CN109460025A - The control device and system of vehicle - Google Patents
The control device and system of vehicle Download PDFInfo
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- CN109460025A CN109460025A CN201811365828.1A CN201811365828A CN109460025A CN 109460025 A CN109460025 A CN 109460025A CN 201811365828 A CN201811365828 A CN 201811365828A CN 109460025 A CN109460025 A CN 109460025A
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- 230000004888 barrier function Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention proposes the control device and system of a kind of vehicle, the control device includes: the first ultrasonic radar component, first ultrasonic radar components distribution is on vehicle running path, for sending track of vehicle identification code, the corresponding coordinate information including vehicle of track of vehicle identification code；Second ultrasonic radar component, the second ultrasonic radar component are arranged around vehicle body, for receiving track of vehicle identification code, and transmit vehicle track identification code；Controller, controller are connected with the second ultrasonic radar component, for obtaining the coordinate information of vehicle according to track of vehicle identification code, and are positioned according to coordinate information to vehicle, and be adjusted according to driving posture of the positioning result to vehicle.The present invention can be accurately positioned in real time vehicle, be adjusted accordingly to the driving posture of vehicle, to realize safe and reliable unmanned and required at low cost, strong applicability.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to the control device and system of a kind of vehicle.
Background technique
The country of continuous appearance with to(for) automatic Pilot policy, domestic automatic Pilot technology is also in high speed development.Currently
Automatic driving vehicle generally use high-precision differential GPS (Global Positioning System, global positioning system)+
The scheme of inertial navigation IMU (Inertial measurement unit, Inertial Measurement Unit)+ground base station is positioned, and phase is passed through
Machine+laser radar+millimetre-wave radar detection barrier form carries out automatic Pilot exploitation.
However, these components used above is at high price, and has not yet been reached vehicle rule grade, it is not suitable at present large quantities of
Amount application, i.e., applicability is not high.In addition, above-mentioned automatic Pilot technology is in vehicle location, on the weaker ground of some GPS signals
Side's (such as there are the place blocked in tunnel, overpass, underground parking), positioning accuracy is not accurate enough, and reliability is not high.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, the device can carry out vehicle an object of the present invention is to provide a kind of control device of vehicle
Be accurately positioned, the driving posture of vehicle be adjusted in real time accordingly, thus realize it is safe and reliable unmanned, and it is required at
This low, strong applicability.
Second object of the present invention is to propose a kind of control system of vehicle.
To achieve the goals above, the embodiment of first aspect present invention discloses a kind of control device of vehicle, comprising:
First ultrasonic radar component, the first ultrasonic radar components distribution is on vehicle running path, for sending vehicle rail
Mark identification code, the corresponding coordinate information including vehicle of the track of vehicle identification code；Second ultrasonic radar component, described second
Ultrasonic radar component is arranged around vehicle body, for receiving the track of vehicle identification code, and transmits the track of vehicle and knows
Other code；Controller, the controller are connected with the second ultrasonic radar component, for according to the track of vehicle identification code
The coordinate information of the vehicle is obtained, and the vehicle is positioned according to the coordinate information, and according to positioning result pair
The driving posture of the vehicle is adjusted.
The control device of vehicle according to an embodiment of the present invention passes through the first ultrasonic wave thunder on setting vehicle running path
The track of vehicle identification code with vehicle coordinate information is sent up to component, when the second ultrasonic radar component being arranged on vehicle
After recognizing the track of vehicle identification code, track of vehicle identification code is transmitted to controller, controller obtains the seat of vehicle accordingly
Mark information, and vehicle be accurately positioned in real time according to coordinate information, and according to positioning result to the driving posture of vehicle into
Row adapts to adjustment, to realize securely and reliably unmanned, and realizes vehicle location by ultrasonic radar component, therefore
It is required at low cost, it is conducive to universal use, i.e. strong applicability.
In addition, the control device of vehicle according to the above embodiment of the present invention can also have following additional technology special
Sign:
In some instances, the second ultrasonic radar component is also used to detect the barrier around vehicle body, is hindered
Hinder object information, and the obstacle information is transmitted to the controller；The controller is also used to be believed according to the barrier
Breath is adjusted the driving posture of vehicle.
In some instances, the controller is also used to be generated according to the history location information of the positioning result and vehicle
The driving trace of the vehicle, and the driving trace of the vehicle is transmitted to monitoring module；The control device of the vehicle is also
It include: the monitoring module, for being monitored to the driving trace.
In some instances, further includes: memory module is stored with map in the memory module；The controller is used for
According to the coordinate information, the position of the vehicle is determined, from the map to position to the vehicle.
In some instances, the first ultrasonic radar component includes multiple ultrasonic radars, two neighboring described super
The distance between sound radar is less than the first pre-determined distance.
In some instances, first pre-determined distance is determined by the length of wagon of the vehicle.
In some instances, the second ultrasonic radar component includes that multiple length are super away from ultrasonic radar and multiple short distances
Sound radar, the multiple short distance ultrasonic radar are arranged at left and right sides of vehicle body, and the multiple length is arranged away from ultrasonic radar
In vehicle body rear and front end.
In some instances, the quantity that the short distance ultrasonic radar on the right side of vehicle body is arranged in is greater than setting on a vehicle body left side
The quantity of the short distance ultrasonic radar of side.
In some instances, the distance between the two neighboring short distance ultrasonic wave thunder on the right side of vehicle body is set less than
Two pre-determined distances.
To achieve the goals above, the embodiment of second aspect of the present invention discloses a kind of control system of vehicle, comprising:
Vehicle；And the control device of vehicle described in the above-mentioned first aspect embodiment of the present invention.
The control system of vehicle according to an embodiment of the present invention passes through the first ultrasonic wave thunder on setting vehicle running path
The track of vehicle identification code with vehicle coordinate information is sent up to component, when the second ultrasonic radar component being arranged on vehicle
After recognizing the track of vehicle identification code, track of vehicle identification code is transmitted to controller, controller obtains the seat of vehicle accordingly
Mark information, and vehicle be accurately positioned in real time according to coordinate information, and according to positioning result to the driving posture of vehicle into
Row adapts to adjustment, to realize securely and reliably unmanned, and realizes vehicle location by ultrasonic radar component, therefore
It is required at low cost, it is conducive to universal use, i.e. strong applicability.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural block diagram of the control device of vehicle according to an embodiment of the invention；
Fig. 2 is the structural block diagram of the control device of vehicle in accordance with another embodiment of the present invention；
Fig. 3 is the set-up mode schematic diagram of the second ultrasonic radar component accord to a specific embodiment of that present invention；
Fig. 4 is the set-up mode schematic diagram of the first ultrasonic radar component accord to a specific embodiment of that present invention；
Fig. 5 is between the ultrasonic radar in the first ultrasonic radar component accord to a specific embodiment of that present invention is arranged
Away from schematic diagram；
Fig. 6 is the execution flow diagram of the control device of vehicle according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The control device and system of vehicle according to an embodiment of the present invention are described below in conjunction with attached drawing.
Fig. 1 is the structural block diagram of the control device of vehicle according to an embodiment of the invention.As shown in Figure 1, the vehicle
Control device 100 include: the first ultrasonic radar component 110, the second ultrasonic radar component 120 and controller 130.
Specifically, the first ultrasonic radar component 110 is distributed on vehicle running path, for sending track of vehicle identification
Code, the corresponding coordinate information including vehicle of track of vehicle identification code, i.e., correspondence includes that vehicle is current in track of vehicle identification code
Abscissa and ordinate, the accuracy of transverse and longitudinal coordinate can reach Centimeter Level.
In some instances, such as shown in Fig. 4, the first ultrasonic radar component 110 includes multiple ultrasonic radars 111,
Multiple ultrasonic radars 111 are distributed on vehicle running path, are specifically for example arranged on the guardrail of path two sides.Further
Ground, the distance between two neighboring ultrasonic radar 111 is less than the first pre-determined distance, to reasonably arrange multiple ultrasonic wave thunders
Up to 111, the signal cover of multiple ultrasonic radars 111 is maximized, that is, optimizes the first ultrasonic radar component 110
Signal transmission ranges, as far as possible covering vehicle running path.
In an embodiment of the present invention, the arrangement of multiple ultrasonic radar components 111 is related with the size of driving vehicle, i.e.,
First pre-determined distance is determined by the length of wagon of vehicle.Such as shown in Fig. 5, the first pre-determined distance is, for example, length of wagon plus pre-
If the sum of value, preset value is, for example, but is not limited to 0.8 meter, that is, in this example, the first pre-determined distance=length of wagon+0.8
Rice.
Second ultrasonic radar component 120 is arranged around vehicle body, for receiving track of vehicle identification code, and transmits vehicle
Track identification code.
Specifically, as shown in figure 3, the second ultrasonic radar component 120 includes multiple length away from ultrasonic radar 121 and multiple
Short distance ultrasonic radar 122, multiple short distance ultrasonic radars 122 are arranged at left and right sides of vehicle body, and multiple length are away from ultrasonic radar
121 are arranged in vehicle body rear and front end.
Further, the quantity that the short distance ultrasonic radar 122 on the right side of vehicle body is arranged in, which is greater than, to be arranged on the left of vehicle body
The quantity of short distance ultrasonic radar 122, to improve the detection range on the right side of vehicle body.
Further, the distance being arranged between the two neighboring short distance ultrasonic wave thunder 122 on the right side of vehicle body is pre- less than second
If distance.In specific example, the second pre-determined distance is, for example, 0.5 meter.Specifically, the positioning accuracy and vehicle body of control device
The short distance ultrasonic wave thunder 122 on right side arranges that spacing is directly proportional, thus on the right side of vehicle body the arrangement spacing of short distance ultrasonic wave thunder 122 answer it is small
In the second pre-determined distance, such as 0.5m.In the example depicted in fig. 3,12 short distance ultrasonic radars 122 are arranged on the right side of vehicle body to use
It positions, 6 short distance ultrasonic radars 122 is arranged on the left of vehicle body, right ahead and dead astern are respectively arranged 2 long away from ultrasound
Wave radar 121.
Specifically, perceived distance away from ultrasonic radar 121 and short distance ultrasonic radar 122 and level detection distance are grown
Specific example is as shown in table 1.
| Type | Perceived distance | Level detection distance |
| Length is away from ultrasonic radar 121 | 5m | 0.5m |
| Short distance ultrasonic radar 122 | 2m | 0.8m |
Table 1
Controller 130 is connected with the second ultrasonic radar component 120, for obtaining vehicle according to track of vehicle identification code
Coordinate information, and vehicle is positioned according to coordinate information, and is adjusted according to driving posture of the positioning result to vehicle.
In one embodiment of the invention, the control device of the vehicle further includes memory module (not shown).It deposits
High-precision map is stored in storage module.Based on this, controller 130 is used to determine vehicle from map according to coordinate information
Position, to be positioned to vehicle.In other words, controller 130 obtains the coordinate information (i.e. abscissa and ordinate) of vehicle
Afterwards, in conjunction with the map in coordinate information and memory module, the current location of vehicle is determined, to realize to the accurate fixed of vehicle
Position, in turn, is adjusted according to driving posture of the positioning result to vehicle, such as travel route, the driving direction of adjustment vehicle
Deng.
In one embodiment of the invention, the second ultrasonic radar component 120 is also used to detect the obstacle around vehicle body
Object obtains obstacle information, and obstacle information is transmitted to controller 130；Controller 130 is also used to according to obstacle information
The driving posture of vehicle is adjusted.In other words, around by 120 real-time detection vehicle body of the second ultrasonic radar component
Barrier, such as people, animal, obtain obstacle information, such as generate a barrier list, in turn, controller 130 is according to obstacle
Object list is adjusted the driving posture of vehicle, such as changes driving direction, parking evacuation, to improve travel safety.
On the other hand, the information of vehicle distances lane boundary, and then controller also be can detecte by the second ultrasonic radar component 120
130 are accordingly adjusted the driving posture of vehicle, such as change lane, keep lane, to improve travel safety.
In one embodiment of the invention, controller 130 is also used to be positioned according to the history of positioning result and vehicle and believe
Breath generates the driving trace of vehicle, and the driving trace of vehicle is transmitted to monitoring module 140.As shown in Fig. 2, the control of vehicle
Device 100 further includes monitoring module 140.The driving trace used for vehicles of monitoring module 140 is monitored.Specifically, it controls
Device 130 is after every time positioning vehicle, and record location is as a result, to generate history location information, in turn, according to current
Positioning result and history location information produce the driving trace of vehicle, and driving trace is transmitted to monitoring module 130 and is carried out
Monitoring learns the real time running of vehicle conducive to background work personnel to realize to the real time monitoring of vehicle driving trace in time
State.
The control device 100 of the vehicle of embodiment to facilitate the understanding of the present invention describes the control device below in conjunction with Fig. 6
100 specific execution process.
As shown in fig. 6, execution process of the control device 100 when realizing is summarized as follows: in Vehicular automatic driving process
In, the first ultrasonic radar component 110 being arranged on driving path sends track of vehicle identification code, is arranged in around vehicle body
Second ultrasonic radar component 120 receives the track of vehicle identification code, controller 130 is sent to after decoding, controller 130 is accordingly
The coordinate information of vehicle is obtained, and the high-precision map in memory module is combined to obtain the position of vehicle, realizes the essence to vehicle
Determine position, controller 130 is adjusted vehicle attitude according to positioning result.On the other hand, the second ultrasonic radar component 120
In real time to detection of obstacles is carried out around vehicle body, obstacle information is obtained, and is transmitted to controller 130, controller 130 is according to barrier
Object information is hindered to be adjusted vehicle attitude.On the other hand, controller 130 is after positioning vehicle, in conjunction with positioning result
And the history location information of vehicle generates the driving trace of vehicle, and is transmitted to monitoring module 140, so that monitoring module 140 is right
The driving trace of vehicle is monitored.
To sum up, the embodiment of the present invention utilizes the sound of the ultrasonic radar on vehicle body using ultrasonic radar as main parts size
Wave range measurement principle carries out detection of obstacles, perceives the vehicular attitude of vehicle, at the same by with the ultrasonic radar on driving path
The coordinate information that communication obtains vehicle is carried out, and then carries out precise positioning, and vehicle driving trace can be monitored by monitoring module,
Realize the automatic Pilot of vehicle.The control device by site influence, is not suitable for all kinds of low speed closing garden and underground parking
Bicycle road automatic Pilot operation.For example, the control device applies to close the automatic Pilot operation of garden, it is only necessary in closing garden
The interior a set of first ultrasonic radar component of arrangement, and the second ultrasonic radar component is carried on every vehicle in use
Realize vehicle location.Ultrasonic radar technology maturation, cheap, increasing for vehicle in use will not increase considerably fortune in garden
Cost is sought, therefore, the embodiment of the present invention realizes a kind of round-the-clock, the reliable closing garden automatic Pilot positioning side of low cost
Case.
The control device of vehicle according to an embodiment of the present invention passes through the first ultrasonic wave thunder on setting vehicle running path
The track of vehicle identification code with vehicle coordinate information is sent up to component, when the second ultrasonic radar component being arranged on vehicle
After recognizing the track of vehicle identification code, track of vehicle identification code is transmitted to controller, controller obtains the seat of vehicle accordingly
Mark information, and vehicle be accurately positioned in real time according to coordinate information, and according to positioning result to the driving posture of vehicle into
Row adapts to adjustment, to realize securely and reliably unmanned, and realizes vehicle location by ultrasonic radar component, therefore
It is required at low cost, it is conducive to universal use, i.e. strong applicability.
Further embodiment of the present invention proposes a kind of control system of vehicle, comprising: vehicle；And the present invention is above-mentioned
The control device of vehicle described in any one embodiment.
It should be noted that the specific implementation and the embodiment of the present invention of the control system of the vehicle of the embodiment of the present invention
Vehicle control device specific implementation it is similar, specifically refer to the description of device part, in order to reduce redundancy, herein
It repeats no more.
The control system of vehicle according to an embodiment of the present invention passes through the first ultrasonic wave thunder on setting vehicle running path
The track of vehicle identification code with vehicle coordinate information is sent up to component, when the second ultrasonic radar component being arranged on vehicle
After recognizing the track of vehicle identification code, track of vehicle identification code is transmitted to controller, controller obtains the seat of vehicle accordingly
Mark information, and vehicle be accurately positioned in real time according to coordinate information, and according to positioning result to the driving posture of vehicle into
Row adapts to adjustment, to realize securely and reliably unmanned, and realizes vehicle location by ultrasonic radar component, therefore
It is required at low cost, it is conducive to universal use, i.e. strong applicability.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is by claim and its equivalent limits.
Claims (10)
1. a kind of control device of vehicle characterized by comprising
First ultrasonic radar component (110), the first ultrasonic radar component (110) are distributed on vehicle running path,
For sending track of vehicle identification code, the corresponding coordinate information including vehicle of the track of vehicle identification code；
Second ultrasonic radar component (120), the second ultrasonic radar component (120) is arranged around vehicle body, for connecing
The track of vehicle identification code is received, and transmits the track of vehicle identification code；
Controller (130), the controller (130) are connected with the second ultrasonic radar component (120), for according to
Track of vehicle identification code obtains the coordinate information of the vehicle, and is positioned according to the coordinate information to the vehicle, and
It is adjusted according to driving posture of the positioning result to the vehicle.
2. the control device of vehicle according to claim 1, which is characterized in that
The second ultrasonic radar component (120) is also used to detect the barrier around vehicle body, obtains obstacle information, and will
The obstacle information is transmitted to the controller (130)；
The controller (130) is also used to be adjusted according to driving posture of the obstacle information to vehicle.
3. the control device of vehicle according to claim 1, which is characterized in that
The controller (130) is also used to generate the row of the vehicle according to the history location information of the positioning result and vehicle
Track is sailed, and the driving trace of the vehicle is transmitted to monitoring module (140)；
The control device of the vehicle further include:
The monitoring module (140), for being monitored to the driving trace.
4. the control device of vehicle according to claim 1, which is characterized in that further include:
Memory module is stored with map in the memory module；
The controller (130) is used to the position of the vehicle is determined from the map, to institute according to the coordinate information
Vehicle is stated to be positioned.
5. the control device of vehicle according to claim 1, which is characterized in that the first ultrasonic radar component
It (110) include multiple ultrasonic radars (111), the distance between two neighboring described ultrasonic radar (111) is pre- less than first
If distance.
6. the control device of vehicle according to claim 5, which is characterized in that first pre-determined distance is by the vehicle
Length of wagon determine.
7. the control device of vehicle according to claim 1, which is characterized in that the second ultrasonic radar component
It (120) include multiple length away from ultrasonic radar (121) and multiple short distance ultrasonic radars (122), the multiple short distance ultrasonic wave
Radar (122) is arranged at left and right sides of vehicle body, and the multiple length is arranged away from ultrasonic radar (121) in vehicle body rear and front end.
8. the control device of vehicle according to claim 7, which is characterized in that the short distance being arranged on the right side of vehicle body is super
The quantity of sound radar (122) is greater than the quantity for the short distance ultrasonic radar (122) being arranged on the left of vehicle body.
9. the control device of vehicle according to claim 7 or 8, which is characterized in that be arranged in adjacent two on the right side of vehicle body
The distance between a described short distance ultrasonic wave thunder (122) is less than the second pre-determined distance.
10. a kind of control system of vehicle characterized by comprising
Vehicle；And
Such as the control device of the described in any item vehicles of claim 1-9.
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| CN201811365828.1A CN109460025A (en) | 2018-11-16 | 2018-11-16 | The control device and system of vehicle |
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| CN201811365828.1A CN109460025A (en) | 2018-11-16 | 2018-11-16 | The control device and system of vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111352418A (en) * | 2020-02-24 | 2020-06-30 | 李斯特技术中心（上海）有限公司 | Automatic vehicle control method and device based on ultrasonic sensor and electronic equipment |
| CN111857117A (en) * | 2019-04-17 | 2020-10-30 | 百度（美国）有限责任公司 | GPS message decoder for decoding GPS messages during autonomous driving |
| CN112114340A (en) * | 2020-09-07 | 2020-12-22 | 合肥海源机械有限公司 | Special new energy vehicle positioning system based on wireless network |
| CN112277843A (en) * | 2020-09-21 | 2021-01-29 | 江铃汽车股份有限公司 | Configuration method and system of automobile radar |
| CN114312846A (en) * | 2022-01-11 | 2022-04-12 | 株式会社Iat | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
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