CN204535717U - A kind of board units - Google Patents
A kind of board units Download PDFInfo
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- CN204535717U CN204535717U CN201520142306.0U CN201520142306U CN204535717U CN 204535717 U CN204535717 U CN 204535717U CN 201520142306 U CN201520142306 U CN 201520142306U CN 204535717 U CN204535717 U CN 204535717U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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Abstract
The utility model relates to a kind of board units.Based in the urban congestion Fare Collection System of satnav, existing method and apparatus can cause not in time, through presetting toll site charge, error of omission occurs because export locating information when car speed is too fast.A kind of board units provided by the utility model, comprise main control chip, the DSRC module be connected with described main control chip, mobile communication module, locating module, also comprise the DR module be connected with described main control chip, and described DR module is location segmentation reckoning module.Locating information output problem not in time can being solved, preventing the generation of omitting through presetting toll site charge.
Description
Technical field
The utility model belongs to traffic inspection field, is specifically related to a kind of board units.
Background technology
The development of accompaniment networking correlation technique, solving urban road is charged, expressway tol lcollection, and expand every intelligent transportation application, rely on advanced Technique of Satellite Navigation and Positioning, wireless communication technology (comprising DSRC), personal user's terminal research and development technology, progressively can break away from the dependence to mobile unit, the technical system that to develop into New Generation of Intelligent car-mounted terminal and integrated central business system be core.Realize gate virtual, charge is intelligent, and inspection robotization, vehicle tracking manages, and supports multinomial increment intelligent transportation integrated application flexible expansion.
For this reason, with composite intelligent car-mounted terminal OBU (On Board Unit), auditing system and center management system for core, make urban road charge and Intelligent traffic management systems becomes a kind of demand of necessity.In order to the business objective such as realize vehicle operating management, road toll, inspection violating the regulations, the magnitude of traffic flow report, and around business objective, design can realize the car-mounted terminal OBU of above-mentioned task.
Existing board units is integrated several functions, as ETC charge, navigator fix, vehicle monitoring etc., purposes and the effect of board units are greatly enriched, wherein just comprise the charging function based on satnav, namely determine whether vehicle enters the specific region needing charge by satellite positioning tech, and automatically perform operation of paying the fees accordingly.But carrying the car speed faster in situation with the OBU of satellite positioning functions, because the transmission frequency of the locating information of global position system is lower, cause OBU to obtain and export the corresponding reduction of frequency (being generally 1Hz-5Hz) of locating information, usually there will be vehicle in upper one second, also do not enter charge judging area (in Fig. 4 A position), but charge judging area (in Fig. 4 C position) is spanned in next second, and in this second, if OBU does not have to export locating information in time, OBU just cannot judge whether this vehicle have passed the toll site (in Fig. 4 B position) in charge judging area, background service system will be made to occur leaking charge situation, namely vehicle have passed toll site and has not but charged, current urgent need solves this technical matters.
Utility model content
For the defect existed in prior art, the purpose of this utility model is to provide a kind of board units, ETC charge, navigator fix, vehicle monitoring, inspection operation can be performed, can also solve because vehicle is too fast by speed of a motor vehicle during toll site and locating information exports leakage charge situation caused not in time simultaneously.
For reaching above object, the technical solution adopted in the utility model is:
A kind of board units, comprise main control chip, the DSRC module be connected with described main control chip, mobile communication module, locating module, also comprise the DR module be connected with described main control chip, described DR module is location segmentation reckoning module, described DR module comprises, and provides the accelerometer of sensing data, gyroscope, inertial navigation dead reckoning module; Described sensing data is 3-axis acceleration, three axis angular rates.
Further, described mobile communication module is WWAN module, is connected with described main control chip by USB, supports the safety certification of TDS/TDL, WCDMA and CDMA2K and authentication protocol, and voice and digital communication.
Further, described locating module is the Big Dipper/GPS locating module, is connected with described main control chip by UART interface.
Further, described DR module is connected with described main control chip by I2C interface.
Further, described inertial navigation dead reckoning module comprises:
With the first receiving element that the described Big Dipper/GPS locating module connects, for receiving the first locating information that the Big Dipper described in every whole moment second/GPS locating module exports, described first locating information is the absolute fix information of every whole moment second vehicle;
With the second receiving element that described accelerometer is connected with described gyroscope, for receiving the sensing data within the scope of the special time of buffer memory in described accelerometer and described gyroscope every a Fixed Time Interval;
With the projected unit that described first receiving element is connected with described second receiving element, for calculating the relative position information of vehicle according to the sensing data of buffer memory in the first locating information received, accelerometer and gyroscope;
With the correcting unit that described projected unit connects, for according to described first locating information and described relative position information, correct acquisition second locating information, described second locating information is the absolute fix information of vehicle current time;
With the output unit that described correcting unit connects, for exporting the absolute fix information of described vehicle current time, the absolute fix information of the vehicle current time exported in whole moment second is the first locating information of current time or the second locating information after overcorrect, the second locating information after the absolute fix information of the vehicle current time exported in non-whole moment second is through correction.
Further, described Fixed Time Interval is 100 milliseconds, and described special time scope is 100 milliseconds.
Further, the ZigBee module, IC/RFID/ESAM module, Camera module and the Computer Controlled System for Vehicle CAN interface module that are connected with described main control chip module is also comprised.
Effect of the present utility model is: adopt a kind of board units described in the utility model, is not but had the mistake that can charge in time when can effectively solve too fast because of the car speed of should paying the fees that the locating information output of OBU is caused not in time by toll site.
Accompanying drawing explanation
Fig. 1 is the structural drawing of device described in the utility model;
Fig. 2 is the structural drawing of DR module described in the utility model;
Fig. 3 is the structural drawing of inertial navigation dead reckoning module described in the utility model;
Fig. 4 is OBU location segmentation projectional technique process schematic in the utility model embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
As shown in Figure 1, a kind of board units, comprises with lower module:
Main control chip module 100:
Main control chip module comprise Arm9 tetra-core master cpu (
exynos), internal memory and FLASH etc.
DSRC module 101:
Dedicated Short Range Communications, i.e. DSRC (Dedicated Short Range Communication Dedicated Short Range Communications, technology), is supported the Chinese national standard of 5.8G frequency range, is connected by USB with main control chip module, be applied to non-parking charge respectively, truck traffic communicates with bus or train route.
WWAN module 102:
Mobile communication module, (WWAN is that Wire less Wide Area Network abridges, i.e. wireless wide area network), be connected with main control chip module by USB, support multiple mobile communication network, comprise TDS/TDL, the safety certification of WCDMA and CDMA2K and authentication protocol, and voice and digital communication, wherein:
TDS, i.e. TDSCDMA (Time Division-Synchronous Code Division Multiple Access), a kind of 3G mobile communication technology;
TDL, i.e. Time Division Long Term Evolution, a kind of forth generation (4G) mobile communication technology;
WCDMA (Wideband Code Division Multiple Access), a kind of 3G mobile communication technology;
CDMA2K, i.e. CDMA2000 (Code Division Multiple Access 2000), a kind of 3G mobile communication technology.
Camera module 103:
Mutual by I2C or USB and main control chip module, and obtain video data by dma mode.
For embody rule and vehicle feature, mobile device will configure in car or camera before car:
(1) for common vehicle, be mainly used in monitoring road surface situation, will configure camera before car, video data will remain on this locality or according to applying, video section will be uploaded to management system;
(2) for the special car such as logistics, passenger traffic, except monitoring road surface situation, also will monitor situation in car, therefore will configure car front with camera in car, and according to management system needs, real-time transmission of video data be to particular demands side.
Dma mode, Direct Memory Access, also referred to as burst data load mode, sometimes also referred to as direct internal memory operation.
Computer Controlled System for Vehicle CAN interface module 104:
Master control system reads Computer Controlled System for Vehicle relevant information by CAN interface.CAN is the abbreviation of controller local area network (Controller Area Network, CAN), is one of most widely used fieldbus in the world, has become the STD bus of Computer Controlled System for Vehicle and built-in industrial control area net（CAN）.
The Big Dipper/GPS locating module 105:
The Big Dipper/gps satellite locating module, is connected with main control computer by UART interface (generic asynchronous serial mouth Universal Asynchronous Receiver/Transmitter), is responsible for vehicle satellite location navigation function.
ZigBee module 106:
ZigBee (purple honeybee) module be connected with main control computer by UART interface, ZigBee is the low-power consumption LAN protocol based on IEEE802.15.4 standard.The technology specified according to this agreement is the wireless communication technology of a kind of short distance, low-power consumption.Be characterized in closely, low complex degree, self-organization, low-power consumption, low data rate, low cost.Mainly be suitable for automatically controlling and remote control field, various equipment can be embedded.The compatible 2.4GzigBee technology of native system.
IC/RFID/ESAM module 107:
Be connected with main control computer by UART interface, support the agreement such as IEEE 14443 and IEEE 15693, and Chinese PBOC2.0 series standard, international EMV and Singapore CEPAS standard, for contacting, driver information reads authentication, noncontact is deducted fees and equipment Anti-dismantling.
In embodiment of the present utility model, driver's card and ETC Payment Card two card combination, adopt double-interface card, supports contact and non-ly connect card application operating simultaneously.Two-in-one card follows " electronic charging Dedicated Short Range Communications, " national standard and PBOC specification.OBU can operate two-in-one card by IC-card interface, realizes driver's authentication and ETC payment function.Two-in-one card memory of driving person information data, as the electronic edition of papery driving license, with the requirement of JT/T825-2012 " IC-card road transport electronic certificate technical standard the 4th part: IC-card working qualification demonstrate,proves data layout " as a reference, full detail is less than 7K byte for the driver information of storage, wherein 6.1,6.2,6.4,6.5,6.9,7.1,7.2 need fill useful information, and driver information is modified by IC-card read-write equipment.Two-in-one card ETC information, according to ETC GB, should comprise bank account, Card Type, remaining sum, gateway, the term of validity etc.
Wherein,
IC is integrated circuit card (Integrated Circuit Card);
RFID (Radio Frequency Identification) is radio-frequency (RF) identification, also known as radio frequency identification, is a kind of communication technology;
ESAM (Embedded Secure Access Module embedded safe control module) ensures the safety of vehicle-mounted identification and transaction system as security module, meet safety standard CC EAL5+.In ESAM, key message comprises conjunction digital certificate, unique ID, the information of system information and vehicle.Without permission, ESAM can not be updated or revise.Remote update, as software patch download, expense of blocking up rate, toll site position tables etc., all adopt high level of security communication and authentication protocol to transmit, simultaneously more new data being accepted of equipment end, be run, all need by strict safety certification and authentication.
DR module 108:
DR module (Dead Reckoning dead reckoning) as shown in Figure 2, be connected with master control system by I2C, combine with vehicle mileage meter and realize accurately locating inertial navigation, DR module comprises, accelerometer 109 and gyroscope 110, and be furnished with inertial navigation dead reckoning module 111, the Big Dipper/GPS locating information for providing the Big Dipper/GPS locating module 105 carries out rectification building-out, and with higher output frequency, the locating information of outside transmission after overcorrection compensates, with satisfied needs of charging based on the appointed area of satellite positioning tech.I2C (Inter-Integrated Circuit) bus is the twin wire universal serial bus developed by PHILIPS company, for connecting microcontroller and peripherals thereof.It is a kind of bus standard that microelectronics Control on Communication field extensively adopts.
Inertial navigation dead reckoning module 111 also comprises as shown in Figure 3: the first receiving element 112 that the same Big Dipper/GPS locating module 105 connects, for receiving the first locating information that every whole moment second Big Dipper/GPS locating module 105 exports, the first locating information is the absolute fix information of every whole moment second vehicle;
The second receiving element 113 be connected with gyroscope 110 with accelerometer 109, for receiving the sensing data (sensing data is 3-axis acceleration, three axis angular rates) within the scope of the special time of buffer memory in accelerometer and gyroscope every a Fixed Time Interval;
With the projected unit 114 that the first receiving element 112 is connected with the second receiving element 113, for calculating the relative position information of vehicle according to the sensing data of buffer memory in the first locating information received, accelerometer and gyroscope;
With the correcting unit 115 that projected unit 114 connects, for according to the first locating information and relative position information, correct acquisition second locating information, the second locating information is the absolute fix information of vehicle current time;
With the output unit 116 that correcting unit 115 connects, for exporting the absolute fix information of vehicle current time, the absolute fix information of the vehicle current time exported in whole moment second is the first locating information of current time or the second locating information after overcorrect, the second locating information after the absolute fix information of the vehicle current time exported in non-whole moment second is through correction.
In embodiment of the present utility model, inertial navigation dead reckoning module 111 performs following steps every 100 milliseconds:
Second receiving element 113 receives the sensing data (sensing data is 3-axis acceleration, three axis angular rates) of (50-200 millisecond is preferably 100 milliseconds) within the scope of the special time of buffer memory in accelerometer 109 and gyroscope 110;
Projected unit 114 calculates relative position information according to the sensing data of buffer memory in the first locating information received, accelerometer and gyroscope;
In conjunction with the Big Dipper/GPS locating information (the first locating information) and relative position information, correct the absolute fix information (the second locating information) obtaining vehicle current time;
Export the described absolute fix information when vehicle, the absolute fix information of the vehicle current time exported in whole moment second is the first locating information of current time or the second locating information after overcorrect, the second locating information after the absolute fix information of the vehicle current time exported in non-whole moment second is through correction.
By the absolute fix information of the vehicle current time of high-frequency so outside output after rectification building-out, just can solve because locating module exports the problem that excessive the caused vehicle toll in locating information interval is omitted.
After being integrated with above-mentioned functions module, board units provided by the utility model, by the software systems that inside is carried, multiple-task can be completed, comprise: location navigation, the safe storage of information of vehicles, tamper detects, read driver's card and Payment Card and two-in-one card, download road toll rule and rate, download roadway check rule, congestion-pricing, from inspection, transport information is collected, magnitude of traffic flow collection etc., particularly by DR module, improve the lower locating information of original frequency to export, and improve the precision of locating information, solve based on the vehicle high-speed existed in satnav toll collection applications by omitting problem because of the charge that the locating information of OBU output is caused not in time during area of charge, there is good real effect.
Give one example practical application of the present utility model is described.
A vehicle having installed the OBU of DR module (location segmentation calculate module) additional, when entering the region needing charge, first by a charge judging area, the division of charge judging area, latitude and longitude information is relied on to determine, by multiple point with concrete latitude and longitude information, form the border in region.The width criteria of charge judging area be with toll site along road direction ± 15 meters (namely in Fig. 4, B point is respectively 15 meters to the distance of A point and C point), can be changed this parameter in OTA (Over The Air) mode by background service system in addition.When vehicle enters charge judging area, the Big Dipper/GPS locating information (comprising longitude, latitude, speed, course) that OBU receives by the location segmentation Estimation System in OBU is carried out conversion and is calculated, according to the 3-axis acceleration that self accelerometer and gyroscope record, three axis angular rates and correction parameter, utilize Kalman filter calculate current time vehicle absolute fix information (comprise obtain after calculating longitude, latitude, speed and course), and outwards export this calculate after locating information.This calculate and export frequency be every 100 milliseconds once, so just greatly can improve the output frequency of locating information and the positioning precision of vehicle, when passing through concrete toll site (the B point in Fig. 4) in charge judging area, background service system accurately can judge and carry out expense calculating and withholding, avoids the phenomenon because the leakage that the locating information that OBU exports causes not in time is charged.In addition, because the Big Dipper in OBU/GPS locating information is in the also output of each whole reception second, so vehicle by toll site time (the B point in Fig. 4) if in whole moment second, directly can export the Big Dipper/GPS locating information, also can be through the absolute fix information after the calculating of location segmentation reckoning module, non-whole moment second then exports and calculates the absolute fix information after module calculating through location segmentation.
Device described in the utility model is not limited to the embodiment described in embodiment, and those skilled in the art draw other embodiment according to the technical solution of the utility model, belongs to technological innovation scope of the present utility model equally.
Claims (7)
1. a board units, comprise main control chip, the DSRC module be connected with described main control chip, mobile communication module, locating module, it is characterized in that: also comprise the DR module be connected with described main control chip, described DR module is location segmentation reckoning module, described DR module comprises, and provides the accelerometer of sensing data, gyroscope, inertial navigation dead reckoning module; Described sensing data is 3-axis acceleration, three axis angular rates.
2. board units as claimed in claim 1, is characterized in that: described mobile communication module is WWAN module, is connected with described main control chip by USB, the safety certification of support TDS/TDL, WCDMA and CDMA2K and authentication protocol, and voice and digital communication.
3. board units as claimed in claim 1, is characterized in that: described locating module is the Big Dipper/GPS locating module, is connected with described main control chip by UART interface.
4. board units as claimed in claim 3, is characterized in that: described DR module is connected with described main control chip by I2C interface.
5. board units as claimed in claim 4, is characterized in that: described inertial navigation dead reckoning module comprises:
With the first receiving element that the described Big Dipper/GPS locating module connects, for receiving the first locating information that the Big Dipper described in every whole moment second/GPS locating module exports, described first locating information is the absolute fix information of every whole moment second vehicle;
With the second receiving element that described accelerometer is connected with described gyroscope, for receiving the sensing data within the scope of the special time of buffer memory in described accelerometer and described gyroscope every a Fixed Time Interval;
With the projected unit that described first receiving element is connected with described second receiving element, for calculating the relative position information of vehicle according to the sensing data of buffer memory in the first locating information received, accelerometer and gyroscope;
With the correcting unit that described projected unit connects, for according to described first locating information and described relative position information, correct acquisition second locating information, described second locating information is the absolute fix information of vehicle current time;
With the output unit that described correcting unit connects, for exporting the absolute fix information of described vehicle current time, the absolute fix information of the vehicle current time exported in whole moment second is the first locating information of current time or the second locating information after overcorrect, the second locating information after the absolute fix information of the vehicle current time exported in non-whole moment second is through correction.
6. board units as claimed in claim 5, is characterized in that:
Described Fixed Time Interval is 100 milliseconds, and described special time scope is 100 milliseconds.
7. board units as claimed in claim 1, is characterized in that: also comprise the ZigBee module, IC/RFID/ESAM module, Camera module and the Computer Controlled System for Vehicle CAN interface module that are connected with described main control chip module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142306.0U CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
| PCT/CN2015/094476 WO2016145886A1 (en) | 2015-03-13 | 2015-11-12 | On board unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142306.0U CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
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| CN204535717U true CN204535717U (en) | 2015-08-05 |
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| CN201520142306.0U Active CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
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| CN (1) | CN204535717U (en) |
| WO (1) | WO2016145886A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105355071A (en) * | 2015-11-16 | 2016-02-24 | 北京握奇智能科技有限公司 | Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method |
| CN105405180A (en) * | 2015-12-16 | 2016-03-16 | 北京握奇智能科技有限公司 | Vehicle-mounted unit |
| CN105447697A (en) * | 2015-12-30 | 2016-03-30 | 航天科技控股集团股份有限公司 | Vehicle-mounted highway fast electronic charging system and method |
| WO2016145886A1 (en) * | 2015-03-13 | 2016-09-22 | 北京握奇智能科技有限公司 | On board unit |
| CN106570942A (en) * | 2016-07-25 | 2017-04-19 | 深圳成谷科技有限公司 | On-board unit of electronic no-parking charging system and anti-dismounting method of on-board unit |
| CN106710204A (en) * | 2017-01-13 | 2017-05-24 | 浙江大学 | Public transport vehicle cross location device and method |
| CN109410353A (en) * | 2018-11-01 | 2019-03-01 | 深圳市智载科技有限责任公司 | A kind of ETC electronics antiwithdrawal device and detection method |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100842519B1 (en) * | 2002-11-02 | 2008-07-01 | 엘지전자 주식회사 | Telematics system for DSRC peristaltic |
| JP4652097B2 (en) * | 2005-03-28 | 2011-03-16 | クラリオン株式会社 | Altitude calculation device and navigation device |
| CN201196801Y (en) * | 2008-04-28 | 2009-02-18 | 交通部公路科学研究所 | Vehicle-mounted equipment based on satellite positioning road charging |
| CN102645665A (en) * | 2011-02-17 | 2012-08-22 | 上海航鼎电子科技发展有限公司 | BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device |
| CN103454660B (en) * | 2012-12-28 | 2015-11-04 | 北京握奇数据系统有限公司 | A kind of vehicle positioning method and device |
| CN104360366B (en) * | 2014-11-05 | 2017-02-08 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN204535717U (en) * | 2015-03-13 | 2015-08-05 | 北京握奇智能科技有限公司 | A kind of board units |
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2015
- 2015-03-13 CN CN201520142306.0U patent/CN204535717U/en active Active
- 2015-11-12 WO PCT/CN2015/094476 patent/WO2016145886A1/en active Application Filing
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016145886A1 (en) * | 2015-03-13 | 2016-09-22 | 北京握奇智能科技有限公司 | On board unit |
| CN105355071A (en) * | 2015-11-16 | 2016-02-24 | 北京握奇智能科技有限公司 | Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method |
| CN105405180A (en) * | 2015-12-16 | 2016-03-16 | 北京握奇智能科技有限公司 | Vehicle-mounted unit |
| CN105447697A (en) * | 2015-12-30 | 2016-03-30 | 航天科技控股集团股份有限公司 | Vehicle-mounted highway fast electronic charging system and method |
| CN106570942A (en) * | 2016-07-25 | 2017-04-19 | 深圳成谷科技有限公司 | On-board unit of electronic no-parking charging system and anti-dismounting method of on-board unit |
| CN106570942B (en) * | 2016-07-25 | 2019-04-09 | 深圳成谷科技有限公司 | The on board unit and its tamper method of electronic toll collection |
| CN106710204A (en) * | 2017-01-13 | 2017-05-24 | 浙江大学 | Public transport vehicle cross location device and method |
| CN106710204B (en) * | 2017-01-13 | 2019-12-17 | 浙江大学 | Cross positioning device and method for public transport vehicle |
| CN109410353A (en) * | 2018-11-01 | 2019-03-01 | 深圳市智载科技有限责任公司 | A kind of ETC electronics antiwithdrawal device and detection method |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016145886A1 (en) | 2016-09-22 |
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