CN101101702A - Automatic driving system for automobile information sharing between automobile and its control method - Google Patents
Automatic driving system for automobile information sharing between automobile and its control method Download PDFInfo
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- CN101101702A CN101101702A CNA2007100249921A CN200710024992A CN101101702A CN 101101702 A CN101101702 A CN 101101702A CN A2007100249921 A CNA2007100249921 A CN A2007100249921A CN 200710024992 A CN200710024992 A CN 200710024992A CN 101101702 A CN101101702 A CN 101101702A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/009—Priority selection
- B60W2050/0094—Priority selection of control units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Abstract
This system includes a car series consisting of at least two cars. The inter-car comm. sub-system (ICS) of the leading car sends the running and situation info to the car behind. ICS of the latter sends info to the driving decision-making system (DD) of this car. When DD receives info, the situation supervision sub-system (SS) of this car offers the Driving Situation of this Car (DSC) to DD, too. DD combines and analyzes these two info then sends instruction to the situation self-control sub-system (SC). SC combines the instruction and the info from SS, then finally real time controls DSC via the car control port sub-system. This invention reduces the driver's tired degree, the accident occurring rate and driving cost.
Description
One, technical field
The present invention relates to a kind of automatic vehicle control system, a kind of specifically automatic driving system for automobile information sharing between automobile.
Two, background technology
Automatic vehicle control system is by collection vehicle fuel injection signal and vehicle speed signal, through the multistage calculating of multicore sheet, for satisfying vehicle at any road conditions, any speed transport condition, draw fuel feeding data accurately constantly, be sent to the throttle performance element through numerical control unit again.Thereby realize vehicle with low oil consumption finish freely at the uniform velocity, freely constant speed, quicken freely, slow down, freely with car cruise, functions such as oil consumption demonstration constantly.Pass through collection vehicle clutch coupling and brake signal line again, on the basis of driving safety, offer the super driving enjoyment of driver; On the free and relaxed basis of controlling, significantly reduce the fatigue on the run.
The vehicle automated navigation system, be exactly on digital basis, location technologies such as utilization GPS position vehicle, determine the optimum route of exercising, for the user provides optimum trip line information, and in the trip process driver is carried out route guiding in real time, the vehicle automated navigation system not only greatly facilitates traveler, and alleviating traffic congestion, reduce invalid trip, improving the traffic safety level, the effect of aspects such as minimizing traffic environment pollution is conspicuous.
The core of automated navigation system is the route guidance system, and it is meant the display result with digital form visit route, with itself and necessary auxiliary data combination, converts the navigation information that the driver can discern to, and in time these information is distributed to the driver.The way of output of navigation information has two kinds: video information and audio-frequency information.Video output is meant on the vehicle electronics map, demonstrate optimal route, and the current location of vehicle, and in time be meant and when travel direction need change, the driver sent guide with the form of sound with the form circuit guidance information of literal or symbol, audio frequency output.When good man computer interface of design, navigational system can be determined vehicle current location and transport condition, and the optimum target of determining according to the driver calculates optimal route, and shows on electronic chart, provides route guidance information to the driver in real time.
The vehicle automated navigation system not only can be avoided blocking up, reduce delay for traveler provides, efficiently arrive the traffic route of destination, brings actual economic benefit to the driver; From the height of whole road network, can also reduce invalid trip, optimize the distribution of traffic flow at whole road network, help to improve the traffic safety level simultaneously, reduce traffic hazard.Thus, the vehicle automated navigation system has great application prospect and market outlook undoubtedly.
But there is following defective in existing Vehicular automatic driving system:
(1) the related system of existing automobile computer belongs to real-time system, as ABS system, automatic cruising system etc.They make real-time analysis to the peripheral situation that vehicle ran into, and provide solution immediately.This type systematic is owing to technological process nonstandardized technique and proprietary characteristic, and the cost that needs is very high,
(2) existing its basic ideas of automatic drive assist system are exactly artificial various contingent situations to be provided corresponding solution.But real world is complicated and changeable, will define various situations artificially comprehensively and can not finish.Even so, even may comprise most situations, but its complexity can cause cost too high, and operand is quite big, and then causes slow in reacting.In a word, existing automatic drive assist system is limited in one's ability, and automated driving system still can't realize.
Three, summary of the invention
1, goal of the invention
Technical matters to be solved by this invention provides a kind of automatic driving system for automobile information sharing between automobile, it is to realize first car pilot steering in automobile formation (vehicles more than two) is exercised, and the information that the car of back is beamed back according to front truck in the fleet realizes driving automatically.
2, technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of automatic driving system for automobile information sharing between automobile, comprise the automobile formation of two automobiles composition at least, it is characterized in that: each car comprises five subsystems: be respectively automobile control interface subsystem, the inter-vehicle communication subsystem, the condition monitoring subsystem, travel decision-making subsystem and state from control subsystem, the decision-making subsystem that wherein travels is a core, the inter-vehicle communication subsystem of front truck provides front truck operation and status data for the inter-vehicle communication subsystem of back car, information such as signal, the inter-vehicle communication subsystem of back car sends the decision system of travelling of this car again to, the decision-making subsystem that travels is receiving data, in the time of signal and parameter, the condition monitoring subsystem of back car itself provides data about this vehicle travelling state also for the decision-making subsystem that travels, signal, the decision-making subsystem that travels conveys to state from control subsystem with instruction after with these two kinds of information comprehensive analysis, state finally makes state make real-time control by automobile control interface subsystem to this garage from the control subsystem comprehensive state Monitor And Control Subsystem information about this car of giving it again.
Five subsystems of native system:
1. automobile control interface system
It is the direct control of system to motor vehicle.This system is additional on the manual vehicle, and interface can be gear, clutch, brake, throttle, signal lamp, and the automatic transmission vehicle has then been lacked clutch.
2. inter-vehicle communication system
Fundamental purpose is the communication function between the vehicle.Be divided into plant machinery signal and two parts of workshop driver's communication, be used between the driver of workshop and the transmission of various parameter, signal.
3. condition monitoring system
Be made up of some sensors, major responsibility is that this vehicle travelling state, this car parameter, driving quene state are monitored.
4. the decision system of travelling
Automatically analyze travel condition of vehicle, it is the core control part of native system, is a kind of non real-time system.
5. state robot control system(RCS)
It is a kind of real-time system.Similar with existing automobile computer, need provide the decision system of travelling to its interface of controlling in addition, and adjust at all kinds of situation real time reactions in the running car.
In native system, the decision system of travelling is a core system wherein.The enforcement decision system of front truck provides data, signal and parameter for the inter-vehicle communication of back car by inter-vehicle communication system, and the inter-vehicle communication system of back car sends the decision system of travelling of this car again to.The decision system of travelling is when receiving data, signal and parameter, the condition monitoring system of back car itself provides data, signal and the parameter that makes state about this garage also for the decision system of travelling, the decision system of travelling conveys to the state robot control system(RCS) with instruction after with these two kinds of aggregation of data analyses, state robot control system(RCS) comprehensive state supervisory system is more finally made real-time control by the automobile control interface to its data about this car, information.
The cardinal principle of native system is by the back car running mode of front truck to be made corresponding adjustment.Front truck sends signal in driving process the back car, and then the signal that provides according to front truck of car decides the mode of travelling of oneself, and like this, back car just can adjust the situation that may occur in advance.
Degree of priority is followed successively by brake, manual, automatic in the native system.Manual priority is being arranged under the manual situation.Enter automatic driving condition, then need driver certifying.But when emergency condition occurred, brake (refering in particular to anxious stopping) was prepreerence, has avoided the generation of continuous rear-end collision like this.
The control method of information sharing automated driving system between above-mentioned automobile car border, comprise the automobile formation of two automobiles composition at least, it is characterized in that each car comprises five subsystems, be respectively automobile control interface subsystem, inter-vehicle communication subsystem, condition monitoring subsystem, travel decision-making subsystem and state be from control subsystem, the step of control method is:
1) the inter-vehicle communication subsystem of front truck is given information such as data that the inter-vehicle communication subsystem of back car provides front truck operation and state, signal,
2) the inter-vehicle communication subsystem of back car sends above-mentioned information to the decision system of travelling of this car again,
3) this car travels decision-making subsystem in the information of reception, and the condition monitoring subsystem of back car itself provides about this garage also for the decision-making subsystem that travels and makes status information,
4) travel state that decision-making subsystem conveys to this car with instruction after with these above-mentioned two kinds of information comprehensive analysis from control subsystem,
5) state of this car finally makes state make real-time control by automobile control interface subsystem to this garage from control subsystem comprehensive state Monitor And Control Subsystem this car information of giving it again.
3, beneficial effect
The first, reduce driver's degree of fatigue, reduce accident rate.In the process of driving over a long distance, not only the driver can feel tired, and, in simple road conditions, the driver also may owing to visual long-time dullness and vehicle operating frequently do not produce spiritual absent-mindedness, cause the mistake that should not take place.Native system can address this problem effectively by vehicle alternate play headstock.
About the rear-end collision problem, what the market great majority used is the short-distance alarm system, and the distance and the speed of a motor vehicle acquire a certain degree and just can report to the police.But in actual conditions, driver's reaction may not have so rapid.And such system is also limited in one's ability because of its analysis and judgement, and the driver is produced the effect of " wolf has come ".And in native system, reaching under the situation of certain condition with front vehicles spacing and speed, the car of back also can carry out forced deceleration or brake in the time of front vehicles deceleration or brake.
The second, reduce cost.
The maximum saving cost minimizing accident that is to keep the safety in production, insurance company benefits a great deal, and carrier also reduces joint liability and the associated loss expenditure that does not belong to insurance benefits because accident reduces, and reduced operational risk.
When managing, can save human resources for carrier.For example long-distance commerial vehicle will be with the driver two or three by present requirement, but because company and other logistics or passenger traffic shipping company have reached the agreement of helping each other, or added certain mutual-aid organization or the like situation, make vehicle be with the driver less.
The present invention has avoided the expensive problem of real-time system because part has been used the non real-time system.What is called non real-time system, referring to automobile computer is not that real-time information is handled, but before actual conditions took place, automobile computer had just provided scheme to imminent situation in advance.The use of non real-time system, the computer components that makes automobile computer can utilize the market to popularize greatly reduces cost and has improved arithmetic capability.
Four, description of drawings
Fig. 1 is the structural representation in the bicycle of the present invention;
Fig. 2 is a high frequency round-robin state automatic control process flow diagram;
Fig. 3 is the workflow diagram of control method of the present invention.
Five, embodiment
A kind of automatic driving system for automobile information sharing between automobile of the present invention, comprise the fleet of two automobiles composition at least, have five subsystems on each car respectively: be respectively automobile control interface subsystem, inter-vehicle communication subsystem, condition monitoring subsystem, travel decision-making subsystem and state be from control subsystem
1, condition monitoring subsystem
Form by some sensors, to this vehicle travelling state, this car parameter,
● side direction and last lower sensor, can realize with the ultrasonic ranging sensor, be mainly used in the trafficability characteristic detection and use in order to the back car
● inlet valve, engine speed, each vehicle wheel rotational speed, vehicle speed sensor.Automobile has these sensors, is mainly used in this car and controls in real time
● front truck spacing and relative position sensor, can realize or survey the front car light angle with the directional ultrasound wave sensor, calculate real looking with the trigonometric parallax method
● tire pressure and bumper sensor (optional part, the also available additive method is realized) accident that is mainly used in is judged
● this car geometric parameter, tire surface friction coefficient, height of C.G. and position, shock attenuation device elasticity coefficient sensor (optional, also available additive method is realized)
2, inter-vehicle communication subsystem
● the plant machinery signal
Zero controls signal in real time
The ■ directional signal light can be realized with far-infrared lamp.This lamp is always with the high frequency derivative information of the real-time direction of car transmission and direction backward
■ power signal lamp, the same, directional information changes torsion and its derivative information into
■ speed and transducing signal lamp, the same, signal content changes speed and speed derivative into, and side direction and sensor signal up and down
The anxious signal of stopping of ■, more than arbitrary signal lamp obstructedly can cause that follow-up all vehicles are anxious to be stopped in one or several packet cycle
Zero other operation signals and data, this signal are the non real-time signal, can utilize technology such as wifi or bluetooth to realize
■ inserts and deviates from ranker's signal
■ destination and GPS information sharing
Other application informations of ■ transmit
● workshop driver's communication, can realize with multiple communication tool such as intercom or wireless phone
3, the decision-making subsystem that travels
● analyze the travel condition of vehicle system automatically, the core control part of motor vehicle behavior, non real-time system.
● this system can use accomplished in many ways, as more stable PDA, and development decision-making software or more applications software on its platform
● this system provides the scheme of travelling for the state robot control system(RCS), is made up of two groups of parameters, and arranging scheme has multiple
Zero purpose direction and purpose power and derivative thereof
Zero purpose direction and purpose speed and derivative thereof
Zero purpose direction and purpose power
Zero purpose direction and purpose speed
4, state is from control subsystem
● control power and range tie, similar with existing automobile computer, be mainly used in and guarantee that automobile executing state under various external factor influences is consistent with the purpose parameter that the decision system of travelling provides
● the sensing element that the interface that the decision system of travelling is controlled robot control system(RCS) can utilize robot control system(RCS) to accept operation information realizes that these parts comprise direction and gear sensing, above-mentioned signal input port is redirect to the decision system of travelling get final product
● adjust at all kinds of situation real time reactions in the running car, these situations are conspicuous to be had
Zero blows out
Zero beam wind, sideslip
Zero little error accumulation
5, automobile control interface subsystem utilizes existing gear, clutch, brake, throttle, the signal lamp that generally uses to get final product.
6, peripheral components
● insert and withdraw from the parts of automatic driving condition, must guarantee correct priority, i.e. brake has precedence over manual priority in automatic order
● state warning lamp parts, driver and pedestrian Ben Che place state around being used for reminding
Status lamp in zero formation
Zero rear of queue car light
Zero formation first bus lamp
● and gps map system collaborative work parts
Zero provides recommendation to use drives and does not recommend to use automatic driving road section information automatically
Zero provides not enter when recommending to use automatic driving highway section and reminds
Zero provides the arrival destination to withdraw from the preceding prompting of automatic driving
The decision-making subsystem that wherein travels is a core, the algorithm of the decision system of travelling:
● safety rule
Zero following distance rule
■ guarantees that brake is not knocked into the back simultaneously
The ■ spacing is as far as possible little
Zero bend speed rule
■ does not exceed the wheel rule with joint efforts
The ■ rule of not breakking away
The ■ outboard wheel tire pressure rule that do not exceed standard
■ is the whipping rule not
Zero trafficability characteristic rule
■ passes through for how much
The ■ wheelmark as far as possible and front truck overlapping
The ■ wheelmark is overlapping color, echo waveform, the close rule of flatness not
● the algorithm combination rule
Zero priority
The ■ brake
■ is manual
■ is automatic
Zero composition algorithm initiatively quickens and other rules merge
● joining procedure
Zero checking each car geometric parameter and height of C.G.
Zero judges the access security criterion
Zero inserts formation
● deviate from program
The step of controlling above-mentioned each subsystem co-ordination is, as shown in Figures 2 and 3:
1) the inter-vehicle communication subsystem of front truck is given information such as data that the inter-vehicle communication subsystem of back car provides the front truck running status, signal,
2) the inter-vehicle communication subsystem of back car sends above-mentioned information to the decision system of travelling of this car again,
3) this car travels decision-making subsystem in the information of reception, and the condition monitoring subsystem of back car itself provides about this garage also for the decision-making subsystem that travels and makes status information,
4) travel state that decision-making subsystem conveys to this car with instruction after with these above-mentioned two kinds of information comprehensive analysis from control subsystem,
5) state of this car finally makes state make real-time control by automobile control interface subsystem to this garage from control subsystem comprehensive state Monitor And Control Subsystem this car information of giving it again.
Provide the present invention's description in actual use below:
Enter simple road conditions highway section in certain driver drives vehicle way, confirm also after linking up with front truck that the various parameters of back car and front truck relatively meet after the safety rule, truck system before inserting enters automatic driving condition, then rest.
Vehicle is opened automatic driving signal lamp to remind other these cars of vehicle unmanned, and back car keeps and the front truck appropriate distance automatically, and travels along preceding wheel paths as far as possible.
When front truck braked because of emergency or is in danger, back car braked simultaneously, avoided rear-end collision to take place.
When front truck was promptly dodged, back car was violated this car safety rule because of zig zag and is slowed down, and avoids by promptly dodging the place, quickened to catch up with front truck under the acceleration environment meeting then.
Arrive non-simple highway section or arrive high speed turnout down as car team, gps system reminds corresponding driving to drive voluntarily, if the driver does not have driving, then automatic stopping.
The front truck driver will can remind back car oneself to drive during rest because of tired, and disconnects and back car contact, pay no attention to as the back car, and automatic stopping then, and constantly remind the driver, until back car driving.Front truck can be sought suitable car team and follow thereafter driving automatically.
Claims (2)
1, a kind of automatic driving system for automobile information sharing between automobile, comprise the automobile formation of two automobiles composition at least, it is characterized in that: each car comprises five subsystems, it is respectively automobile control interface subsystem, the inter-vehicle communication subsystem, the condition monitoring subsystem, travel decision-making subsystem and state from control subsystem, the decision-making subsystem that wherein travels is a core, the inter-vehicle communication subsystem of front truck provides front truck operation and status data for the inter-vehicle communication subsystem of back car, information such as signal, the inter-vehicle communication subsystem of back car sends the decision system of travelling of this car again to, the decision-making subsystem that travels is receiving data, in the time of signal, the condition monitoring subsystem of back car itself provides the data that make state about this garage also for the decision-making subsystem that travels, signal, the decision-making subsystem that travels conveys to state from control subsystem with instruction after with these two kinds of information comprehensive analysis, state finally makes state make real-time control by automobile control interface subsystem to this garage from the control subsystem comprehensive state Monitor And Control Subsystem information about this car of giving it again.
2, the automatic driving control method of information sharing between a kind of automobile car border, comprise the automobile formation of two automobiles composition at least, it is characterized in that: each car comprises five subsystems, be respectively automobile control interface subsystem, inter-vehicle communication subsystem, condition monitoring subsystem, travel decision-making subsystem and state be from control subsystem, the step of control method is:
1) the inter-vehicle communication subsystem of front truck is given information such as data that the inter-vehicle communication subsystem of back car provides front truck operation and state, signal,
2) the inter-vehicle communication subsystem of back car sends above-mentioned information to the decision system of travelling of this car again,
3) this car travels decision-making subsystem in the information of reception, and the condition monitoring subsystem of back car itself provides about this garage also for the decision-making subsystem that travels and makes status information,
4) travel state that decision-making subsystem conveys to this car with instruction after with these above-mentioned two kinds of information comprehensive analysis from control subsystem,
5) state of this car finally makes state make real-time control by automobile control interface subsystem to this garage from control subsystem comprehensive state Monitor And Control Subsystem this car information of giving it again.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100249921A CN101101702A (en) | 2007-07-16 | 2007-07-16 | Automatic driving system for automobile information sharing between automobile and its control method |
| PCT/CN2008/001324 WO2009009961A1 (en) | 2007-07-16 | 2008-07-16 | Information sharing-type automatic driving system for vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100249921A CN101101702A (en) | 2007-07-16 | 2007-07-16 | Automatic driving system for automobile information sharing between automobile and its control method |
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| CN101101702A true CN101101702A (en) | 2008-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100249921A Pending CN101101702A (en) | 2007-07-16 | 2007-07-16 | Automatic driving system for automobile information sharing between automobile and its control method |
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| Country | Link |
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| CN (1) | CN101101702A (en) |
| WO (1) | WO2009009961A1 (en) |
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| WO2009009961A1 (en) * | 2007-07-16 | 2009-01-22 | Zhuofu Chen | Information sharing-type automatic driving system for vehicle and control method thereof |
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