技术领域technical field
本发明涉及汽车防碰撞技术领域，尤其是涉及一种基于3D声场的侧后方盲点车辆识别防碰撞预警系统及方法。The invention relates to the technical field of automobile anti-collision, in particular to an anti-collision early warning system and method based on 3D sound field vehicle identification and rear blind spots.
背景技术Background technique
声像，又称虚声源或感觉声源。声像是指乐器在声场中的发声位置点。简单的说，就是声音的方位。Sound image, also known as virtual sound source or sensory sound source. Panning refers to the point where an instrument sounds in the sound field. Simply put, it is the position of the sound.
3D声场，也称三维音频(3D audio)、双耳音频(binaural audio)、空间声(spatialized sound)等，它根据人耳对声音信号的感知特点，使用信号处理方法对到达两耳的声信号进行模拟，以重建复杂三维虚拟空间声场。简单来说，就是把耳朵以外的世界看作一个系统，那么任意一个声音源，在耳膜处接收到的信号后，三维声场重建就是把两个耳朵接收到的声音尽可能准确地模拟出来，让人产生听到三维音频的感觉。3D sound field, also known as three-dimensional audio (3D audio), binaural audio (binaural audio), spatialized sound (spatialized sound), etc., it uses signal processing methods to analyze the sound signals reaching both ears according to the characteristics of human ears' perception of sound signals. Simulations are performed to reconstruct complex 3D virtual space sound fields. To put it simply, it is to regard the world outside the ear as a system, then any sound source, after receiving the signal at the eardrum, the three-dimensional sound field reconstruction is to simulate the sound received by the two ears as accurately as possible, so that Humans create the sensation of hearing three-dimensional audio.
3D声场的基本原理是通过模拟空间某点声源在两耳产生的声场，使听者感觉虚拟声源从对应空间位置发出，也即感觉到声像位置，因此该技术又称为双尔声学技术。为了理解双耳声学技术，必须首先了解人耳定位的基本原理，空间某点声源传递到人的左右两耳，会形成时间差(ITD)和强度差(ILD)，并且声音在传递过程中会与人的躯干、肩膀、头部以及耳廓发生一系列的相互作用，使声音的音质改变，人耳就是根据到达两耳声音的时间、强度和音质的差别这些特征来确定声源的位置。The basic principle of the 3D sound field is to simulate the sound field generated by a sound source at a certain point in the space, so that the listener feels that the virtual sound source is emitted from the corresponding spatial position, that is, the sound image position, so this technology is also called dual acoustics technology. In order to understand binaural acoustics technology, one must first understand the basic principles of human ear positioning. A sound source at a certain point in space is transmitted to the left and right ears of a person, which will form a time difference (ITD) and an intensity difference (ILD), and the sound will be transmitted during the transmission process. A series of interactions with the human torso, shoulders, head, and auricles change the sound quality of the sound. The human ear determines the location of the sound source based on the characteristics of the time, intensity, and sound quality of the sound reaching the two ears.
3D声场技术具有结构简单、易于实现、重建听觉空间真实自然的优点，因此在多媒体、虚拟现实、人机交互、消费电子、心理声学等领域有着广泛的应用前景。3D sound field technology has the advantages of simple structure, easy implementation, and real and natural reconstruction of auditory space, so it has broad application prospects in multimedia, virtual reality, human-computer interaction, consumer electronics, psychoacoustics and other fields.
发明内容Contents of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种基于3D声场的侧后方盲点车辆识别防碰撞预警系统及方法。The object of the present invention is to provide a vehicle identification and anti-collision warning system and method based on a 3D sound field for side and rear blind spots in order to overcome the above-mentioned defects in the prior art.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种基于3D声场的侧后方盲点车辆识别防碰撞预警系统，该系统包括：A 3D sound field-based vehicle recognition and anti-collision warning system for side and rear blind spots, the system includes:
检测单元，用于获取车辆行驶状况，包括车辆行驶速度信息、变道信息，以获得车辆行驶状况；The detection unit is used to obtain the driving condition of the vehicle, including vehicle speed information and lane change information, so as to obtain the driving condition of the vehicle;
传感单元，用于获取车辆周边信息，包括周边车辆的相对位置信息以及相对速度信息，以获得周边车辆行驶状况；The sensing unit is used to obtain the surrounding information of the vehicle, including the relative position information and relative speed information of the surrounding vehicles, so as to obtain the driving conditions of the surrounding vehicles;
处理单元，用于实时接收车辆行驶速度信息、周边车辆的相对位置信息以及相对速度信息，并在接收到BSD警告场景信息时，综合收到的信息得出基于3D声场的BSD防碰撞警告提示结果。The processing unit is used to receive vehicle speed information, relative position information and relative speed information of surrounding vehicles in real time, and when receiving BSD warning scene information, synthesize the received information to obtain the BSD anti-collision warning prompt result based on 3D sound field .
进一步地，所述的3D声场通过在车内不同位置布置扬声器，根据人耳对声音信号的感知特性，使用信号处理的方法对到达两耳的声音信号进行模拟构建而成，用于利用3D声场中人耳定位声音源的特性，根据盲区车辆的位置将BSD防碰撞警告音的声像定位在相应位置，以实时提醒驾驶员侧后方盲区车辆方位。Further, the 3D sound field is constructed by arranging speakers at different positions in the car, and using signal processing methods to simulate the sound signals reaching both ears according to the perception characteristics of the sound signals by the human ear, so as to utilize the 3D sound field According to the characteristics of the human ear to locate the sound source, the sound image of the BSD anti-collision warning sound is positioned at the corresponding position according to the position of the vehicle in the blind spot, so as to remind the driver in real time of the direction of the vehicle in the blind spot on the side and rear.
进一步地，所述检测单元包括进气压力传感器、空气流量传感器和燃油流量传感器。Further, the detection unit includes an intake air pressure sensor, an air flow sensor and a fuel flow sensor.
进一步地，所述传感单元包括速度传感器和距离传感器。Further, the sensing unit includes a speed sensor and a distance sensor.
进一步地，所述处理单元包括车载电控单元ECU。Further, the processing unit includes a vehicle-mounted electronic control unit ECU.
本发明还提供一种基于所述的基于3D声场的侧后方盲点车辆识别防碰撞预警系统的防碰撞预警方法，该方法包括：BSD防碰撞预警系统通过所述检测单元和所述传感单元获取本车行驶状况和车辆周边信息后，利用所述处理单元根据获取的信息判断车辆侧后方是否存在盲区，当判断车辆侧后方存在盲区时结合所述3D声场播放警告音根据不同盲区位置对应的声像定位方案，使驾驶员通过对警告声像的定位来实时确定侧后方的盲区车辆位置情况，采取相应的驾驶行为以防止碰撞。The present invention also provides an anti-collision early warning method based on the 3D sound field-based side and rear blind spot vehicle recognition anti-collision early warning system, the method comprising: the BSD anti-collision early warning system acquires After the driving status of the vehicle and the surrounding information of the vehicle, use the processing unit to judge whether there is a blind spot on the side and rear of the vehicle according to the acquired information. The image positioning scheme enables the driver to determine the position of the vehicle in the blind spot on the side and rear in real time through the positioning of the warning sound and image, and take corresponding driving behaviors to prevent collisions.
进一步地，所述声像定位方案包括：Further, the sound image localization scheme includes:
当本车C柱左盲区有盲区车辆时，将BSD警示音的声像定位在车辆C柱左盲区处；When there is a blind spot vehicle in the left blind spot of the C-pillar of the vehicle, the sound image of the BSD warning sound is positioned at the left blind spot of the C-pillar of the vehicle;
当本车B柱左盲区有盲区车辆时，将BSD警示音的声像定位在车辆B柱左盲区处；When there is a blind spot vehicle in the left blind spot of the B-pillar of the vehicle, the sound image of the BSD warning sound is positioned at the left blind spot of the B-pillar of the vehicle;
当本车C柱右盲区有盲区车辆时，将BSD警示音的声像定位在车辆C柱右盲区处；When there is a blind spot vehicle in the right blind spot of the C-pillar of the vehicle, the sound image of the BSD warning sound is positioned at the right blind spot of the C-pillar of the vehicle;
当本车B柱右盲区有盲区车辆时，将BSD警示音的声像定位在车辆B柱右盲区处；When there is a blind spot vehicle in the right blind spot of the B-pillar of the vehicle, the sound image of the BSD warning sound is positioned at the right blind spot of the B-pillar of the vehicle;
当本车车尾有盲区车辆时，将BSD警示音的声像定位在车辆车尾盲区处。When there is a vehicle in the blind spot at the rear of the vehicle, the sound image of the BSD warning sound is positioned at the blind spot at the rear of the vehicle.
进一步地，该方法还包括当判断车辆侧后方不存在盲区时本车内无警示声效。Further, the method also includes that there is no warning sound effect in the vehicle when it is judged that there is no blind spot behind the vehicle.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
(1)本发明基于3D声场原理利用车内的扬声器播放BSD防碰撞警告音，使驾驶员通过对警告音的声像定位来实时确定侧后方的盲区车辆位置情况，减少驾驶员因视野盲区而对侧后方车辆定位的不确定性而造成的安全问题，提高驾驶安全性。(1) The present invention utilizes the loudspeaker in the car to play the BSD anti-collision warning sound based on the 3D sound field principle, so that the driver can determine the vehicle position in the blind area behind the side in real time through the sound image positioning of the warning sound, and reduce the driver's loss of vision due to the blind area The safety problem caused by the uncertainty of the positioning of the side and rear vehicles can be solved, and the driving safety can be improved.
(2)驾驶员在开车过程中心理和视觉认知与静态环境下有很大不同，其心理和视觉认知更加敏感和脆弱，在一些危险状况下，驾驶员来不及看车内视觉界面的显示，也会因为心理状态不稳定而产生一定程度的误操作和误差，本设计重点在于将3D声场的声像定位技术和BSD防碰撞警告提示相结合，缓解驾驶过程中的视觉压力，从而避免危险情况的发生。(2) The driver's psychological and visual cognition is very different from that in the static environment, and his psychological and visual cognition are more sensitive and fragile. In some dangerous situations, the driver has no time to see the display of the visual interface in the car , will also cause a certain degree of misoperation and error due to unstable mental state. The focus of this design is to combine the sound image positioning technology of the 3D sound field and the BSD anti-collision warning prompt to relieve the visual pressure during driving and avoid danger. the occurrence of the situation.
(3)现在已有的BSD系统大多利用后视镜亮起警告灯或发出固定警报音进行提示。然而这种提示方式可能会被驾驶员忽视，或因为所提供的信息量较小，不能很好地帮助驾驶员做出最优的判断。尤其是对于新手驾驶员，其操作不是很熟练，对周围车辆的距离把握也不精准。在本设计中，利用3D声场的声源定位特性帮助驾驶员确定盲区车辆实时位置信息，提高驾驶安全性。(3) Most of the existing BSD systems use the rearview mirror to turn on the warning light or send out a fixed alarm sound for prompting. However, this prompting method may be ignored by the driver, or because the amount of information provided is small, it cannot help the driver to make an optimal judgment. Especially for novice drivers, the operation is not very skilled, and the distance between the surrounding vehicles is not accurate. In this design, the sound source localization characteristics of the 3D sound field are used to help the driver determine the real-time location information of the vehicle in the blind spot, so as to improve driving safety.
附图说明Description of drawings
图1为本发明实施例声像定位原理图；Fig. 1 is a principle diagram of sound-image localization according to an embodiment of the present invention;
图2为本发明实施例流程示意图；Fig. 2 is a schematic flow chart of an embodiment of the present invention;
图3为本发明实施例汽车盲区及声像定位示意图；Fig. 3 is the schematic diagram of blind spot and sound image localization of the automobile according to the embodiment of the present invention;
图4为本发明实施例3D声场进行侧后方BSD防碰撞警告提示状态1参考图；Fig. 4 is a reference diagram of the BSD anti-collision warning prompt state 1 in the side and rear of the 3D sound field in the embodiment of the present invention;
图5为本发明实施例3D声场进行侧后方BSD防碰撞警告提示状态2参考图；Fig. 5 is a reference diagram of the BSD anti-collision warning prompt state 2 at the side and rear of the 3D sound field according to the embodiment of the present invention;
图6为本发明实施例3D声场进行侧后方BSD防碰撞警告提示状态3参考图；Fig. 6 is a reference diagram of the BSD anti-collision warning prompt state 3 on the side and rear of the 3D sound field according to the embodiment of the present invention;
图7为本发明实施例3D声场进行侧后方BSD防碰撞警告提示状态4参考图；Fig. 7 is a reference diagram of the BSD anti-collision warning prompt state 4 on the side and rear of the 3D sound field in the embodiment of the present invention;
图8为本发明实施例3D声场进行侧后方BSD防碰撞警告提示状态5参考图。Fig. 8 is a reference diagram of the BSD anti-collision warning prompt state 5 on the side and the rear of the 3D sound field according to the embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
本发明基于3D声场的侧后方盲点车辆识别防碰撞预警系统及方法，就系统部分，具体包括：The present invention is based on the 3D sound field side and rear blind spot vehicle recognition anti-collision warning system and method, and the system part specifically includes:
检测单元，用于获取车辆行驶状况，包括车辆行驶速度信息、变道信息，以获得车辆行驶状况；The detection unit is used to obtain the driving condition of the vehicle, including vehicle speed information and lane change information, so as to obtain the driving condition of the vehicle;
传感单元，用于获取车辆周边信息，包括周边车辆的相对位置信息以及相对速度信息，以获得周边车辆行驶状况；The sensing unit is used to obtain the surrounding information of the vehicle, including the relative position information and relative speed information of the surrounding vehicles, so as to obtain the driving conditions of the surrounding vehicles;
处理单元，实时接收车辆行驶速度信息、周边车辆的相对位置信息以及相对速度信息，并在接收到变道信息时，综合收到的信息计算出BSD防碰撞警告提示方案；The processing unit receives the vehicle speed information, the relative position information and the relative speed information of the surrounding vehicles in real time, and when receiving the lane change information, calculates the BSD anti-collision warning prompt scheme based on the received information;
3D声场，在车内不同位置布置扬声器，根据人耳对声音信号的感知特性，使用信号处理的方法对到达两耳的声音信号进行模拟，以构建3D声场。利用3D声场中人耳能够定位声像的特性，根据盲区车辆的位置将BSD防碰撞警告音声像定位在相应位置，从而达到实时提醒驾驶员侧后方盲区车辆方位的效果。3D sound field, speakers are arranged in different positions in the car, and according to the perception characteristics of the human ear to the sound signal, the sound signal reaching the two ears is simulated by the method of signal processing to construct a 3D sound field. Utilizing the characteristic that the human ear can locate the sound image in the 3D sound field, the BSD anti-collision warning sound image is positioned at the corresponding position according to the position of the vehicle in the blind spot, so as to achieve the effect of real-time reminding the driver of the direction of the vehicle in the blind spot behind the side.
就方法部分，具体包括：As far as the method part is concerned, it specifically includes:
实时获取车辆行驶状况、车辆周边信息，当收到BSD警告场景信息指令时，综合收到的信息计算出BSD防碰撞警示方案，再基于3D声场原理利用车内的扬声器播放警告音，使驾驶员通过对警告声像的定位来实时确定侧后方的盲区车辆位置情况，防止碰撞发生。Real-time acquisition of vehicle driving conditions and surrounding information of the vehicle. When receiving the BSD warning scene information command, the BSD anti-collision warning scheme is calculated based on the received information, and then based on the 3D sound field principle, the speaker in the car plays the warning sound, so that the driver Through the positioning of the warning sound and image, the position of the vehicle in the blind spot on the side and rear can be determined in real time to prevent collisions.
汽车存在被动盲区，3D声场的BSD警示音的声像位置与被动盲区对应，C柱左盲区声像位置9对应C柱左盲区8，B柱左盲区声像位置11对应B柱左盲区10，车尾盲区声像位置13对应车尾盲区12，C柱右盲区声像位置15对应C柱右盲区14，B柱右盲区声像位置17对应B柱右盲区16。There is a passive blind spot in the car, and the sound image position of the BSD warning sound in the 3D sound field corresponds to the passive blind spot. The sound image position 9 of the C-pillar left blind spot corresponds to the C-pillar left blind spot 8, and the sound-image position 11 of the B-pillar left blind spot corresponds to the B-pillar left blind spot 10. The audio image position 13 of the rear blind zone corresponds to the rear blind area 12, the audio image position 15 of the right blind area of the C-pillar corresponds to the right blind area 14 of the C-pillar, and the audio-image position 17 of the right blind area of the B-pillar corresponds to the right blind area 16 of the B-pillar.
在以上的原理基础和判断逻辑上，可以用声音的响度、频率等来表达侧后方目标车道的来车不同状态，例如盲区车辆移动速度越快，BSD防碰撞警示音响度越大，盲区车辆距离本车越近，BSD防碰撞警示音的频率越高。On the basis of the above principles and judgment logic, the loudness and frequency of the sound can be used to express the different states of the vehicles on the side and rear target lanes. For example, the faster the vehicle in the blind zone moves, the louder the sound of the BSD anti-collision warning, and the distance between the vehicles in the blind zone The closer the vehicle is, the higher the frequency of the BSD anti-collision warning sound.
实施例Example
如图1所示，BSD警告音4的虚声源通过直接信号3和大脑处理信号2传递到驾驶员左耳1和驾驶员右耳7，间接信号6经过汽车内壁5反射传递到驾驶员左耳1和驾驶员右耳7，驾驶员利用3D声场判断出BSD警告音4声像位置，从而确定盲区车辆的实时位置。As shown in Figure 1, the virtual sound source of the BSD warning sound 4 is transmitted to the driver's left ear 1 and the driver's right ear 7 through the direct signal 3 and the brain processing signal 2, and the indirect signal 6 is transmitted to the driver's left ear through the reflection of the inner wall 5 of the car. Ear 1 and the driver's right ear 7, the driver uses the 3D sound field to judge the sound image position of the BSD warning sound 4, thereby determining the real-time position of the vehicle in the blind spot.
如图2为本发明实施例方法流程示意图；Figure 2 is a schematic flow chart of the method of the embodiment of the present invention;
如图3所示，汽车存在被动盲区，3D声场的BSD警示音声像位置与被动盲区对应，C柱左盲区声像位置9对应C柱左盲区8，B柱左盲区声像位置11对应B柱左盲区10，车尾盲区声像位置13对应车尾盲区12，C柱右盲区声像位置15对应C柱右盲区14，B柱右盲区声像位置17对应B柱右盲区16。As shown in Figure 3, there is a passive blind zone in the car, and the BSD warning sound image position of the 3D sound field corresponds to the passive blind zone. The audio image position 9 in the left blind zone of the C-pillar corresponds to the left blind zone 8 of the C-pillar, and the audio-image position 11 in the left blind zone of the B-pillar corresponds to the B-pillar. The left blind spot 10, the rear blind spot 13 corresponds to the rear blind spot 12, the C-pillar right blind spot 15 corresponds to the C-pillar right blind spot 14, and the B-pillar right blind spot 17 corresponds to the B-pillar right blind spot 16.
结合图4所示，BSD防碰撞检测系统检测到车辆C柱左盲区8有盲区车辆，将警告音声像定位在C柱左盲区声像位置9，驾驶员判断出BSD警告音声源从C柱左盲区声像位置9传来，从而确定C柱左盲区8存在盲区车辆；As shown in Figure 4, the BSD anti-collision detection system detects that there is a blind spot in the left blind spot 8 of the C-pillar of the vehicle, and locates the sound image of the warning sound at the sound image position 9 of the left blind spot of the C-pillar. The sound and image position 9 in the blind spot is transmitted, so it is determined that there is a blind spot vehicle in the left blind spot 8 of the C-pillar;
结合图5所示，BSD防碰撞检测系统检测到车辆B柱左盲区10有盲区车辆，将警告音声像定位在B柱左盲区声像位置11，驾驶员判断出BSD警告音声源从B柱左盲区声像位置11传来，从而确定B柱左盲区10存在盲区车辆；As shown in Figure 5, the BSD anti-collision detection system detects that there is a blind spot in the left blind spot 10 of the B-pillar of the vehicle, and locates the sound and image of the warning sound at the sound-image position 11 of the left blind spot of the B-pillar. The sound and image position 11 in the blind spot is transmitted, so it is determined that there is a blind spot vehicle in the left blind spot 10 of the B-pillar;
结合图6所示，BSD防碰撞检测系统检测到车辆车尾盲区12有盲区车辆，将警告音声像定位在车尾盲区声像位置13，驾驶员判断出BSD警告音声源从车尾盲区声像位置13传来，从而确定车尾盲区12存在盲区车辆；As shown in Figure 6, the BSD anti-collision detection system detects that there is a blind spot vehicle in the rear blind spot 12 of the vehicle, and locates the sound and image of the warning sound at the sound and image position 13 of the blind spot at the rear of the vehicle. The position 13 is transmitted, thereby determining that there is a blind spot vehicle in the rear blind spot 12;
结合图7所示，BSD防碰撞检测系统检测到车辆C柱右盲区14有盲区车辆，将警告音声像定位在C柱右盲区声像位置15，驾驶员判断出BSD警告音声源从C柱右盲区声像位置15传来，从而确定C柱右盲区14存在盲区车辆；As shown in Figure 7, the BSD anti-collision detection system detects that there is a blind spot vehicle in the right blind spot 14 of the vehicle's C-pillar, and locates the sound and image of the warning sound at the sound-image position 15 of the right blind spot of the C-pillar. The sound and image position 15 of the blind spot is transmitted, thereby confirming that there is a blind spot vehicle in the right blind spot 14 of the C-pillar;
结合图8所示，BSD防碰撞检测系统检测到车辆B柱右盲区16有盲区车辆，将警告音声像定位在B柱右盲区声像位置17，驾驶员判断出BSD警告音声源从B柱右盲区声像位置17传来，从而确定B柱右盲区16存在盲区车辆；As shown in Figure 8, the BSD anti-collision detection system detects that there is a blind spot vehicle in the right blind spot 16 of the B-pillar of the vehicle, and locates the sound and image of the warning sound at the sound-image position 17 of the right blind spot of the B-pillar. The sound and image position 17 of the blind spot is transmitted, thereby confirming that there is a blind spot vehicle in the right blind spot 16 of the B-pillar;
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910854827.1ACN110626350A (en) | 2019-09-10 | 2019-09-10 | Vehicle recognition and anti-collision warning system and method for side and rear blind spots based on 3D sound field |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910854827.1ACN110626350A (en) | 2019-09-10 | 2019-09-10 | Vehicle recognition and anti-collision warning system and method for side and rear blind spots based on 3D sound field |
| Publication Number | Publication Date |
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| CN110626350Atrue CN110626350A (en) | 2019-12-31 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910854827.1APendingCN110626350A (en) | 2019-09-10 | 2019-09-10 | Vehicle recognition and anti-collision warning system and method for side and rear blind spots based on 3D sound field |
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| CN (1) | CN110626350A (en) |
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| CN119911290B (en)* | 2025-03-07 | 2025-10-17 | 鹰驾科技（深圳）有限公司 | BSD abnormality monitoring method based on integrated audible and visual alarm |
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20191231 |