CN105946859A - System for preventing red light running and vehicle - Google Patents
System for preventing red light running and vehicle Download PDFInfo
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- CN105946859A CN105946859A CN201610348623.7A CN201610348623A CN105946859A CN 105946859 A CN105946859 A CN 105946859A CN 201610348623 A CN201610348623 A CN 201610348623A CN 105946859 A CN105946859 A CN 105946859A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a system for preventing red light running and a vehicle and relates to the field of vehicles. The system for preventing red light running comprises an image recognition device, a position detection device, a voice prompt unit, a vehicle braking system body and a self-adaptive cruise system control device, wherein the image recognition device is used for receiving and sending current traffic light information; the position detection device is used for detecting and sending current vehicle position information; the voice prompt unit is used for prompting a driver to drive safely; the vehicle braking system body is used for controlling the vehicle to be braked; and the self-adaptive cruise system control device is used for receiving and processing the current traffic light information sent by the image recognition device and the current vehicle position information sent by the position detection device and meanwhile controlling the voice prompt unit and the vehicle braking system body according to the processed result. The invention further provides the vehicle comprising the system for preventing red light running. According to the system for preventing red light running and the vehicle comprising the same, the vehicle can be effectively prevented from running a red light when a self-adaptive cruise system body is started by the vehicle, and meanwhile, the automation degree and the safety performance of the vehicle are improved.
Description
Technical field
The present invention relates to vehicular field, particularly relate to one and prevent the system of making a dash across the red light and vehicle.
Background technology
Self-adaption cruise system is a kind of intelligentized automatic control system, and it is to patrol in the constant speed probably already existed
Develop in boat control system.In vehicle travel process, it is arranged on the spacing sensor of front part of vehicle
(radar) persistently scans vehicle road ahead situation.If duck vehicle and speed are than vehicle itself
Arrange cruise speed low, self-adaption cruise system can by radar detection to front vehicles information combine wheel speed
The GES that sensor provides calculates the time needed with front truck collision, if value of calculation is arranged less than system
Threshold values, then adaptive learning algorithms unit will reduce moment of torsion by electromotor or directly ask vehicle dynamic steady
Determine system to be braked, until speed drops to identical with front truck, next can cruise by vehicle speed in the past.
If front driftlessness vehicle or target vehicle velocity are higher than the cruise speed that vehicle itself is arranged, vehicle will be with
The speed arranged carries out cruise.Self-adaption cruise system is divided into two kinds in the market: one is basis
Type self-adaption cruise system, another kind is start and stop type self-adaption cruise systems, basic model self-adaption cruise system
It is more than a certain specific speed, just may only can to activate use (generally 30kph), at following state
Time, it is impossible to complete to follow front truck to stopping, be primarily adapted for use on suburb or expressway, and start and stop type self adaptation is patrolled
Boat system can complete to follow front truck and stop and starting, substantially achieves semi-automatic driving in terms of vehicle longitudinal control
Sailing, the suitability is higher, can tackle the urban road environment of complexity.
If it can be seen that there is no the interventional procedure of driver from the introduction to above self-adaption cruise system,
No matter use what type of self-adaption cruise system, all there is the risk made a dash across the red light, adaptive for start and stop type
Answer cruise system to be then easier to follow front truck and red light violation occurs when using adaptive cruise.
Therefore, for preventing driver from not operating vehicle parking, self-adaption cruise system is easily made a dash across the red light
Problem, and for improving vehicle automaticity, improve the purpose of vehicle safety performance, the present invention proposes
A kind of system preventing from making a dash across the red light when opening self-adaption cruise system and vehicle.
Summary of the invention
It is an object of the invention to provide one and prevent the system of making a dash across the red light, this system is prevented from vehicle and is opening
When self-adaption cruise system and vehicle are positioned at traffic intersection and need to stop, due to driver's non-interventional procedure car
Stop and make the generation of running red light for vehicle phenomenon.
A kind of vehicle of offer is provided, this vehicle include above-mentioned prevent from making a dash across the red light be
Unite, and this vehicle can have when opening self-adaption cruise system and being positioned at traffic intersection and need to stop
Effect prevents from making the generation of running red light for vehicle phenomenon because of driver's non-interventional procedure vehicle parking, and vehicle is automatic
Change degree significantly improves.
Especially, the invention provides one and prevent the system of making a dash across the red light, this system includes:
Pattern recognition device, for receiving and send current traffic light information；
Position detecting device, for detecting and send current vehicle position information；
Voice alerting unit, is used for pointing out driver safety to drive a vehicle；
Motor vehicle braking system, is used for controlling described car braking；With
Self-adaption cruise system controls device, for receiving and process the current of described pattern recognition device transmission
The current vehicle position information that sends of traffic light information and described position detecting device, basis simultaneously
Result controls described voice alerting unit and described motor vehicle braking system.
Further, described self-adaption cruise system controls device and includes graphics processing unit, is used for processing friendship
Ventilating signal lamp colouring information and only extracting by redness.
Further, described graphics processing unit is including at least following steps:
The current traffic light information picture described image identification unit sent intercepts；
Picture after intercepting is carried out color segmentation, and only extracts by redness, remove on described picture not
It is red all images；
Picture after segmentation is carried out noise reduction process；
Above-mentioned picture is contrasted with template.
Further, described self-adaption cruise system control device also includes walking direction unit, as described side
Vehicular turn modulating signal is received, then it is assumed that Vehicular turn to judging unit, otherwise, then it is assumed that vehicle is kept straight on.
Further, described walking direction unit also receives the angular signal that steering wheel for vehicle sensor sends,
When described walking direction unit do not receive Vehicular turn modulating signal and be defaulted as vehicle keep straight on after, if receiving
Described angular signal exceedes default first threshold, then it is assumed that Vehicular turn.
Further, when think Vehicular turn time, described self-adaption cruise system control device according to turning to friendship
Ventilating signal lamp information controls described voice alerting unit and/or described motor vehicle braking system.
Further, described self-adaption cruise system control device according to described in turn to traffic light information to sentence
Break and vehicle when being not suitable for turning to, only start described voice alerting unit and carry out voice message.
Further, receive Vehicular turn modulating signal when described walking direction unit and be defaulted as Vehicular turn
After, if receiving described angular signal less than the Second Threshold preset, then it is assumed that vehicle is kept straight on.
Further, when thinking that vehicle is kept straight on and described self-adaption cruise system controls device according to described craspedodrome
Traffic light information is judged, when vehicle is not suitable for keeping straight on, only to start described voice alerting unit and carry out voice
Prompting.
Further, present invention also offers a kind of vehicle, including vehicle body and above-mentioned prevent the system of making a dash across the red light.
The present invention prevents the system of making a dash across the red light and vehicle, when self-adaption cruise system opened by vehicle, it is possible to logical
Cross position detecting device and judge that vehicle is positioned at traffic intersection, judge traffic light signals by pattern recognition device,
When traffic lights is danger signal, voice alerting unit can be first passed through and remind driver to stop, if driver
Do not take parking measure, motor vehicle braking system the most then can be asked to carry out car braking, red to prevent vehicle from rushing
Lamp, by using above measure, effectively prevent the generation of running red light for vehicle phenomenon, improves vehicle simultaneously
Automaticity, enhance the security performance of vehicle.
Accompanying drawing explanation
Some describing the present invention the most by way of example, and not by way of limitation in detail are concrete
Embodiment.Reference identical in accompanying drawing denotes same or similar parts or part.In accompanying drawing:
Fig. 1 is the structural representation preventing the system of making a dash across the red light according to one embodiment of the invention；
Fig. 2 is according to the undressed schematic diagram of the traffic light of one embodiment of the invention；
Fig. 3 is Fig. 2 traffic light schematic diagram after treatment.
Detailed description of the invention
Fig. 1 is the structural representation preventing the system of making a dash across the red light according to one embodiment of the invention, such as Fig. 1 institute
Showing, the system of making a dash across the red light that prevents of the present invention includes pattern recognition device 10, for receiving and send current friendship
Ventilating signal lamp information, here, described pattern recognition device 10 can be photographic head, before being installed on vehicle
Portion；Position detecting device 20, for detecting and send current vehicle position information, here, institute's rheme
Putting detection device 20 can be Vehicular navigation system, and this system is the basic configuration that vehicle is relatively conventional；Language
Sound Tip element 40, is used for pointing out driver safety to drive a vehicle, and described voice alerting unit 40 can be voice
Player；Motor vehicle braking system 50, is used for controlling described car braking；Dress is controlled with self-adaption cruise system
Put 30, for receive and process described pattern recognition device 10 send current traffic light information with
The current vehicle position information that described position detecting device 20 sends, controls institute according to result simultaneously
State voice alerting unit 40 and described motor vehicle braking system 50.
By the setting of said system, when vehicle is positioned at traffic intersection and traffic light are that redness is not suitable for continuing
Continuing when sailing, self-adaption cruise system controls device 30 and driver can be reminded to stop by voice alerting unit 40
Car, also can control motor vehicle braking system 50 further and make vehicle stop in time, therefore, effectively prevent car
Make a dash across the red light when opening self-adaption cruise system the generation of phenomenon, also improve the automaticity of vehicle, increase
The strong security performance of vehicle, this invention simultaneously is all based on the hardware configuration of current vehicle and develops, do not has
There is increase hardware cost, while reducing vehicle production cost, be effectively increased the quality of vehicle.
During judging whether vehicle makes a dash across the red light, identify that traffic light color information is crucial, if knowing
Do not go out track, place and be prohibited from the red eye of communication, then be only possible to follow-up startup voice message list
Unit 40 or motor vehicle braking system 50, therefore, described self-adaption cruise system controls device 30 and includes image
Processing unit 301, is used for processing traffic light color information and only extracting by redness.
Concrete, receive, when self-adaption cruise system controls device 30, the friendship that pattern recognition device 10 sends
After ventilating signal lamp information, traffic light information can be done a series of process by described graphics processing unit 301,
It at least can comprise the steps of
S1: the current traffic light information picture described image identification unit sent intercepts；
S2: the picture after intercepting is carried out color segmentation, and only extracts by redness, remove described picture
On be not red all images；
S3: the picture after segmentation is carried out noise reduction process；
S4: above-mentioned picture is contrasted with template.
More specifically getting on very well, as shown in Figures 2 and 3, Fig. 2 is the traffic according to one embodiment of the invention
The undressed schematic diagram of signal lights, it is shown in red that the arrow on the left side in Fig. 2 points to left-hand, middle
Arrow is directing forwardly shown in red, shown in green on the right side of the arrow sensing on right side.Fig. 3 is that Fig. 2 passes through
Traffic light schematic diagram after process.First, graphics processing unit 301 can be to pattern recognition device 10
The picture sended over intercepts, it is, in general, that the height of traffic light all can be more than 2 meters, and institute
The picture of more than 2 meters is only retained to carry out next step place so that graphics processing unit 301 can carry out intercepting
Reason, as in figure 2 it is shown, intercept operation can avoid the interference of irrelevant information, can be effectively improved traffic light
The accuracy rate extracted.After picture intercepts, graphics processing unit 301 is understood carry out color segmentation to picture, and only
Extracting by redness, removing on described picture is not red all images, and the concrete method used is permissible
Being HIS colour model, wherein, H (hue) representation in components is colourity letter, and I (intensity) represents
Be the intensity of light, S (saturation) represents the saturation of color, and according to result of the test, each component is
Good value can be: H:0-17 or 335-360；I: more than 0；S: more than 0.2, Fig. 3 is exactly root
The traffic light schematic diagram obtained after processing according to the method, it can be seen that be not red part
All become black, the most remaining two the display lamp shapes representing danger signal, color is just completed with this
Segmentation, during it should be noted that traffic light are circular, it is also possible to locate after the same method
Reason.After color segmentation completes, owing to using HIS colour model method, so more or less can be at picture
On leave images of some residuals, it is impossible to can be a piece of pure black, therefore it follows that image procossing
Unit 301 can carry out noise reduction process to picture, specifically by figure (such as hollow figure) discontinuous in picture
Figure less with pixel is removed, and that reduces with the generation that avoids interference that traffic light extract is accurate
Rate.After noise reduction process, if graphics processing unit 301 finds that figure is entirely black, then it can directly be sent out
Go out non-red signal, if graphics processing unit 301 finds that partial graphical is not black, then it can be further
Ground carries out template contrast to picture, be specially arrow-shaped in picture or circular pattern and arrow or justify is carried out right
Ratio, it is determined that its qualified standard is: template can approximate and the arrow-shaped in picture or circle after zooming in or out
Shape shape is identical, and the threshold values of the degree of approximation to reach more than 0.8.
When vehicle is close to traffic intersection, it is necessary first to judge that vehicle is kept straight on and still turn to, and then judge place
Whether no through traffic in track, and therefore for judging vehicle heading, described self-adaption cruise system controls device
30 also include walking direction unit 302, when described walking direction unit 302 receives Vehicular turn modulating signal,
Then think Vehicular turn, otherwise, then it is assumed that vehicle is kept straight on.
In a practical situation, due to some special circumstances, as driver does not plays steering indicating light so that system judges
Vehicle is kept straight on, and practical situation is then Vehicular turn, so being the generation avoiding analogue, it is ensured that system
Work effectively with stable, described walking direction unit 302 also receives that steering wheel for vehicle sensor sends turn
Angle signal, does not receives Vehicular turn modulating signal when described walking direction unit 302 and is defaulted as vehicle and keeps straight on
After, if receiving described angular signal to exceed default first threshold, then it is assumed that Vehicular turn, described first
Threshold value can be 5 °.When judging Vehicular turn, it is the most permissible that described self-adaption cruise system controls device 30
Described voice alerting unit 40 and/or described motor vehicle braking system 50 is controlled according to turning to traffic light information
Avoid the generation of running red light for vehicle phenomenon.Concrete, when described self-adaption cruise system controls device 30
Judge when vehicle is not suitable for turning to, due to vehicle now already in crossing, if starting vehicle braking system
System 50 is likely to result in vehicle accident, so only can start described voice alerting unit 40 to carry out voice message
Remind driver, to reduce the generation of accident to greatest extent.
It is similar to, receives Vehicular turn modulating signal when described walking direction unit 302 and be defaulted as vehicle and turn
Backward, if receiving described angular signal less than the Second Threshold preset, then it is assumed that vehicle is kept straight on, described the
Two threshold values can be 3 °.When judging that vehicle is kept straight on, described self-adaption cruise system controls device 30 and just may be used
To control described voice alerting unit 40 and/or described motor vehicle braking system according to straight-going traffic signal information
50 generations avoiding running red light for vehicle phenomenon.Concrete, when described self-adaption cruise system controls device
30 judge when vehicle is not suitable for keeping straight on, due to vehicle now already in crossing, if starting car braking
System 50 is likely to result in vehicle accident, carries out voice carry so only can start described voice alerting unit 40
Show to remind driver, to reduce the generation of accident to greatest extent.
Especially, present invention also offers a kind of vehicle, including vehicle body and the above-mentioned system of making a dash across the red light that prevents, close
In preventing from making a dash across the red light, components of system as directed does not repeats them here, owing to this vehicle is opening self-adaption cruise system simultaneously
Open and above-mentioned prevent the system of making a dash across the red light, it is possible to judge vehicle by the position detecting device 20 of this system
It is positioned at traffic intersection, judges traffic light signals by pattern recognition device 10, when traffic lights is danger signal
Time, voice alerting unit 40 can be first passed through and remind driver to stop, if driver does not takes parking measure,
The most then motor vehicle braking system 50 can be asked to carry out car braking, effectively prevent running red light for vehicle phenomenon
Occur, improve the automaticity of vehicle simultaneously, enhance the security performance of vehicle.
So far, although those skilled in the art will appreciate that and the most detailed illustrate and describing the present invention's
Multiple exemplary embodiments, but, without departing from the spirit and scope of the present invention, still can be according to this
Disclosure of invention directly determines or derives other variations or modifications of many meeting the principle of the invention.Cause
This, the scope of the present invention is it is understood that and regard as covering other variations or modifications all these.
Claims (10)
1. prevent the system of making a dash across the red light, including:
Pattern recognition device, for receiving and send current traffic light information；
Position detecting device, for detecting and send current vehicle position information；
Voice alerting unit, is used for pointing out driver safety to drive a vehicle；
Motor vehicle braking system, is used for controlling described car braking；With
Self-adaption cruise system controls device, for receiving and process the current of described pattern recognition device transmission
The current vehicle position information that sends of traffic light information and described position detecting device, basis simultaneously
Result controls described voice alerting unit and described motor vehicle braking system.
The most according to claim 1 prevent the system of making a dash across the red light, it is characterised in that described adaptive cruise
System control device includes graphics processing unit, is used for processing traffic light color information and only by redness
Extract.
The most according to claim 2 prevent the system of making a dash across the red light, it is characterised in that described image procossing list
Unit is including at least following steps:
The current traffic light information picture described image identification unit sent intercepts；
Picture after intercepting is carried out color segmentation, and only extracts by redness, remove on described picture not
It is red all images；
Picture after segmentation is carried out noise reduction process；
Above-mentioned picture is contrasted with template.
The most according to claim 1 prevent the system of making a dash across the red light, it is characterised in that described adaptive cruise
System control device also includes walking direction unit, when described walking direction unit receives vehicle turn signal letter
Number, then it is assumed that Vehicular turn, otherwise, then it is assumed that vehicle is kept straight on.
The most according to claim 4 prevent the system of making a dash across the red light, it is characterised in that described walking direction list
Unit also receives the angular signal that steering wheel for vehicle sensor sends, when described walking direction unit does not receives car
Steering indicating light signal and be defaulted as after vehicle keeps straight on, if receiving described angular signal to exceed the first default threshold
Value, then it is assumed that Vehicular turn.
6. according to preventing, described in claim 4 or 5, the system of making a dash across the red light, it is characterised in that when thinking vehicle
When turning to, described self-adaption cruise system controls device according to turning to traffic light information to control described voice
Tip element and/or described motor vehicle braking system.
The most according to claim 6 prevent the system of making a dash across the red light, it is characterised in that described adaptive cruise
System control device according to described in turn to traffic light information to judge vehicle is not suitable for turning to time, only start
Described voice alerting unit carries out voice message.
The most according to claim 5 prevent the system of making a dash across the red light, it is characterised in that when described walking direction
After unit receives Vehicular turn modulating signal and is defaulted as Vehicular turn, it is less than if receiving described angular signal
The Second Threshold preset, then it is assumed that vehicle is kept straight on.
The most according to claim 8 prevent the system of making a dash across the red light, it is characterised in that when thinking that vehicle is kept straight on
And described self-adaption cruise system controls device and judges that vehicle is not according to described straight-going traffic signal information
When being suitable for keeping straight on, only start described voice alerting unit and carry out voice message.
10. a vehicle, including vehicle body and prevent from as claimed in any one of claims 1-9 wherein making a dash across the red light
System.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348623.7A CN105946859A (en) | 2016-05-24 | 2016-05-24 | System for preventing red light running and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610348623.7A CN105946859A (en) | 2016-05-24 | 2016-05-24 | System for preventing red light running and vehicle |
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| CN201610348623.7A Pending CN105946859A (en) | 2016-05-24 | 2016-05-24 | System for preventing red light running and vehicle |
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| CN108564802B (en) * | 2018-06-19 | 2020-07-10 | 安徽合众智信科技咨询有限公司 | Traffic signal lamp identification device and method based on images |
| CN109697853A (en) * | 2019-01-24 | 2019-04-30 | 黑河学院 | A kind of artificial intelligence system for assisting driving |
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Application publication date: 20160921 |