116results about How to "Driving safety" patented technology

The invention provides a method and device for estimating a road adhesion coefficient, a vehicle and a storage medium. When the vehicle is in a driving state, the method fuses the dynamic pavement adhesion coefficient and the kinematic pavement adhesion coefficient, so that the characteristics of the driving pavement can be reflected from various different angles, and the error caused by estimating the pavement adhesion coefficient by a single factor is reduced. And further, fusing the first road adhesion coefficient, a fourth road adhesion coefficient estimated by the acceleration and a utilization adhesion coefficient of the wheel, and determining a target road adhesion coefficient of the driving road. Therefore, the method can comprehensively consider the road adhesion coefficients of different sources, and effectively associate and fuse the various road adhesion coefficients to obtain the road adhesion coefficient which can better reflect the overall adhesion characteristics of the driving road, so that the estimation precision of the road adhesion coefficient under different driving conditions is improved, and the estimation accuracy of the road adhesion coefficient under different driving conditions is improved. Accurate control over the movement process of the vehicle is achieved.

The invention discloses an automatic driving control method, device and equipment based on potential world model guidance and a storage medium, and relates to the technical field of automatic driving, and the automatic driving control method based on potential world model guidance comprises the steps: obtaining sensor data, vehicle image data and vehicle navigation information; performing data fusion based on the sensor data and the vehicle navigation information to obtain vehicle planning data; performing feature extraction based on the vehicle image data and a preset world model to obtain a current frame feature map and a target future frame feature map; and obtaining predicted trajectory data based on the vehicle planning data, the current frame feature map and the target future frame feature map, so that the vehicle completes automatic driving control according to the predicted trajectory data. According to the invention, the planning accuracy of the automatic driving vehicle in the dynamic traffic environment is improved, and the prediction capability of future environment change is enhanced, so that the safety of an automatic driving system is improved.

The invention is suitable for the technical field of vehicles, and provides a camera sharing method and device, a vehicle and a storage medium, and the method comprises the steps: detecting at least one vehicle whose distance to a current vehicle is within a preset range; wherein the at least one vehicle is a vehicle of which the camera networking sharing authority is started; if a target vehicle selection instruction is obtained, and the target vehicle selection instruction carries an identifier of a target vehicle, obtaining image data shot by a camera of the target vehicle according to the identifier of the target vehicle; wherein the target vehicle is a vehicle in the at least one vehicle; and controlling the current vehicle to display the image data of the target vehicle. The system can assist a driver in safe driving and parking.

The invention relates to the technical field of unmanned driving, automatic driving and unmanned vehicles, and discloses a speed control method and device of an unmanned vehicle and the unmanned vehicle. The method comprises the following steps: acquiring current position information of the unmanned vehicle, and acquiring a corresponding theoretical speed limit value according to the current position information; calculating an empirical speed value corresponding to the current position of the unmanned vehicle according to a predetermined empirical speed function; wherein the empirical speed function is determined based on driving data when the manned vehicle is driven to different positions; and generating a speed control strategy according to the theoretical speed limit value and the experience speed value, and controlling the driving speed of the unmanned vehicle based on the speed control strategy. According to the invention, by fusing static map speed limiting and driving experience data, more intelligent and efficient unmanned mine car speed control is realized.

The invention provides a construction method for a middle pier of an overpass bridge in a widening and traffic keeping state of an expressway. The construction method comprises the following steps: dividing a site; issuing traffic information; traffic layout; adjusting a marked line; performing protection installation; mechanically entering the field; breaking and removing a middle division belt; pile foundation construction; constructing a bearing platform; constructing a bent cap in a bracket erection process form; carrying out support edge protection construction; and erecting the prefabricated box girder. By means of the construction method, construction of the upper-span bridge middle piers can be orderly, effectively and rapidly conducted in the state that the two sides of the expressway are widened and traffic is guaranteed, the expressway quality and safety acceptance standards are met, the requirements for whole-line staged traffic guiding and changing nodes and efficient construction are met, the traffic pressure on the existing expressway is reduced, and traffic safety is guaranteed.

The invention discloses a mountain road agglomerate fog scene-oriented vehicle control method and system, and the method comprises the steps: obtaining the front obstacle information through sensing the obstacle condition of a road section in front of a vehicle based on the current visibility grade; acquiring waypoint information of a road section in front of the vehicle according to the current position of the vehicle; according to the front obstacle information, the waypoint information and the collected user response time, a preset agglomerate fog coping strategy matrix is adjusted, and a vehicle control strategy is generated; and adjusting a driving path of the vehicle in the agglomerate fog scene according to the vehicle control strategy. According to the driving habit of the user and the current driving environment, the vehicle control strategy coping with the agglomerate fog scene is generated, and the driving safety and the user experience in foggy days are improved.

The invention relates to the related technical field of brake detection, in particular to a brake chassis and brake system synchronous detection device and method, and the device comprises a bearing platform, a hydraulic lifting platform, a bearing base, a butt joint module, a transition module, a detection module and a display module. The roller is in contact with a tire, movement of the tire is transmitted to the transition module, and synchronism detection is performed by the balance pushing assembly and the working assembly in the detection module. When left and right tires brake asynchronously, the balance plate rotates in an unbalanced manner, the hydraulic assembly is triggered, and the brake time difference of the left and right tires is visually displayed through the pressure instrument, so that problems are found and brake synchronism is ensured. The whole structure is ingenious, synchronism detection is achieved, the defect that in the prior art, braking asynchronization cannot be recognized is effectively overcome, and powerful support is provided for guaranteeing driving safety, improving braking efficiency and prolonging the service life of tires.

The invention provides a multifunctional safety protection type electric connector, a battery pack and electric equipment, and relates to the technical field of sockets, the multifunctional safety protection type electric connector comprises a female end module, a male end module, a Hall chip and a magnetic induction switch; the female end module is used for being matched with the male end module in an electric plugging manner, and the female end module is used for being mounted on the battery pack body; the Hall chip is installed on the female end module, the magnetic induction switch is installed on the male end module, and the Hall chip is used for conducting the female end module and the battery pack body in a delayed mode when the magnetic induction switch is activated. By using the connector, the electric arc and sparking phenomena can be pre-discharged, the short circuit condition can be protected, the damage probability of electric devices such as a vehicle lamp and a brake is reduced, and the operation stability is improved.

The invention discloses a dune buggy storage battery heat dissipation mounting box and a dune buggy, and relates to the technical field of dune bugs.The dune buggy storage battery heat dissipation mounting box comprises a buggy body, a seat frame is arranged on the outer surface of the back side of the buggy body, a seat cushion is arranged on the outer surface of the upper end of the seat frame, and a lifting handle is arranged at the front end of the seat cushion; a movable rotating shaft is arranged between the saddle cushion and the saddle frame, a battery containing bin is arranged on the inner side of the saddle frame, a battery mounting box is arranged in the battery containing bin, and a battery body is arranged in the battery mounting box. According to the dune buggy storage battery heat dissipation mounting box and the dune buggy, the vehicle storage battery can be mounted through the arranged vehicle seat frame, the battery containing bin is located at the bottom of the vehicle seat, and the battery mounting box arranged in the battery containing bin can be used for mounting the battery; and the battery can realize an effective heat dissipation effect through a plurality of groups of heat dissipation assemblies arranged on the outer side of the battery mounting box, so that the stability and the safety of the operation of the battery in a high-temperature environment are guaranteed.

A mine dump truck wet disc brake hydraulic system, including main control valve, one end of main control valve is connected pressure oil source, the other end is connected front brake system and middle and rear brake system, front brake system includes brake pedal, front axle proportional control valve group, front axle brake valve group and front brake cylinder, middle and rear brake system includes brake pedal, slow running valve, middle and rear axle brake valve, rear axle proportional valve group, relay valve group, rear axle brake cylinder and middle axle brake cylinder, the utility model discloses a mine dump truck wet disc brake hydraulic system can realize manual operation brake and line control remote brake function, reaches unmanned operation's requirement, is used for unmanned vehicle or auxiliary driving, and in order to adapt to the distance of middle and rear axle of three axle vehicle and the distance of main brake valve group is longer, two relay valve groups are added, brake corresponding speed is improved, faster brake response is realized, makes travel more safe.

This invention discloses a method and apparatus for determining the power limit value of a power battery. The method includes: acquiring target operating condition data of the vehicle; determining a first power limit ratio value of the power battery in a pulse temperature rise table based on a first temperature value and the target temperature value of the power battery; determining a second power limit ratio value of the power battery based on the vehicle's power performance target data and target evaluation data; determining the minimum value between the first and second power limit ratio values ​​as the target power limit ratio value of the power battery; and determining the power limit value of the power battery based on the target power limit ratio value and the allowable power value of the power battery. This invention solves the technical problems that high-temperature power limit protection methods for batteries cannot cover operating conditions with fast vehicle speed response, and cannot simultaneously consider the safety of battery and vehicle use, vehicle power performance, and user experience.

The utility model discloses a vehicle tire burst training device and a training vehicle, belongs to the technical field of vehicle simulation tools, and aims to solve the problems of high cost and the like due to the fact that tires need to be punctured in existing tire burst training. The utility model discloses a vehicle tire burst training device. The device comprises a tire assembly; when the exhaust assembly is in the opening state, air in the tire assembly can be exhausted until the air pressure in the tire assembly reaches the tire pressure value after tire burst; when the air supplementing assembly is in the opening state, air can be inflated into the tire assembly until the air pressure in the tire assembly reaches a set tire pressure value; and a control device. According to the vehicle tire burst training device and the training vehicle disclosed by the utility model, air in the tire assembly can be quickly exhausted through the exhaust assembly, and the condition that the tire is quickly shrunken after tire burst is simulated; the tire assembly is rapidly inflated to the working air pressure through the air supply assembly, the next tire burst simulation exercise can be started, and the training efficiency is high; tire damage is not needed, and the exercise cost is reduced.

The invention discloses automobile sunscreen glass and a manufacturing process thereof, and relates to the technical field of sunscreen glass, the automobile sunscreen glass comprises a first glass substrate and a second glass substrate, a plurality of functional film layers are arranged between the first glass substrate and the second glass substrate according to a certain specification in any sequence, the multi-layer functional film layer comprises a heat insulation heating layer, a photoelectric conversion layer, an electrochromic layer and a thermoplastic film layer, the photoelectric conversion layer is a flexible thin film photovoltaic module, it is ensured that the photoelectric conversion layer is attached to the curved surface of the glass, performance loss and product damage caused by mismatching of a battery piece and the molded surface of the glass are effectively reduced, and the service life of the battery piece is prolonged. The heat insulation heating layer can quickly melt accumulated snow on the roof through a heating function, and driving safety is guaranteed. The electrochromism layer can realize continuous and uniform dimming under the action of an external electric field, can intelligently sense external illumination and temperature conditions, and can automatically adjust the light transmittance; and finally, multiple functions such as intelligent dimming, sound insulation and heat insulation, ultraviolet filtering and melting of accumulated snow on the automobile roof are achieved, and the comfortable experience feeling of automobile riding is improved.

The utility model provides a tunnel lighting system, relates to the technical field of tunnel lighting, and solves the problems that when a user enters a tunnel, due to the length of the tunnel, light cannot be conveniently turned on only by controlling a passing area in the entering process, so that only lighting equipment can be turned on, and power consumption is too high. A lighting device is arranged at the top of the inner wall of the tunnel, a bulb is arranged at the bottom of the lighting device, an infrared sensor is arranged on one side of the inner wall of the tunnel, a transmission cable is arranged on one side of the infrared sensor, the infrared sensor is connected with the lighting device through the transmission cable, and the lighting device is connected with a cleaning assembly. The cleaning assembly swings along the shaft and swings in a manner of being attached to the surface of the bulb. Through the infrared sensor arranged in the device, passing of vehicles and people can be received and distinguished, so that the lighting device in the passing current area is controlled to be turned on and turned off.

The invention discloses a screen interaction method convenient for a driver to concentrate on driving, which comprises the following steps: detecting when a central control touch screen detects an external touch operation, and expanding a first-level selection menu in a preset area when detecting that a first trigger condition is met; detecting after the first-level selection menu is unfolded, and replacing the first-level selection menu with a corresponding second-level selection menu at the first-level selection menu according to a detected selection option when a second triggering condition is detected to be met within first preset time; otherwise, closing the first-level selection menu; detecting after the second-level selection menu is unfolded, and executing a corresponding function in the second-level selection menu according to a detected selection option when a second triggering condition is detected to be met within first preset time; otherwise, closing the secondary selection menu. According to the invention, the main driver and the copilot can complete common functions with the same efficiency on the premise of reducing visual occupancy; the time for sight to leave the road during operation can be shortened, and driving is safer.

The invention provides an unmanned driving perception optimization method and device for a well mine. The method comprises the following steps: acquiring effective point cloud data, effective image data and effective ultrasonic data of an environment in the well mine in real time; performing fusion processing on the effective point cloud data, the effective image data and the effective ultrasonic data to obtain fusion data; inputting the fusion data into a perception model, and performing environment perception analysis on the fusion data by using the perception model to obtain an environment perception result; making a decision according to the environment sensing result and a preset decision rule, and generating a driving decision and a corresponding control signal, the driving decision being a decision scheme for driving the unmanned vehicle in the well mine; and controlling the unmanned vehicle to run according to the control signal and the driving decision. According to the method, the problem that the unmanned vehicle cannot accurately sense the surrounding environment in real time to make a correct driving decision due to the uncertainty and limitation of a single sensor in the prior art is solved.

The invention discloses an electric sun shield which comprises an electric driving assembly. The electric driving assembly comprises a support fixedly installed in the sun shield body, a gear motor is fixedly installed on the support, an output shaft of the gear motor is connected with a clutch, a movable gear is installed on a main shaft of the clutch, the main shaft of the clutch is rotationally connected with the support, and an angle sensor is installed between the main shaft of the clutch and the support. The rotating shaft penetrates through the support and is fixedly provided with a static gear meshed with the movable gear. A Hall switch is fixedly installed at the position, close to the pin shaft, in the sun shield body, and a magnet is fixedly installed on the hook. A control main board is fixedly installed in the sun shield body, the control main board is connected with the microphone, the Hall element, the gear motor, the angle sensor and the gear motor through internal circuits, and the control main board is connected with the physical keys through an external circuit penetrating through the rotating shaft. The electric sun shield has the advantages of being capable of improving driving safety performance, simple and stable in structure and convenient to use.

The invention relates to the field of path planning, in particular to a cross-floor memory path reconstruction method, device and equipment and a vehicle. According to the embodiment of the invention, the original path points are firstly densified, so that the path is finer, the actual road condition can be better reflected, and the inaccuracy caused by the sparse path is avoided. And secondly, the point cloud sets are matched and divided in combination with the lane line point cloud data, so that the lane line information of the vehicle at different positions can be more accurately determined, a more accurate data basis is provided for path reconstruction, and meanwhile, deviation caused by sensor errors or obstacle avoidance and the like can be corrected. And finally, path reconstruction is performed based on lane line segmentation, and a non-optimal part in an original memory path can be removed, so that the driving path quality and the parking effect during actual parking are improved, and the problems of poor experience, low efficiency, parking failure and the like caused by the non-optimal memory path are avoided.

The embodiment of the invention discloses an unmanned transport vehicle positioning method and system based on gravity energy storage and a medium, and the method comprises the steps: determining that an unmanned transport vehicle travels to a material taking region at a high speed, and driving the unmanned transport vehicle to advance at a low speed; according to the comparison relation between the first front-back distance measurement value and a first preset characteristic distance, it is determined that the unmanned transport vehicle runs to a first hoisting area at a low speed, primary position calibration and gravity block assembling are conducted, and the unmanned transport vehicle is driven to advance to a slope area at a high speed; according to the position of the vehicle relative to the slope area, it is determined that the vehicle is conveyed upwards along the slope and continues to run to the discharging area, and the vehicle is driven to advance at low speed; according to the comparison relation between the second front-back distance measurement value and a second preset characteristic distance, it is determined that the unmanned transport vehicle runs to a second hoisting area at a low speed, secondary position calibration and gravity block separation are conducted, and the unmanned transport vehicle is driven to reach an upper storage yard waiting area and is parked; the relative positions of the unmanned transport vehicle and the first hoisting area and the second hoisting area can be accurately judged, and accurate parking positioning can be achieved.

The utility model discloses a novel steel mill vehicle chassis structure and an unmanned steel coil transport vehicle, and the novel steel mill vehicle chassis structure comprises a chassis frame, a rotating device, a first axle, a second axle, a third axle and a saddle, a saddle is arranged on the upper side of the chassis frame, and a first axle, a second axle, a third axle and a third axle are sequentially arranged on the lower side; the first axle is connected with the chassis frame through a rotating device; the saddle is used for fixing steel; the rotation driving device rotates to drive the first axle to steer. Compared with the traditional steering control, the novel chassis structure of the steel plant vehicle, disclosed by the utility model, is more accurate and simpler; and the device is suitable for the steel mill vehicle with the carrying capacity of 120 tons.

The utility model discloses a novel disc-type steering mechanism of a three-wheel passenger car, which belongs to the technical field related to vehicle accessories and comprises a frame, a front fork, a steering gear box, a steering connecting rod, a steering rocker arm, a steering column, a steering disc, a front fork vertical pipe, a steering gear box support, a steering column support, a ball head, a front wheel connecting bolt, a hexagon bolt and a steering column. The rear disc type steering mechanism is compact in structure and reasonable in arrangement, the overall arrangement space is reduced, the driving space of a driver is increased, and the driving comfort and pleasure are further improved; all the parts are arranged in the cab, the sealing performance of the whole vehicle is improved, the installation efficiency of the whole vehicle is improved, and the device is suitable for being further popularized and used in large and small vehicle factories.

The utility model discloses a novel double-rotation single-axle steel mill vehicle chassis structure and an unmanned steel mill vehicle, the double-rotation single-axle steel mill vehicle chassis structure comprises a chassis frame, a rotation device, an axle and a saddle; a saddle is arranged on the upper side of the chassis frame, and two rotating devices are distributed on the lower side of the chassis frame. Axles are arranged at the bottom of the slewing device; the saddle is used for fixing steel; the driving rotation device can drive the axle to steer. According to the novel double-rotation single-bridge steel mill vehicle chassis structure disclosed by the utility model, a steel mill vehicle can safely run and flexibly turn on a narrow road with a smaller turning radius; and the device can be suitable for steel mill carrying scenes with low carrying capacity requirements.

The application discloses an interconnected automatic driving decision-making method based on cooperative perception and adaptive information fusion, and mainly solves the problem that the existing automatic driving decision-making is less applicable under the condition of complex road structure and traffic light information. The method considers a multi-lane traffic environment under a world coordinate system, wherein a mixed traffic flow composed of interconnected automatic driving vehicles and human-driven vehicles is formed. Each CAV can obtain surrounding multi-modal environment features (such as lane information, HDV vehicle information and red-green traffic light information) through a vehicle-mounted sensor and an offline high-precision map. With the help of vehicle-to-vehicle communication, the CAVs can share their information and make decisions within a specified time step t. The goal of the method is to generate speed decisions and steering angle decisions for the CAVs. With such action decisions, the automatic driving vehicles can safely and effectively travel along a specific route, while maximizing the comfort of passengers and minimizing the impact on surrounding HDVs.

According to the technical scheme, the self-propelled large vehicle ferrying device comprises a main gangplank and an auxiliary gangplank, a support is welded to one end of the auxiliary gangplank, and a limiting oil cylinder hinged to the main gangplank is hinged to one side of the support; a front hydraulic rotary ladder stand and a rear hydraulic rotary ladder stand are hinged to the side, away from the auxiliary springboard, of the main springboard and the side, away from the main springboard, of the auxiliary springboard correspondingly, the front hydraulic rotary ladder stand and the rear hydraulic rotary ladder stand are provided with a first telescopic oil cylinder and a second telescopic oil cylinder correspondingly, and a hydraulic power pump used for providing power is welded to the bottom of the main springboard. And a plurality of self-propelled hydraulic axis axles are arranged at the bottoms of the main springboard and the auxiliary springboard. The movable steel structure bridge has the advantages that the movable steel structure bridge is carried between the wharf downhill and the steam ferry deck, the problem that a large included angle is formed between the steam ferry gangplank and the wharf downhill is solved, and super-long large vehicles can safely run on the steam ferry.

A smart mirror control method installed in a smart mirror control device of a vehicle according to an embodiment of the present invention may include: performing a startup step in accordance with application of power; recognizing a user gesture in a state in which the touch display screen is always closed; activating the closed touch display picture according to the recognized user gesture, outputting a user interface picture for controlling the intelligent rearview mirror, and waiting for a user to input voice; performing machine learning on a user voice signal input through a microphone to perform user authentication and recognize a voice command for controlling the smart rearview mirror; and when the user authentication is successful, configuring a view screen on the basis of the recognized voice command and displaying the view screen on the smart mirror, the user authentication including: speaker-independent authentication for performing authentication only with a specific speaker registered in advance as a target; and speaker-dependent authentication in which authentication is performed for all speakers registered in the database.

The utility model relates to an automobile rearview mirror integrating multiple early warning functions, which comprises a mirror ring, a lens and a warning component, the warning component comprises an outer light-transmitting strip arranged at an annular groove at the edge of the front wall of the mirror ring, an inner light-transmitting strip, a light guide and a substrate are sequentially mounted on the rear side of the mirror ring, and a light source and a controller are mounted on a circuit board fixed on the substrate. Light is displayed outwards through the light guide, the inner light-transmitting strip and the outer light-transmitting strip, the light source emits light of different colors according to different detection signals received by the circuit board, and blind area monitoring early warning and non-motor vehicle blind area early warning during parking are displayed respectively. According to the automobile rearview mirror, the double warning functions of non-motor vehicle collision early warning and blind area monitoring early warning are achieved at the mirror ring, and when a person in an automobile opens a door in the parking state of the automobile, two-way warning can be conducted on the person in the automobile and a non-motor vehicle driver outside the automobile; in the driving process of the vehicle, the prompt range of blind area monitoring early warning signals is larger, and the signals are more eye-catching.

The invention discloses a system and method for automatically adjusting the damping of a steering wheel, and the system comprises a steering wheel grip strength detection module which is used for detecting the magnitude of the pressure of a driver holding the steering wheel; the automobile electronic controller unit is used for analyzing the detection result to obtain an operation intention of a driver and obtaining a steering wheel damping adjustment strategy according to the operation intention; the steering system is used for controlling a steering wheel to steer according to the steering wheel damping adjusting strategy and adjusting the damping of the steering wheel. According to the system and method for automatically adjusting the damping of the steering wheel, the pressure generated by holding the steering wheel by a driver is received through the steering wheel grip strength detection module, and the force exerting condition of rotating the steering wheel in the current driving scene is judged; the damping of the steering wheel is adjusted according to the collected pressure value, and a user is helped to rotate the steering wheel more easily; the damping of the steering wheel can be adaptively adjusted according to the current steering wheel holding force of each driver, and the drivers are helped to drive an automobile more easily and safely.

The invention provides a system for reducing errors of a magnetic suspension track by using a mechanical cradle head for preventing shake, and belongs to the technical field of mechanical cradle head shake prevention and the technical field of magnetic suspension track traffic. The motion state of the small rail car is detected through the mechanical holder anti-shake inertial sensor, information is transmitted to the control circuit and the motor, the control circuit controls the rotating speed and the direction of the motor according to signals of the inertial sensor, and the motor controls the small rail car according to the signals of the inertial sensor. Therefore, the shaking of the rail trolley during operation caused by errors generated during rail welding is reduced through the mechanical anti-shaking pan-tilt. By adding the mechanical anti-shake pan-tilt, the current magnetic suspension technical problem that the rail trolley shakes during operation due to the fact that ideal errors are difficult to achieve in the rail welding process is solved, and the stability and controllability of a magnetic suspension rail traffic system are improved.

The utility model relates to the technical field of deceleration ridges, and provides an anti-deformation municipal deceleration ridge which comprises a pre-buried shell, four limiting holes are formed in the top of the pre-buried shell, limiting rods are movably embedded in the limiting holes, the tops of the limiting rods are fixedly connected with a lifting plate, and the top of the lifting plate is fixedly connected with a motor. The device comprises a pre-buried shell, two air cylinders are arranged on each of the two sides of the interior of the pre-buried shell, output shafts of the air cylinders are provided with pressure-bearing jacking blocks in a linkage mode, a first pressure-bearing rod is rotationally connected to the interior of the pre-buried shell, the outer surface of the first pressure-bearing rod is fixedly sleeved with a first sleeve, and the top of the first sleeve is arranged at the bottom of the pressure-bearing jacking blocks; the bottom of each lifting plate is fixedly connected with two bearing plates. The device is provided with the speed reduction ridge automatic lifting structure, so that the device can adjust the height of the speed reduction ridge according to the running speed of a vehicle, the vehicle cannot jolt when running at a low speed, a speed reduction prompt can be given when running at a high speed, and the vehicle can run more safely.