position of automobile, for to automobileReal-time detection is carried out in proceeds posterolateral blind area, and detection data is sent to master controller;
Camera, is arranged on respectively the position on dead astern, left side and the right side of automobile, for to vapourPanoramic scanning is carried out at the both sides of car and rear, to obtain the panoramic looking-around image at automobile both sides and rear,And the panoramic looking-around image obtaining is sent to master controller;
Master controller for controlling two sensors and camera action, receives two sensings simultaneouslyThe panoramic looking-around image that the Obstacle Position triggering signal that device sends and camera send over;
Display screen, when sensor is surveyed corresponding blind area and had barrier to move, shows cameraThe panoramic looking-around image of taking.
In order further to realize the present invention, when master controller detects the turn signal of turn signalTime, the sensor that master controller triggers homonymy enters real-time detection pattern.
In order further to realize the present invention, also comprise buzzer, to survey corresponding blind area at sensorWhen having barrier to move, the prompting of sounding.
In order further to realize the present invention, also comprise two warning lights that are arranged on vehicle right and left both sides,With in surveying corresponding blind area at same side senser and having barrier to move, the prompting of sounding.
The automobile assistant driving control method bag that detects and look around imaging monitoring based on blind area of the present inventionDraw together:
1) driver stirs steering indicating light, to prepare to enter lane change state;
2) master controller receives corresponding steering indicating light and sends over turn signal, drives the sensor of homonymyOpen real-time detection;
3) in the blind area of sensor probe vehicle rear homonymy, whether there is barrier to move, if had,Perform step 4), otherwise, directly carry out);
4) master controller drives camera action according to the barrier triggering signal of receiving sensor;
5) camera is taken the panoramic looking-around image of automobile homonymy blind area, and panoramic looking-around image is sent outDeliver to master controller;
6) master controller drives display screen to show panoramic looking-around image, reminds and drives with the form of videoMember's careful driving;
7) after driver's lane change completes, close steering indicating light, master controller is according to receiving corresponding steering indicating lightSend over shutdown signal, finish auxiliary driver behavior.
In order further to realize the present invention, described step 6) also comprise that master controller drives buzzer movingDo;
In order further to realize the present invention, described step 6) also comprise the warning light flicker that drives homonymy.Beneficial effect of the present invention:
The automobile assistant driving system and method that detects and look around imaging monitoring based on blind area of the present inventionCan be according to driver's driver behavior, judge fast in corresponding blind area, whether have barrier (otherVehicle) mobile, and show the concrete condition that barrier moves by the mode of video, assist drivingThe road conditions that member's judgement is driven, to reach the object of safe driving; In addition, the present invention need not be to existingConfiguration of automobiles is changed on a large scale, just in the existing AVM system of automobile and BSD systemBetween set up data communication, can realize fast the auxiliary object of driving, operability is stronger.
Brief description of the drawings
Fig. 1 is the system framework figure of automobile assistant driving system of the present invention;
Fig. 2 is the control flow chart of automobile assistant driving control method of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated, wherein, direction of the present invention is with Fig. 1For standard.
As shown in Figure 1, auxiliary the driving of automobile of detecting and looking around imaging monitoring based on blind area of the present inventionThe system of sailing comprise two sensors 1, three cameras 2, master controller 3, two warning lights 4,Buzzer 5, display screen 6 and 7, two sensors 1 of principal wire bundle, camera 2, two warning lights 4,Buzzer 5 and display screen 6 are electrically connected to master controller 3 by principal wire bundle 7 respectively, to realize numberAccording to transmission and control.
Two sensors 1 are arranged on respectively left rear side and the right lateral side position of automobile, for to automobileReal-time detection is carried out in proceeds posterolateral blind area, and detection data is sent to master controller 3. Be positioned at an automobile left sideWhether the track, sensor probe vehicle left back at rear has the information of barrier, when finding that there is obstacleWhen thing, send left side barrier triggering signal to master controller 3; Be positioned at the biography at Automobile Right rearWhether track, sensor probe vehicle right back has the information of barrier, in the time finding that there is barrier,Send right side barrier triggering signal to master controller 3.
Camera 2, is arranged on respectively the position on dead astern, left side and the right side of automobile, for to vapourPanoramic scanning is carried out at the both sides of car and rear, to obtain the panoramic looking-around image at automobile both sides and rear,And the panoramic looking-around image obtaining is sent to master controller 3.
Master controller 3 is as the control centre of whole system, and master controller 3 is for controlling two biographiesSensor 1 and camera 2 move, and receive the Obstacle Position triggering that two sensors 1 send simultaneouslyThe panoramic looking-around image that signal and camera 2 send over, and send according to two sensors 1Obstacle Position triggering signal drive all warning lights 4, buzzer 5 and display screen 6 to make correspondingAction.
Two warning lights 4 be arranged on respectively headstock both sides in automobile position, at automobile pairAnswer in blind area when barrier moves, remind driver's careful driving with the form of glimmering.
Buzzer 5 is arranged in automobile, when in the corresponding blind area of automobile, barrier moves,Form with sound is reminded driver's careful driving.
Display screen 6 is arranged in automobile, when in the corresponding blind area of automobile, barrier moves,Play in the mode of video the panoramic looking-around image that camera 2 is taken, to remind driver carefully to driveSail.
In addition, the BSD (BlindSpotDetection) that the present invention can coordinate in conjunction with existing automobileBlind monitoring system and AVM (AroundViewMonitor) panoramic looking-around image monitoring,Be that master controller 3 adopts AVM main frame to realize, two sensors 1 adopt the left side of BSD systemBSDSENSOR and right side BSDSENSOR realize, and two warning lights 4 adopt BSD systemLeft side BSDLED and right side BSDLED realize, buzzer 5 adopts the BSD of BSD systemThe realization of BUZZER, three cameras 2 adopt the both sides of AVM system and rearview camera to realize,Display screen 6 adopts DVD display screen to realize, and realizes AVM system and BSD system by principal wire bundleBetween data communication.
As shown in Figure 2, auxiliary the driving of automobile of detecting and looking around imaging monitoring based on blind area of the present inventionSailing control method comprises the following steps:
1) driver stirs steering indicating light, to prepare to enter lane change state;
2) master controller 3 receives corresponding steering indicating light and sends over turn signal, drives the sensing of homonymyDevice 1 is opened real-time detection;
3) in the blind area of sensor 1 probe vehicle rear homonymy, whether there is barrier to move, if had,Perform step 4), otherwise, directly carry out);
4) master controller 3 drives camera 2 moving according to the barrier triggering signal of receiving sensor 1Do;
5) camera 2 is taken the panoramic looking-around image of automobile homonymy blind area, and by panoramic looking-around imageBe sent to master controller 3;
6) master controller 3 drives display screen 6 to show panoramic looking-around image, reminds with the form of videoDriver's careful driving, master controller 3 drives buzzer 5 to move, and reminds and drives with the form of soundThe person's of sailing careful driving, also drives the warning light 4 of homonymy to glimmer, and reminds driver little with the form of lightThe heart is driven;
7) after driver's lane change completes, close steering indicating light, master controller 3 turns to according to receiving correspondenceLamp sends over shutdown signal, finishes auxiliary driver behavior.
When driver is to the left when lane change, driver opens left steering lamp in advance, master controller 3Receive the left direction signal that left steering lamp sends, control thereby drive the sensing that is positioned at automobile left backWhether device 1 is started working, in this sensor 1 track, blind area, probe vehicle left back, have barrier to move,If do not have barrier to move, native system does not do any prompting, and driver can enter left and becomeRoad pattern, after treating that left lane change completes, driver closes left steering lamp, and master controller 3 receives leftThe left steering shutdown signal that steering indicating light sends, quits work thereby control native system; If sensor 1Find that there is barrier and move, send the triggering signal of the right barrier in left side to master controller 3, mainController 3 drives camera 2 to move, and takes the panoramic looking-around image in track, blind area, left back,And being sent to master controller 3 by taking left panoramic looking-around image, master controller 3 drives display screen 6Form with video shows the vehicle condition in track, blind area, left back, with the safe lane change of driver assistance,Meanwhile, master controller 3 also drives buzzer 5 and left side warning light 4 to move, with sound and lightThe safe lane change of form driver assistance, to reach the object of safe driving.
The foregoing is only preferred embodiments of the present invention, the present invention is not limited to above-mentioned enforcement, may there is local small structural modification in mode, if to of the present invention each in implementation processKind change or modification do not depart from the spirit and scope of the present invention, and belong to claim of the present invention andWithin equivalent technologies scope, the present invention is also intended to comprise these changes and modification.
Claims (7)
1. an automobile assistant driving system that detects and look around imaging monitoring based on blind area, is characterized in that, it comprises:
Two sensors, are arranged on respectively left rear side and the right lateral side position of automobile, for real-time detection is carried out in blind area, automobile side rear, and detection data are sent to master controller;
Three cameras, be arranged on respectively the position on dead astern, left side and the right side of automobile, carry out panoramic scanning for both sides and rear to automobile, to obtain the panoramic looking-around image at automobile both sides and rear, and the panoramic looking-around image obtaining is sent to master controller;
Master controller for controlling two sensors and camera action, receives the Obstacle Position triggering signal of two sensors transmissions and the panoramic looking-around image that camera sends over simultaneously;
Display screen, when sensor is surveyed corresponding blind area and had barrier to move, shows the panoramic looking-around image that camera is taken.
2. the automobile assistant driving system that detects and look around imaging monitoring based on blind area according to claim 1, is characterized in that, in the time that master controller detects the turn signal of turn signal, the sensor that master controller triggers homonymy enters real-time detection pattern.
3. according to claim 1ly detect and look around the automobile assistant driving system of imaging monitoring based on blind area, it is characterized in that, also comprise buzzer, with in surveying corresponding blind area at sensor and having barrier to move, the prompting of sounding.
4. the automobile assistant driving system that detects and look around imaging monitoring based on blind area according to claim 1, it is characterized in that, also comprise two warning lights that are arranged on vehicle right and left both sides, with in surveying corresponding blind area at same side senser and having barrier to move, the prompting of sounding.
5. an automobile assistant driving control method that detects and look around imaging monitoring based on blind area, is characterized in that, it comprises:
1) driver stirs steering indicating light, to prepare to enter lane change state;
2) master controller receives corresponding steering indicating light and sends over turn signal, drives the sensor of homonymy to open real-time detection;
3) in the blind area of sensor probe vehicle rear homonymy, whether have barrier to move, if had, perform step 4), otherwise, directly carry out);
4) master controller drives camera action according to the barrier triggering signal of receiving sensor;
5) camera is taken the panoramic looking-around image of automobile homonymy blind area, and panoramic looking-around image is sent to master controller;
6) master controller drives display screen to show panoramic looking-around image, reminds driver's careful driving with the form of video;
7) after driver's lane change completes, close steering indicating light, master controller sends over shutdown signal according to receiving corresponding steering indicating light, finishes auxiliary driver behavior.
6. the automobile assistant driving system that detects and look around imaging monitoring based on blind area according to claim 5, is characterized in that described step 6) also comprise that master controller drives buzzer action.
7. according to claim 5ly detect and look around the automobile assistant driving system of imaging monitoring based on blind area, it is characterized in that described step 6) also comprise and drives the warning light of homonymy to glimmer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074991.7A CN105599682A (en) | 2016-02-03 | 2016-02-03 | Automobile driving assisting system and method based on dead zone detection and looking-around image monitoring |
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| CN201610074991.7A CN105599682A (en) | 2016-02-03 | 2016-02-03 | Automobile driving assisting system and method based on dead zone detection and looking-around image monitoring |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043126A (en) * | 2016-07-28 | 2016-10-26 | 江苏罗思韦尔电气有限公司 | Heavy truck steering early warning auxiliary device and early warning method |
| CN106114366A (en) * | 2016-08-31 | 2016-11-16 | 重庆长安汽车股份有限公司 | Visual angle based on radar automatic switchover reverse backsight system and method |
| CN106197465A (en) * | 2016-09-06 | 2016-12-07 | 深圳格兰泰克汽车电子有限公司 | The HUD data display method of a kind of intelligent navigation and device |
| CN106828357A (en) * | 2016-12-22 | 2017-06-13 | 深圳市车生活科技有限公司 | A kind of vehicle-mounted data detection method and device based on serial communication |
| CN107953830A (en) * | 2017-12-04 | 2018-04-24 | 广东工业大学 | A kind of motorbus blind area detection alarm system and its detection alarm method |
| CN107985196A (en) * | 2017-12-12 | 2018-05-04 | 成都育芽科技有限公司 | A kind of automatic driving vehicle blind area eliminating device of road and application method |
| CN109435848A (en) * | 2018-10-08 | 2019-03-08 | 曹睿 | A kind of system and method based on the automobile blind spot of image recognition and artificial intelligence monitoring adjust automatically |
| CN110703782A (en) * | 2019-11-06 | 2020-01-17 | 烟台海德专用汽车有限公司 | Sanitation car intelligence operation control system |
| CN112009368A (en) * | 2020-08-17 | 2020-12-01 | 黄冈格罗夫氢能汽车有限公司 | 360-degree panoramic image ultrasonic radar control system and method for fuel cell hydrogen energy automobile |
| CN112373393A (en) * | 2020-11-05 | 2021-02-19 | 东莞市天目科技有限公司 | 360 degrees all around equipment of artificial intelligence |
| CN113246859A (en) * | 2021-05-28 | 2021-08-13 | 深圳天联星科技有限公司 | Electronic rearview mirror with driving auxiliary system warning function |
| CN113459952A (en) * | 2021-08-17 | 2021-10-01 | 航远未来(广州)电子科技有限公司 | Electronic rearview mirror system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043126A (en) * | 2016-07-28 | 2016-10-26 | 江苏罗思韦尔电气有限公司 | Heavy truck steering early warning auxiliary device and early warning method |
| CN106114366B (en) * | 2016-08-31 | 2019-01-22 | 重庆长安汽车股份有限公司 | Automatically switch reverse backsight system and method in visual angle based on radar |
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Application publication date: 20160525 |