CN109720352A - Vehicle drive auxiliary control method and equipment - Google Patents
Vehicle drive auxiliary control method and equipment Download PDFInfo
- Publication number
- CN109720352A CN109720352A CN201811586568.0A CN201811586568A CN109720352A CN 109720352 A CN109720352 A CN 109720352A CN 201811586568 A CN201811586568 A CN 201811586568A CN 109720352 A CN109720352 A CN 109720352A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- data
- target vehicle
- control signal
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The embodiment of the present invention provides a kind of vehicle drive auxiliary control method and equipment, this method comprises: receiving the vehicle operation data of the target vehicle of multiple sensor acquisitions, the biobehavioral data of interior external environment data and driver, the multiple sensor setting is in default means of transportation；According to the vehicle operation data, the biobehavioral data of interior the external environment data and the driver, the vehicle drive control signal of the target vehicle is generated；Vehicle drive control signal is sent to the reception terminal of the target vehicle, the target vehicle is accordingly controlled.Method provided in this embodiment realizes the shared utilization of cloud operational capability and means of transportation sensor, significantly reduce vehicle cost, and since the networking of means of transportation is arranged, so that the data more diversification of sensor acquisition, cloud data mart modeling is finer, and vehicle drive miscellaneous function is more acurrate practical.
Description
Technical field
The present embodiments relate to safe driving ancillary technique field more particularly to a kind of vehicle drive auxiliary control methods
And equipment.
Background technique
With vehicle safety, the swift and violent promotion of comfort demand, the advanced driving assistance system (Advanced of vehicle
Driver Assistance Systems, abbreviation ADAS) carrying it is also more and more common, the safety of vehicle drive becomes vehicle
The matter of utmost importance that industry is concerned about.
Existing vehicle ADAS include adaptive learning algorithms (Adaptive Cruise Control, abbreviation ACC), partially
From lane warning system (Lane Departure Warning System, abbreviation LDWS), driver fatigue early warning system etc..
These vehicles ADAS is to acquire vehicle data by the sensor of car body itself, and add to data by complicated algorithm at present
Work, and then obtain useful information.
In this way, in order to achieve the above object, need to arrange more sensor and stronger operation in the car body of each car
System leads to the cost increase of vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle drive auxiliary control method and equipment, to overcome existing vehicle ADAS need to be
Arrange more sensor in car body, stronger arithmetic system, the problem of leading to vehicle cost increase.
In a first aspect, the embodiment of the present invention provides a kind of vehicle drive auxiliary control method, the method is applied to cloud
Server, comprising:
Receive the life of the vehicle operation data, interior external environment data and driver of the target vehicle of multiple sensor acquisitions
Object behavioral data, the multiple sensor setting is in default means of transportation；
It is raw according to the vehicle operation data, the biobehavioral data of interior the external environment data and the driver
Signal is controlled at the vehicle drive of the target vehicle；
The reception terminal that vehicle drive control signal is sent to the target vehicle carries out the target vehicle
Corresponding control.
In a kind of possible design, it is described according to the vehicle operation data, interior external environment data and described
The biobehavioral data of driver, the vehicle drive control signal for generating the target vehicle include:
The vehicle operation data and the vehicle operation data threshold value prestored are compared, institute is generated according to comparison result
State the first operation control signal of target vehicle；
The interior external environment data and the interior external environment data threshold prestored are compared, it is raw according to comparison result
At the second operation control signal of the target vehicle；
The biobehavioral data of the driver and the driver's biobehavioral data threshold prestored are compared, according to
Comparison result generates the third operation control signal of the target vehicle；
Control signal is run according to the first operation control signal, the second operation control signal and the third,
Determine the vehicle drive control signal.
In a kind of possible design, above-mentioned vehicle drive auxiliary control method further include:
It is raw according to the vehicle operation data, the biobehavioral data of interior the external environment data and the driver
At the vehicle drive warning information of the target vehicle；
The reception terminal that the vehicle drive warning information is sent to the target vehicle carries out the target vehicle
Corresponding alarm.
In a kind of possible design, vehicle drive control signal is sent to connecing for the target vehicle described
Before receipts terminal, further includes:
The corresponding relationship that terminal is received according to preset vehicle and vehicle, determines the reception terminal of the target vehicle.
Second aspect, the embodiment of the present invention provide another vehicle drive auxiliary control method, and the method is applied to set
Set multiple sensors in default means of transportation, comprising:
Acquire the vehicle operation data of target vehicle, the biobehavioral data of interior external environment data and driver；
The biobehavioral data of the vehicle operation data, the interior external environment data and the driver are sent to
Cloud server, so that the cloud server is according to the vehicle operation data, the interior external environment data and described drives
The biobehavioral data for the person of sailing, generate the vehicle drive control signal of the target vehicle, and the vehicle drive is controlled and is believed
The reception terminal for number being sent to the target vehicle accordingly controls the target vehicle.
The third aspect, the embodiment of the present invention provide a kind of vehicle drive auxiliary control appliance, and the equipment application is in cloud
Server, comprising:
Data reception module, the vehicle operation data of the target vehicle for receiving multiple sensor acquisitions, interior outer ring
The biobehavioral data of border data and driver, the multiple sensor setting is in default means of transportation；
First data processing module, for according to the vehicle operation data, the interior external environment data and described driving
The biobehavioral data for the person of sailing generate the vehicle drive control signal of the target vehicle；
Signal transmitting module, for vehicle drive control signal to be sent to the reception terminal pair of the target vehicle
The target vehicle is accordingly controlled.
In a kind of possible design, first data processing module includes:
First signal generation unit, for comparing the vehicle operation data and the vehicle operation data threshold value prestored
Compared with, according to comparison result generate the target vehicle first operation control signal；
Second signal generation unit, for by the interior external environment data and the interior external environment data threshold prestored into
Row compares, and the second operation control signal of the target vehicle is generated according to comparison result；
Third signal generation unit, for by the biobehavioral data of the driver and driver's biobehavioral for prestoring
Data threshold is compared, and the third operation control signal of the target vehicle is generated according to comparison result；
Control signal determination unit, for according to it is described first operation control signal, it is described second operation control signal and
The third operation control signal, determines the vehicle drive control signal.
In a kind of possible design, above-mentioned vehicle drive auxiliary control appliance further include:
Second data processing module, for according to the vehicle operation data, the interior external environment data and described driving
The biobehavioral data for the person of sailing generate the vehicle drive warning information of the target vehicle；
Information sending module, for the vehicle drive warning information to be sent to the reception terminal pair of the target vehicle
The target vehicle is accordingly alerted.
In a kind of possible design, above-mentioned vehicle drive auxiliary control appliance further include:
Terminal deciding module is received, for vehicle drive control signal to be sent to institute in the signal transmitting module
Before the reception terminal for stating target vehicle, the corresponding relationship of terminal is received according to preset vehicle and vehicle, determines the target
The reception terminal of vehicle.
Fourth aspect, the embodiment of the present invention provide another vehicle drive auxiliary control appliance, and the equipment is arranged pre-
If in means of transportation, comprising:
Data acquisition module, for acquiring the vehicle operation data of target vehicle, interior external environment data and driver
Biobehavioral data；
Data transmission blocks, for by the vehicle operation data, the interior external environment data and the driver
Biobehavioral data are sent to cloud server, so that the cloud server is according to the vehicle operation data, the car
The biobehavioral data of external environment data and the driver generate the vehicle drive control signal of the target vehicle, and will
The reception terminal that the vehicle drive control signal is sent to the target vehicle accordingly controls the target vehicle.
5th face, the embodiment of the present invention provide a kind of vehicle drive auxiliary control appliance, comprising: at least one processor and
Memory；
The memory stores computer executed instructions；
At least one described processor executes the computer executed instructions of memory storage so that it is described at least one
Processor executes that first aspect and first aspect as above are various possible to be related to the vehicle drive auxiliary control method.
6th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, which is characterized in that the computer
It is stored with computer executed instructions in readable storage medium storing program for executing, when processor executes the computer executed instructions, realizes as above
First aspect and first aspect is various possible is related to the vehicle drive auxiliary control method.
Vehicle drive auxiliary control method provided in this embodiment and equipment, this method are received multiple by cloud server
The biobehavioral data of the vehicle operation data of the target vehicle of sensor acquisition, interior external environment data and driver, it is above-mentioned
Multiple sensor settings are in default means of transportation；Then according to above-mentioned vehicle operation data, interior external environment data and driving
The biobehavioral data of member generate the vehicle drive control signal of target vehicle；Finally by above-mentioned vehicle drive control signal hair
It send the reception terminal to target vehicle accordingly to control target vehicle, realizes cloud operational capability and means of transportation sensing
The shared utilization of device significantly reduces vehicle cost, and since the networking of means of transportation is arranged, so that sensor acquires
Data more diversification, cloud data mart modeling is finer, and vehicle drive miscellaneous function is more acurrate practical.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram one of vehicle drive supplementary controlled system provided in an embodiment of the present invention；
Fig. 2 is the flow diagram one of vehicle drive auxiliary control method provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram two of vehicle drive supplementary controlled system provided in an embodiment of the present invention；
Fig. 4 is the flow diagram two of vehicle drive auxiliary control method provided in an embodiment of the present invention；
Fig. 5 is the flow diagram three of vehicle drive auxiliary control method provided in an embodiment of the present invention；
Fig. 6 is the application example schematic diagram of vehicle drive auxiliary control method provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram one of vehicle drive auxiliary control appliance provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram two of vehicle drive auxiliary control appliance provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram three of vehicle drive auxiliary control appliance provided in an embodiment of the present invention；
Figure 10 is the hardware structural diagram of vehicle drive auxiliary control appliance provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Fig. 1 is the structural schematic diagram one of vehicle drive supplementary controlled system provided in an embodiment of the present invention.As shown in Figure 1,
System provided in this embodiment includes the sensor 101 and server 102 of car body itself.Wherein, the sensor 101 of car body itself
It may include radar, wheel speed sensors, infrared sensor etc..The biography for including to the sensor 101 of car body itself in the present embodiment
Sensor type and quantity are not particularly limited, as long as the sensor 101 of car body itself can carry out vehicle drive with server 102
Auxiliary control.
Vehicle drive supplementary controlled system is using vehicle-mounted all kinds of sensors, in vehicle traveling process
In incude the environment of surrounding at any time, collect data, carry out static state, the identification of dynamic object, detecting and tracking, carry out system
Operation and analysis effectively increase the comfort and peace of car steering so that driver be allowed to perceive the danger that may occur in advance
Quan Xing.The sensor 101 of i.e. above-mentioned car body itself collects data while the car is driving, and the data of collection are sent to clothes
Business device 102, server 102 are analyzed and processed obtained data, if the result safety of analysis, does not make any arrange
It applies；When analyzing vehicle there are when potential danger, then precautionary measures are made, reminds driver for example, sounding an alarm.
However, in order to achieve the above object, more sensor need to be arranged in car body, the server of stronger operational capability,
Lead to the cost increase of vehicle.In order to solve the technical problem, the present embodiment provides a kind of vehicle drive auxiliary control methods, should
Method realizes the shared utilization of cloud operational capability and means of transportation sensor, significantly reduces vehicle cost, and due to
The networking of means of transportation arranges that, so that the data more diversification of sensor acquisition, cloud data mart modeling is finer, ADAS function
It is more acurrate practical.
Fig. 2 is the flow diagram one of vehicle drive auxiliary control method provided in an embodiment of the present invention, the present embodiment
Executing subject is cloud server, and cloud server carries out information friendship with the multiple sensors being arranged in default means of transportation
Mutually, realize vehicle drive auxiliary control, wherein default means of transportation can determines according to actual conditions, such as traffic lights,
The public transit facilities such as road lighting apparatus.As shown in Fig. 2, this method may include:
S201, the vehicle operation data for receiving the target vehicle that multiple sensors acquire, interior external environment data and driving
The biobehavioral data of member, the multiple sensor setting is in default means of transportation.
Here, the multiple sensors being arranged in default means of transportation can acquire the related data of vehicle in real time, can also
To avoid the wasting of resources, wherein preset time period can be according to the actual situation in the related data of preset time period acquisition vehicle
Setting.Specifically, above-mentioned multiple sensors may include camera, radar, laser and ultrasonic wave etc., can detect light, heat, pressure
Power is other for monitoring the variable of vehicle condition, and above-mentioned multiple sensors are after collecting the related data of vehicle, Ke Yishi
When collected data are sent to cloud server, cloud server is analyzed and processed the data received, sends out in time
Security risk existing for existing vehicle, wherein sensor type, quantity, position etc. can be according to reality in above-mentioned multiple sensors
It needs to be arranged.
In the present embodiment, above-mentioned target vehicle can need to carry out the vehicle of vehicle drive auxiliary control for one or more
, for example, as shown in figure 3, the structural schematic diagram two of vehicle drive supplementary controlled system provided in an embodiment of the present invention, vehicle A
For target vehicle, the related data of multiple sensors acquisition vehicle A in default means of transportation is set, and by collected number
According to cloud server is sent to, cloud server is analyzed and processed the data, issues corresponding control signal to vehicle A,
Vehicle A is controlled accordingly.
Specifically, vehicle operation data may include speed, steering angle of wheel and front truck spacing etc., interior external environment
Data may include interior UV light intensity, interior outer image data etc., and the biobehavioral data of driver may include driving
The data such as eyes, the face of member.
S202, according to the biobehavioral number of the vehicle operation data, interior the external environment data and the driver
According to the vehicle drive for generating the target vehicle controls signal.
Here, above-mentioned vehicle operation data and the vehicle operation data threshold value prestored are compared, according to comparison result
Generate the first operation control signal of target vehicle.By taking vehicle operation data is with front truck spacing as an example, cloud server will be connect
The target vehicle received is compared with front truck spacing with the spacing threshold value prestored, judge target vehicle and front truck spacing whether mistake
It is small, if so, reduce-speed sign can be generated, avoid that vehicle collision occurs.
Similarly, above-mentioned interior external environment data and the interior external environment data threshold prestored are compared, according to comparing
As a result the second operation control signal of target vehicle is generated.By taking interior external environment data are interior UV light intensity as an example, cloud
The target vehicle car UV light intensity received is compared by server with the interior UV light intensity threshold prestored, judgement
Whether target vehicle car UV light intensity is in ordinary ray strength range, if not, light intensity adjusting can be generated
Signal improves vehicle safety.
The biobehavioral data of above-mentioned driver and the driver's biobehavioral data threshold prestored are compared, according to
Comparison result generates the third operation control signal of target vehicle.Believed with the biobehavioral data of driver for the eyes of driver
For breath, cloud server carries out the eye information of the target vehicle driver received with the driver's eyes information prestored
Compare, judging target vehicle driver, whether fatigue driving reduces car accident if so, vehicle brake signal can be generated
Incidence.
Above-mentioned first operation control signal, the second operation control signal and third operation control signal can finally be made
Signal is controlled for vehicle drive and is sent to target vehicle, target vehicle is accordingly controlled, and realizes vehicle drive auxiliary control.
Optionally, the vehicle operation data in the target vehicle of the multiple sensor acquisitions of above-mentioned reception, interior external environment number
After the biobehavioral data with driver, can also according to the vehicle operation data, the interior external environment data and
The biobehavioral data of the driver generate the vehicle drive warning information of the target vehicle；The vehicle drive is accused
Alert information is sent to the reception terminal of the target vehicle, is accordingly alerted to the target vehicle.
Specifically, above-mentioned vehicle operation data and the vehicle operation data prestored threshold value can be compared, generates mesh
Mark vehicle first drives warning information.Such as vehicle operation data is the mesh that will be received with front truck spacing, cloud server
Mark vehicle is compared with front truck spacing with the spacing threshold value prestored, judges whether target vehicle is too small with front truck spacing, if
It is that the prompting message that spacing is too small, please slow down can be generated.
Ibid, above-mentioned interior external environment data and the interior external environment data threshold prestored are compared, generate target
The second of vehicle drives warning information.Such as interior external environment data are interior UV light intensity, cloud server will receive
Target vehicle car UV light intensity be compared with the interior UV light intensity threshold prestored, judge that target vehicle is interior outer
Whether light intensity, if not, light intensity can be generated not in the normal range, please be adjusted in ordinary ray strength range
Save the prompting message of light intensity.
The biobehavioral data of above-mentioned driver and the driver's biobehavioral data threshold prestored are compared, are generated
The third of target vehicle drives warning information.Such as the biobehavioral data of driver are the eye information of driver, cloud clothes
The eye information of the target vehicle driver received is compared by business device with the driver's eyes information prestored, judges target
Vehicle driver whether fatigue driving, if so, driver tired driving can be generated, the prompting message that please be stop.
Warning information, the second driving warning information and third finally are driven according to above-mentioned first and drives warning information, are determined
Vehicle drive warning information is sent to the reception terminal of target vehicle by above-mentioned vehicle drive warning information, to target vehicle into
The corresponding alarm of row.
S203, vehicle drive control signal is sent to the reception terminal of the target vehicle to the target vehicle
Accordingly controlled.
Specifically, cloud server can pre-establish vehicle and vehicle receives the mapping table of terminal, in above-mentioned generation institute
After the vehicle drive control signal for stating target vehicle, cloud server can inquire connecing for target vehicle in above-mentioned mapping table
Then above-mentioned vehicle drive control signal is sent to the reception terminal of target vehicle by receiving end, target vehicle vehicle based on the received
Driving control signal carries out corresponding operating, realizes that corresponding vehicle drives ancillary control function.
Vehicle drive auxiliary control method provided in this embodiment receives multiple sensor acquisitions by cloud server
The biobehavioral data of the vehicle operation data of target vehicle, interior external environment data and driver, above-mentioned multiple sensors are set
It sets in default means of transportation；Then according to the biobehavioral of above-mentioned vehicle operation data, interior external environment data and driver
Data generate the vehicle drive control signal of target vehicle；Above-mentioned vehicle drive control signal is finally sent to target vehicle
Reception terminal target vehicle is accordingly controlled, realize the shared benefit of cloud operational capability and means of transportation sensor
With vehicle cost being significantly reduced, and since the networking of means of transportation is arranged, so that the data of sensor acquisition are more
Memberization, cloud data mart modeling is finer, and vehicle drive miscellaneous function is more acurrate practical.
Fig. 4 is the flow diagram two of vehicle drive auxiliary control method provided in an embodiment of the present invention, and the present embodiment exists
On the basis of Fig. 2 embodiment, the specific implementation process of the present embodiment is described in detail.As shown in figure 4, this method packet
It includes:
S401, the vehicle operation data for receiving the target vehicle that multiple sensors acquire, interior external environment data and driving
The biobehavioral data of member, the multiple sensor setting is in default means of transportation.
S402, the vehicle operation data and the vehicle operation data threshold value prestored are compared, generate the target
First operation control signal of vehicle.
Here, the vehicle operation data threshold value prestored may include the data threshold that a plurality of vehicles operate normally, and vehicle is just
The data threshold often run may include the speed threshold value that vehicle operates normally and front truck spacing threshold value etc..
Before being compared, the type of vehicle is found in the data prestored according to the type of vehicle of target vehicle first
Corresponding vehicle operation data threshold value, then by the vehicle operation data of above-mentioned target vehicle and the vehicle operation data threshold found
Value is compared, and the first operation control signal of target vehicle is generated according to comparison result.
S403, the interior external environment data and the interior external environment data threshold prestored are compared, described in generation
Second operation control signal of target vehicle.
Specifically, the interior external environment data threshold prestored may include the interior external environment of vehicle under different Run-time scenarios
Data, concrete scene can determine according to actual needs, such as the car of the interior external environment data of vehicle on daytime, evening vehicle
External environment data etc..
Before being compared, it is first determined then the Run-time scenario of target vehicle finds this in the data prestored
The corresponding interior external environment data threshold of scape, by the interior external environment data of above-mentioned target vehicle and the interior external environment number found
It is compared according to threshold value, the second operation control signal of target vehicle is generated according to comparison result.
S404, the biobehavioral data of the driver and the driver's biobehavioral data threshold prestored are compared
Compared with the third operation for generating the target vehicle controls signal.
Here, the driver's biobehavioral data threshold prestored can be operated normally according to vehicle in multiple drivers life
Object behavioral data determines, wherein the biobehavioral data of driver may include the data such as the eyes of driver, face.Specifically
Ground, the sensor can acquire the data such as eyes, the face of target vehicle driver simultaneously, and cloud server is by the number of acquisition
It is compared according to the driver's biobehavioral data threshold prestored, control is run according to the third that comparison result generates target vehicle
Signal processed.
S405, control is run according to the first operation control signal, the second operation control signal and the third
Signal determines the vehicle drive control signal.
S406, the corresponding relationship that terminal is received according to preset vehicle and vehicle determine that the reception of the target vehicle is whole
End.
Here, the corresponding relationship between vehicle and vehicle reception terminal is pre-established, vehicle, which receives terminal, can receive cloud
The signal for holding server to send, and vehicle is accordingly controlled according to the signal.
S407, the reception terminal that vehicle drive control signal is sent to the target vehicle, to the target carriage
It is accordingly controlled.
Specifically, cloud server can by vehicle drive control signal be sent to target vehicle reception terminal it
Afterwards, the reception terminal of target vehicle can be required to return to confirmation message, if received in prefixed time interval cloud server
The confirmation message that the reception terminal of target vehicle returns, stops operation, and otherwise, cloud server, which again controls vehicle drive, to be believed
It number is sent to the reception terminal of target vehicle, the reception terminal of target vehicle is avoided to receive cloud server transmission not in time
Signal is controlled, vehicle is not controlled accordingly, causes driving accident.
Vehicle drive auxiliary control method provided in this embodiment by cloud server and is arranged in means of transportation
Sensor realizes the shared utilization of cloud operational capability and means of transportation sensor, significantly reduces vehicle cost, and
Since the networking of means of transportation is arranged, so that the data more diversification of sensor acquisition, cloud data mart modeling is finer, vehicle
Drive assistance function is more acurrate practical.
Fig. 5 is the flow diagram three of vehicle drive auxiliary control method provided in an embodiment of the present invention, the present embodiment
Executing subject is the multiple sensors being arranged in default means of transportation, wherein default means of transportation can be according to the actual situation
It determines, such as the public transit facilities such as traffic lights, road lighting apparatus.Above-mentioned multiple sensors may include camera,
Radar, laser and ultrasonic wave etc., as shown in figure 5, this method may include:
S501, the vehicle operation data for acquiring target vehicle, the biobehavioral data of interior external environment data and driver.
S502, by the vehicle operation data, the biobehavioral data of interior the external environment data and the driver
Be sent to cloud server so that the cloud server according to the vehicle operation data, the interior external environment data and
The biobehavioral data of the driver generate the vehicle drive control signal of the target vehicle, and by the vehicle drive
Control signal is sent to the reception terminal of the target vehicle, is accordingly controlled the target vehicle.
Vehicle drive auxiliary control method provided in this embodiment, realizes cloud operational capability and means of transportation sensor
Shared utilization, vehicle cost is significantly reduced, and since the networking of means of transportation is arranged, so that sensor acquisition
Data more diversification, cloud data mart modeling is finer, and vehicle drive miscellaneous function is more acurrate practical.
The above method in order to better understand, a vehicle drive auxiliary control method of the present invention detailed below are answered
Use example.
In conjunction with above-mentioned each embodiment, in the present embodiment, with multiple sensors, the cloud being arranged in default means of transportation
It is illustrated for interactive process between end server and the reception terminal of vehicle, this explanation is not to present invention side
Case, which is constituted, to be limited.
As shown in fig. 6, this application example may include:
S601, the vehicle operation data for the multiple sensors acquisition target vehicle being arranged in default means of transportation, car
The biobehavioral data of external environment data and driver.
S602, above-mentioned multiple sensors are by the biological row of above-mentioned vehicle operation data, interior external environment data and driver
Cloud server is sent to for data.
S603, cloud server are according to the biology of above-mentioned vehicle operation data, interior external environment data and the driver
Behavioral data generates the vehicle drive control signal of target vehicle, and according to above-mentioned vehicle operation data, interior external environment data
With the biobehavioral data of driver, the vehicle drive warning information of target vehicle is generated.
S604, cloud server receive the corresponding relationship of terminal according to preset vehicle and vehicle, determine target vehicle
Receive terminal.
S605, above-mentioned vehicle drive is controlled signal to cloud server and vehicle drive warning information is sent to target vehicle
Reception terminal.
S606, target vehicle reception terminal according to above-mentioned vehicle drive control signal target vehicle is accordingly controlled
System, and target vehicle is accordingly alerted according to above-mentioned vehicle drive warning information.
It is evidenced from the above discussion that the present embodiment receives the vehicle for the target vehicle that multiple sensors acquire by cloud server
The biobehavioral data of operation data, interior external environment data and driver, above-mentioned multiple sensors are arranged in default traffic
In facility；Then according to above-mentioned vehicle operation data, the biobehavioral data of interior external environment data and driver, target is generated
The vehicle drive of vehicle controls signal；Above-mentioned vehicle drive control signal is finally sent to the reception terminal of target vehicle to mesh
Mark vehicle is accordingly controlled, and is realized the shared utilization of cloud operational capability and means of transportation sensor, is significantly reduced
Vehicle cost, and since the networking of means of transportation is arranged, so that the data more diversification of sensor acquisition, cloud data add
Work is finer, and vehicle drive miscellaneous function is more acurrate practical.
Fig. 7 is the structural schematic diagram one of vehicle drive auxiliary control appliance provided in an embodiment of the present invention.As shown in fig. 7,
The vehicle drive auxiliary control appliance 70 is applied to cloud server, may include: data reception module 701, at the first data
Manage module 702 and signal transmitting module 703.
Data reception module 701, the vehicle operation data of the target vehicle for receiving multiple sensor acquisitions, car are outer
The biobehavioral data of environmental data and driver, the multiple sensor setting is in default means of transportation.
First data processing module 702, for according to the vehicle operation data, interior external environment data and described
The biobehavioral data of driver generate the vehicle drive control signal of the target vehicle.
Signal transmitting module 703, the reception for vehicle drive control signal to be sent to the target vehicle are whole
End accordingly controls the target vehicle.
Equipment provided in this embodiment can be used for executing the technical solution of above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein again for the present embodiment.
Fig. 8 is the structural schematic diagram two of vehicle drive auxiliary control appliance provided in an embodiment of the present invention.As shown in figure 8,
The present embodiment is on the basis of Fig. 7 embodiment, further includes: the second data processing module 704 and information sending module 705.
Wherein, the second data processing module 704, for according to the vehicle operation data, the interior external environment data
With the biobehavioral data of the driver, the vehicle drive warning information of the target vehicle is generated.
Information sending module 705, the reception for the vehicle drive warning information to be sent to the target vehicle are whole
End accordingly alerts the target vehicle.
In a kind of possible design, first data processing module 702 may include the first signal generation unit
7021, second signal generation unit 7022, third signal generation unit 7023 and control signal determination unit 7024.
Wherein, the first signal generation unit 7021, for by the vehicle operation data and the vehicle operation data that prestores
Threshold value is compared, and the first operation control signal of the target vehicle is generated according to comparison result.
Second signal generation unit 7022, for by the interior external environment data and the interior external environment data threshold prestored
Value is compared, and the second operation control signal of the target vehicle is generated according to comparison result.
Third signal generation unit 7023, for the biobehavioral data of the driver and the driver prestored are biological
Behavioral data threshold value is compared, and the third operation control signal of the target vehicle is generated according to comparison result.
Signal determination unit 7024 is controlled, for according to the first operation control signal, the second operation control letter
Number and third operation control signal, determine vehicle drive control signal.
In a kind of possible design, the present embodiment is on the basis of Fig. 7 embodiment, further includes: receives terminal and determines mould
Block 706, for vehicle drive control signal to be sent to the reception of the target vehicle in the signal transmitting module 703
Before terminal, the corresponding relationship of terminal is received according to preset vehicle and vehicle, determines the reception terminal of the target vehicle.
Equipment provided in this embodiment can be used for executing the technical solution of above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein again for the present embodiment.
Fig. 9 is the structural schematic diagram three of vehicle drive auxiliary control appliance provided in an embodiment of the present invention.As shown in figure 9,
The vehicle drive auxiliary control appliance 90 setting may include data acquisition module 901 and data hair in default means of transportation
Send module 902.
Wherein, data acquisition module 901, for acquire the vehicle operation data of target vehicle, interior external environment data and
The biobehavioral data of driver.
Data transmission blocks 902 are used for the vehicle operation data, the interior external environment data and the driver
Biobehavioral data be sent to cloud server so that the cloud server is according to the vehicle operation data, the vehicle
The biobehavioral data of internal and external environment data and the driver generate the vehicle drive control signal of the target vehicle, and
The reception terminal that vehicle drive control signal is sent to the target vehicle accordingly controls the target vehicle.
Equipment provided in this embodiment can be used for executing the technical solution of above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein again for the present embodiment.
Figure 10 is the hardware structural diagram of vehicle drive auxiliary control appliance provided in an embodiment of the present invention.Such as Figure 10 institute
Show, the vehicle drive auxiliary control appliance 100 of the present embodiment includes: processor 1001 and memory 1002；Wherein
Memory 1002, for storing computer executed instructions；
Processor 1001 is received for executing the computer executed instructions of memory storage with realizing in above-described embodiment
Each step performed by equipment.It specifically may refer to the associated description in preceding method embodiment.
Optionally, memory 1002 can also be integrated with processor 1001 either independent.
When memory 1002 is independently arranged, which further includes bus 1003, for connecting
The memory 1002 and processor 1001.
The embodiment of the present invention also provides a kind of computer readable storage medium, stores in the computer readable storage medium
There are computer executed instructions, when processor executes the computer executed instructions, realizes vehicle drive auxiliary as described above
Control method.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the module, only
Only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple modules can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or module
It connects, can be electrical property, mechanical or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
It, can also be in addition, each functional module in each embodiment of the present invention can integrate in one processing unit
It is that modules physically exist alone, can also be integrated in one unit with two or more modules.Above-mentioned module at
Unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated module realized in the form of software function module, can store and computer-readable deposit at one
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) or processor (English: processor) execute this Shen
Please each embodiment the method part steps.
It should be understood that above-mentioned processor can be central processing unit (English: Central Processing Unit, letter
Claim: CPU), can also be other general processors, digital signal processor (English: Digital Signal Processor,
Referred to as: DSP), specific integrated circuit (English: Application Specific Integrated Circuit, referred to as:
ASIC) etc..General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with hair
The step of bright disclosed method, can be embodied directly in hardware processor and execute completion, or with hardware in processor and soft
Part block combiner executes completion.
Memory may include high speed RAM memory, it is also possible to and it further include non-volatile memories NVM, for example, at least one
Magnetic disk storage can also be USB flash disk, mobile hard disk, read-only memory, disk or CD etc..
Bus can be industry standard architecture (Industry Standard Architecture, ISA) bus, outer
Portion's apparatus interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..Bus can be divided into address bus, data/address bus, control
Bus etc..For convenient for indicating, the bus in illustrations does not limit only a bus or a type of bus.
Above-mentioned storage medium can be by any kind of volatibility or non-volatile memory device or their combination
It realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable
Read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory,
Disk or CD.Storage medium can be any usable medium that general or specialized computer can access.
A kind of illustrative storage medium is coupled to processor, believes to enable a processor to read from the storage medium
Breath, and information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.It processor and deposits
Storage media can be located at specific integrated circuit (Application Specific Integrated Circuits, referred to as:
ASIC in).Certainly, pocessor and storage media can also be used as discrete assembly and be present in electronic equipment or main control device.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (12)
1. a kind of vehicle drive auxiliary control method, which is characterized in that the method is applied to cloud server, comprising:
Receive the vehicle operation data of the target vehicle of multiple sensor acquisitions, the biological row of interior external environment data and driver
For data, the multiple sensor setting is in default means of transportation；
According to the vehicle operation data, the biobehavioral data of interior the external environment data and the driver, institute is generated
State the vehicle drive control signal of target vehicle；
Vehicle drive control signal is sent to the reception terminal of the target vehicle, the target vehicle is carried out corresponding
Control.
2. the method according to claim 1, wherein described according to the vehicle operation data, outside the car
The biobehavioral data of environmental data and the driver, the vehicle drive control signal for generating the target vehicle include:
The vehicle operation data and the vehicle operation data threshold value prestored are compared, the first of the target vehicle is generated
Operation control signal；
The interior external environment data and the interior external environment data threshold prestored are compared, the target vehicle is generated
Second operation control signal；
The biobehavioral data of the driver and the driver's biobehavioral data threshold prestored are compared, described in generation
The third operation control signal of target vehicle；
According to the first operation control signal, the second operation control signal and third operation control signal, determine
The vehicle drive controls signal.
3. the method according to claim 1, wherein further include:
According to the vehicle operation data, the biobehavioral data of interior the external environment data and the driver, institute is generated
State the vehicle drive warning information of target vehicle；
The vehicle drive warning information is sent to the reception terminal of the target vehicle, the target vehicle is carried out corresponding
Alarm.
4. the method according to claim 1, wherein vehicle drive control signal is sent to institute described
Before the reception terminal for stating target vehicle, further includes:
The corresponding relationship that terminal is received according to preset vehicle and vehicle, determines the reception terminal of the target vehicle.
5. a kind of vehicle drive auxiliary control method, which is characterized in that the method is applied to setting in default means of transportation
Multiple sensors, comprising:
Acquire the vehicle operation data of target vehicle, the biobehavioral data of interior external environment data and driver；
The biobehavioral data of the vehicle operation data, the interior external environment data and the driver are sent to cloud
Server, so that the cloud server is according to the vehicle operation data, the interior external environment data and the driver
Biobehavioral data, generate the target vehicle vehicle drive control signal, and by the vehicle drive control signal hair
It send to the reception terminal of the target vehicle, the target vehicle is accordingly controlled.
6. a kind of vehicle drive auxiliary control appliance, which is characterized in that the equipment application is in cloud server, comprising:
Data reception module, the vehicle operation data of the target vehicle for receiving multiple sensor acquisitions, interior external environment number
According to the biobehavioral data with driver, the multiple sensor setting is in default means of transportation；
First data processing module, for according to the vehicle operation data, the interior external environment data and the driver
Biobehavioral data, generate the target vehicle vehicle drive control signal；
Signal transmitting module, for vehicle drive control signal to be sent to the reception terminal of the target vehicle to described
Target vehicle is accordingly controlled.
7. equipment according to claim 6, which is characterized in that first data processing module includes:
First signal generation unit, for the vehicle operation data and the vehicle operation data threshold value prestored to be compared,
The first operation control signal of the target vehicle is generated according to comparison result；
Second signal generation unit, for comparing the interior external environment data and the interior external environment data threshold prestored
Compared with, according to comparison result generate the target vehicle second operation control signal；
Third signal generation unit, for by the biobehavioral data of the driver and driver's biobehavioral data for prestoring
Threshold value is compared, and the third operation control signal of the target vehicle is generated according to comparison result；
Control signal determination unit, for controlling signal according to first operation, second operation controls signal and described
Third operation control signal, determines the vehicle drive control signal.
8. equipment according to claim 6, which is characterized in that further include:
Second data processing module, for according to the vehicle operation data, the interior external environment data and the driver
Biobehavioral data, generate the vehicle drive warning information of the target vehicle；
Information sending module, for the vehicle drive warning information to be sent to the reception terminal of the target vehicle to described
Target vehicle is accordingly alerted.
9. equipment according to claim 6, which is characterized in that further include:
Terminal deciding module is received, for vehicle drive control signal to be sent to the mesh in the signal transmitting module
Before the reception terminal for marking vehicle, the corresponding relationship of terminal is received according to preset vehicle and vehicle, determines the target vehicle
Reception terminal.
10. a kind of vehicle drive auxiliary control appliance, which is characterized in that the equipment setting is in default means of transportation, comprising:
Data acquisition module, for acquiring the vehicle operation data of target vehicle, the biology of interior external environment data and driver
Behavioral data；
Data transmission blocks, for by the biology of the vehicle operation data, interior the external environment data and the driver
Behavioral data is sent to cloud server, so that the cloud server is according to the vehicle operation data, the interior outer ring
The biobehavioral data of border data and the driver generate the vehicle drive control signal of the target vehicle, and will be described
The reception terminal that vehicle drive control signal is sent to the target vehicle accordingly controls the target vehicle.
11. a kind of vehicle drive auxiliary control appliance characterized by comprising at least one processor and memory；
The memory stores computer executed instructions；
At least one described processor executes the computer executed instructions of the memory storage, so that at least one described processing
Device executes such as the described in any item vehicle drive auxiliary control methods of Claims 1-4.
12. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
It executes instruction, when processor executes the computer executed instructions, realizes such as the described in any item vehicles of Claims 1-4
Drive auxiliary control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586568.0A CN109720352B (en) | 2018-12-25 | 2018-12-25 | Vehicle driving assistance control method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586568.0A CN109720352B (en) | 2018-12-25 | 2018-12-25 | Vehicle driving assistance control method and apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109720352A true CN109720352A (en) | 2019-05-07 |
| CN109720352B CN109720352B (en) | 2021-02-02 |
Family
ID=66297049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586568.0A Active CN109720352B (en) | 2018-12-25 | 2018-12-25 | Vehicle driving assistance control method and apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109720352B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836692A (en) * | 2019-11-15 | 2020-02-25 | 中国汽车工程研究院股份有限公司 | Vehicle driving road test bus event optimization system and method thereof |
| CN111431983A (en) * | 2020-03-18 | 2020-07-17 | 斑马网络技术有限公司 | Data processing method and device for Adasis service and electronic equipment |
| CN113619573A (en) * | 2020-05-09 | 2021-11-09 | 奥迪股份公司 | Assistance device, corresponding system, assistance method and medium |
| CN115206100A (en) * | 2022-07-14 | 2022-10-18 | 雄狮汽车科技(南京)有限公司 | Driving data sharing method and device based on cloud big data |
| CN117593904A (en) * | 2023-11-06 | 2024-02-23 | 广东省电信规划设计院有限公司 | Auxiliary driving control method and device based on cloud primordia |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103434509A (en) * | 2013-07-10 | 2013-12-11 | 大连理工大学 | Control system of hybrid power bus and motive power control method of hybrid power bus |
| CN104105610A (en) * | 2012-02-22 | 2014-10-15 | 丰田自动车株式会社 | Vehicle remote control system, server, and remote control terminal |
| CN105717814A (en) * | 2016-03-18 | 2016-06-29 | 浙江吉利控股集团有限公司 | Vehicle remote control system and control method thereof |
| CN105785997A (en) * | 2016-04-20 | 2016-07-20 | 北京新能源汽车股份有限公司 | Vehicle control method, apparatus and system |
| CN106515725A (en) * | 2016-10-20 | 2017-03-22 | 深圳市元征科技股份有限公司 | Method and terminal for preventing vehicle collision |
| CN106856502A (en) * | 2016-12-02 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Unmanned vehicle control method, unmanned vehicle, server and unmanned vehicle system |
| CN107650911A (en) * | 2017-09-27 | 2018-02-02 | 戴姆勒股份公司 | A kind of intelligent driving control system and method for vehicle |
-
2018
- 2018-12-25 CN CN201811586568.0A patent/CN109720352B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104105610A (en) * | 2012-02-22 | 2014-10-15 | 丰田自动车株式会社 | Vehicle remote control system, server, and remote control terminal |
| CN103434509A (en) * | 2013-07-10 | 2013-12-11 | 大连理工大学 | Control system of hybrid power bus and motive power control method of hybrid power bus |
| CN105717814A (en) * | 2016-03-18 | 2016-06-29 | 浙江吉利控股集团有限公司 | Vehicle remote control system and control method thereof |
| CN105785997A (en) * | 2016-04-20 | 2016-07-20 | 北京新能源汽车股份有限公司 | Vehicle control method, apparatus and system |
| CN106515725A (en) * | 2016-10-20 | 2017-03-22 | 深圳市元征科技股份有限公司 | Method and terminal for preventing vehicle collision |
| CN106856502A (en) * | 2016-12-02 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Unmanned vehicle control method, unmanned vehicle, server and unmanned vehicle system |
| CN107650911A (en) * | 2017-09-27 | 2018-02-02 | 戴姆勒股份公司 | A kind of intelligent driving control system and method for vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836692A (en) * | 2019-11-15 | 2020-02-25 | 中国汽车工程研究院股份有限公司 | Vehicle driving road test bus event optimization system and method thereof |
| CN110836692B (en) * | 2019-11-15 | 2020-12-04 | 中国汽车工程研究院股份有限公司 | Vehicle driving road test bus event optimization system and method thereof |
| CN111431983A (en) * | 2020-03-18 | 2020-07-17 | 斑马网络技术有限公司 | Data processing method and device for Adasis service and electronic equipment |
| CN113619573A (en) * | 2020-05-09 | 2021-11-09 | 奥迪股份公司 | Assistance device, corresponding system, assistance method and medium |
| CN115206100A (en) * | 2022-07-14 | 2022-10-18 | 雄狮汽车科技(南京)有限公司 | Driving data sharing method and device based on cloud big data |
| CN117593904A (en) * | 2023-11-06 | 2024-02-23 | 广东省电信规划设计院有限公司 | Auxiliary driving control method and device based on cloud primordia |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109720352B (en) | 2021-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109720352A (en) | Vehicle drive auxiliary control method and equipment | |
| US10239446B2 (en) | Vehicle sensing system using daisy chain of sensors | |
| CN106314424B (en) | Householder method of overtaking other vehicles, device and automobile based on automobile | |
| CN107251123B (en) | Vehicle group management device, vehicle group management method, and vehicle group display device | |
| US20120133738A1 (en) | Data Processing System and Method for Providing at Least One Driver Assistance Function | |
| CN112738171B (en) | Vehicle control method, device, system, equipment and storage medium | |
| CN111201554B (en) | Travel model generation system, vehicle in travel model generation system, processing method, and storage medium | |
| EP3373193B1 (en) | Method and system for artificial intelligence based advanced driver assistance | |
| CN109421715A (en) | The detection of lane condition in adaptive cruise control system | |
| EP3372465B1 (en) | Method and system for vehicle status based advanced driver assistance | |
| EP3754449A1 (en) | Vehicle control method, related device, and computer storage medium | |
| EP3633541A1 (en) | Emergency vehicle detection | |
| CN110481420B (en) | Vehicle exterior reporting device | |
| US20200377124A1 (en) | Multi-hypothesis object tracking for automated driving systems | |
| US20200047751A1 (en) | Cooperative vehicle safety system and method | |
| CN113734048B (en) | Reversing early warning method and device | |
| CN105096656A (en) | Fatigue driving monitoring method based on an automobile driving recorder, device and system | |
| US10118612B2 (en) | Vehicles, electronic control units, and methods for effecting vehicle changes based on predicted actions of target vehicles | |
| CN113826154A (en) | Driving support system, driving support method, and program | |
| US11685311B2 (en) | System and method for warning a driver of a vehicle of an object in a proximity of the vehicle | |
| US20200410788A1 (en) | Management apparatus, vehicle, inspection apparatus, and vehicle inspection system and inforamtion processing method therefor | |
| WO2019127310A1 (en) | Vehicle control method, vehicle control device, and vehicle | |
| CN114426022A (en) | Method and system for detecting retrograde vehicle | |
| US11279370B2 (en) | Driving control system and drive assist method | |
| CN113257021A (en) | Vehicle safety early warning method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |