CN102745154B - Combined type micro intelligent vehicle and composition method thereof - Google Patents
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Abstract
The invention discloses a combined type micro intelligent vehicle and a composition method thereof. The combined type micro intelligent vehicle comprises a vehicle body, a connecting component, a control mother board, a plug and play device and a combined type micro intelligent vehicle operating system, the plug and play device is inserted into a corresponding interface of the control mother board, the vehicle body is connected with the control mother board through the connecting component, and the operating system is installed and operated on a main arithmetic device. The composition method includes the following steps that the plug and play device is installed into the corresponding interface of the control mother board, the control mother board is connected with the vehicle body through the connecting component, and the combined type micro intelligent vehicle operating system is configured and installed. According to the combined type micro intelligent vehicle and the composition method thereof, the device installation is modularized, the assembling is simple, a function drive library is established so that a device can achieve a plug and play function, a function knowledge base is established to accomplish an automatic assembly of required functions of the micro intelligent vehicle, operators are merely required to perform the assembling, the construction work of the combined type micro intelligent vehicle can be completed, besides, the custom installation of the micro intelligent vehicle can be completed, and the plug and play function can be achieved.
Description
Technical field
The present invention relates to light mechanical and electrical integration field, particularly a kind of modular, the miniature intelligent vehicle of compound type and constructive method thereof of being easy to install, being easy to function combination.
Background technology
Automatic driving vehicle claims again wheeled mobile robot, is a system ensemble that integrates the functions such as environment sensing, programmed decision-making, auxiliary driving.Automatic driving vehicle has intensively used the technology such as computing machine, sensor, information fusion, communication, artificial intelligence and automatic control, is typical new and high technology synthesis.As one of important research content of intelligent transportation system, the main research purpose of automatic driving vehicle is to replace the mankind to complete vehicular drive task, these tasks comprise that maintenance Vehicle Driving Cycle is on correct road, maintain the safety distance between vehicle, according to the speed of current traffic and roadway characteristic adjusting vehicle, overtake other vehicles and keep away the object of barrier and find the shortest path that reaches destination to reach across track, in urban district, travelling easily and stop etc.Automatic driving vehicle will effectively alleviate the burden of chaufeur, reduces the phenomenon of driver tired driving, is conducive to improve safety traffic; Meanwhile, coordinate urban traffic control system, can reasonable distribution flow of traffic, realize smooth traffic.Along with the high speed development of computing machine and Robotics, automatic driving vehicle research makes significant progress, the automatic driving vehicle of for example Google was with through completing the test of 300,000 kilometers, and obtained " automatic Pilot " automotive license plate of Nevada, USA BMC in 2012.The automatic driving vehicle of National University of Defense technology's independent development completes 286 kilometers of driverless operation experiments from arrival Wuhan, Changsha.But current automatic driving vehicle research lays particular emphasis on bicycle research more, for future many automatic driving vehicles jointly travel in the also rare research of situation of same environment.
The research purpose of miniature intelligent vehicle is by simulating local urban traffic flow situation, and then study many intelligent vehicles interbehavior cognitive model and corresponding regulate and control method, research and the autonomous driving analogy method of checking based on audio visual information, make intelligent driving and Duo Che become alternately possibility, and for the many cars of large-scale automatic driving vehicle are mutual and municipal intelligent traffic provides main theoretical basis of the reform of Chinese economic structure or technical support.Simultaneously, miniature intelligent vehicle also, by carrier and the experiment porch of interdisciplinary research are provided for specialties such as mechanical drive, automation simulation and control, computer vision technique, artificial intelligence technology, mechanics of communication, sensing technology, information fusion technologies, is particularly suitable for applying in scientific research and teaching field.
First miniature intelligent vehicle contest in the whole nation held in Chongqing in December, 2011.This time contest You10Yu Zhi troop participates in, and comprises universities and colleges and the scientific research institutions such as Headquarters of the General Staff 61 research institutes, Chongqing Academy of Science & Technology, Institute of Automation, CAS, 8357 of Aerospace Science and Industry Corporations, Tsing-Hua University, Hunan University, Chongqing Mail and Telephones Unvi, Shanghai Communications University, Nanjing Polytechnics of PLA, military traffic institute.Divide three large contest subjects, six game content.Team participating in the contest has represented the highest level of domestic miniature intelligent vehicle research substantially, has represented the pioneering technology of miniature intelligent vehicle to spectators, but has also exposed the problem in a series of research.
Existing miniature intelligent vehicle adopts autonomous type exploitation more, and each research institution stand-alone development meets hardware platform and the software platform of its requirement.Between research institution, there is no unified standard, functional component interface is different, cannot be general.This requires developer singly need to not be responsible for functional development, also will take into account equipment development.Due to the combination thereof method of this complexity, make miniature intelligent vehicle be difficult to popularize to general scientific research, educational institution, be unfavorable for adding of numerous fans.
Summary of the invention
In order to overcome above-mentioned shortcoming, the present invention proposes the miniature intelligent vehicle of a kind of compound type and constructive method thereof.Its optimal design by structure makes hardware modularity, makes to install to become simple, can realize the customization of equipment and install, and accomplishes plug and play, makes lay man also can build the miniature intelligent vehicle of oneself.
According to an aspect of the present invention, propose the miniature intelligent vehicle of a kind of compound type, it is characterized in that, the miniature intelligent vehicle of this compound type comprises car body, link, control motherboard and PnP device, wherein:
Described car body is connected with control motherboard by link, for receiving control command and realizing motion, support and control motherboard and be arranged on the equipment of controlling above motherboard, described car body comprises provides the electronic governor of the motor of power, control rate, control the steering wheel and the car light that turn to;
Described control motherboard is used for connecting each PnP device, for PnP device provides carrier, described control motherboard is divided into top layer control motherboard and bottom control motherboard, top layer control motherboard is responsible for computing, bottom control motherboard is responsible for Data Collection, and top layer control motherboard is connected with data-interface by the connection slotted eye arranging respectively on it with bottom control motherboard;
Described link is for being connected containing the parts of grooved hole;
Described PnP device comprises: main arithmetic facility, vehicle control apparatus and external input equipment; Described main arithmetic facility is for carrying out the inspection of functions of the equipments, combination, environment sensing, decision-making and the control of functions of the equipments; Described vehicle control apparatus comprises motor control module, steering wheel control module and lighting control module; Described external input equipment comprises vision facilities, audio frequency apparatus, waveform equipment, GPS equipment and communication facilities;
Described PnP device directly inserts in the corresponding interface of described control motherboard, between PnP device, communicates by interface protocol and main arithmetic facility.
According to a further aspect in the invention, the constructive method of the miniature intelligent vehicle of a kind of compound type is proposed, described miniature intelligent vehicle comprises car body, link, control motherboard and PnP device, described control motherboard is divided into top layer control motherboard and bottom control motherboard is two-layer, described PnP device comprises main arithmetic facility, vehicle control apparatus and external input equipment, it is characterized in that, described constructive method comprises the following steps:
Step 1, is mounted to described PnP device on the interface of relevant position on described top layer control motherboard and bottom control motherboard;
Step 2, is connected the connection slotted eye of described top layer control motherboard and bottom control motherboard by described link;
Step 3, is connected described top layer control motherboard by data line with the data-interface of bottom control motherboard, complete the assembling of controlling motherboard;
Step 4, is connected by link described control motherboard with described car body;
Step 5, in the main arithmetic facility being arranged on described top layer control motherboard, the miniature intelligent vehicle operating system of compound type is installed in configuration.
Effect of the present invention is:
1) by the modular design of equipment, can realize customization and install, make the assembling of miniature intelligent vehicle become simple.
2) miniature intelligent vehicle is travelled required basic function combines and expands function-driven with equipment basic driver, makes equipment have the basic function of miniature intelligent vehicle, realizes plug and play.
3) by setting up functional knowledge storehouse and function combination expansion logic, by miniature intelligent vehicle basic function combination producing combination function, complete the Automatic Combined of function, simplified writing and the difficulty of upgrading of power function simultaneously.
4) by set in advance function-driven storehouse and functional knowledge built-in function in the miniature intelligent vehicle operating system of compound type, operating personal only needs mounting equipment and installation system, just can realize the miniature intelligent vehicle of compound type with preset function.Reduce the difficulty that realizes of miniature intelligent vehicle, made layman also can build miniature intelligent vehicle.
Brief description of the drawings
Fig. 1 is the miniature intelligent vehicle top layer of compound type of the present invention control mother board layout constructional drawing;
Fig. 2 is the miniature intelligent vehicle bottom control of compound type of the present invention mother board layout constructional drawing;
Fig. 3 is the connection diagram of the two-layer control motherboard of the miniature intelligent vehicle of compound type of the present invention;
Fig. 4 is the lateral plan of the miniature intelligent vehicle of compound type of the present invention;
Fig. 5 is the birds-eye view of the miniature intelligent vehicle of compound type of the present invention;
Fig. 6 is the each functions of the equipments constructional drawing of the present invention;
Fig. 7 is the miniature intelligent vehicle operating system configuration of compound type of the present invention figure;
Fig. 8 is function-driven library structure figure of the present invention;
Fig. 9 is functional knowledge library structure figure of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
According to an aspect of the present invention, the present invention proposes the miniature intelligent vehicle of a kind of compound type, and the miniature intelligent vehicle of described compound type mainly comprises car body, link, control motherboard and PnP device.
Wherein, described car body is connected with control motherboard by link, for receiving control command and realizing motion, support and control motherboard and be arranged on the equipment of controlling above motherboard.Described car body comprises provides the electronic governor of the motor of power, control rate, control the steering wheel and the car light that turn to.
Described link is for being connected the parts containing grooved hole.
Described control motherboard is used for connecting each PnP device, for PnP device provides carrier, described control motherboard is divided into top layer control motherboard and bottom control motherboard is two-layer, and top layer control motherboard is mainly responsible for computing, and bottom control motherboard is mainly responsible for Data Collection.The structure of described top layer control motherboard as shown in Figure 1, described top layer control motherboard comprises main arithmetic facility installing zone, tripod head equipment installing zone and data-interface, wherein, main arithmetic facility---NANO-ITX industrial master board is connected to main arithmetic facility installing zone by link through slotted eye, image capture device---camera is installed in described tripod head equipment installing zone, described data-interface is used for carrying out data communication, also can be made as expanding communication interface.The structure of bottom control motherboard as shown in Figure 2, described bottom control motherboard comprises vehicle control apparatus installing zone, mains connection set installing zone, external input equipment installing zone and data-interface, wherein, lithium cell and external input equipment are respectively installed to corresponding installation region to vehicle control apparatus---micro controller system, mains connection set---, wherein external input equipment can be the information collecting devices such as gyroscope, accelerometer, infrared detector, microwave radar, described data-interface is used for carrying out data communication, also can be made as expanding communication interface.Install for convenient, above-mentioned two-layer motherboard is respectively equipped with connection slotted eye, first two-layer control motherboard is connected by link, connection slotted eye, and connection diagram as shown in Figure 3, the data-interface of two-layer control motherboard is connected, the assembling of controlling motherboard has just completed again.
Described PnP device also claims modularized equipment, formed by multiple modular parts, it comprises: main arithmetic facility, vehicle control apparatus and external input equipment, wherein, described main arithmetic facility is for carrying out the inspection of functions of the equipments, combination, environment sensing, decision-making and the control of functions of the equipments; Described vehicle control apparatus comprises motor control module, steering wheel control module and lighting control module; Described external input equipment comprises: vision facilities, and such as camera device, audio frequency apparatus, waveform equipment, such as radar equipment and ultrasonic equipment, GPS equipment, communication facilities, such as wireless device, inertial navigation set and other collecting devices.Described PnP device can directly insert in the corresponding interface of controlling motherboard, between PnP device, communicates by interface protocol and main arithmetic facility.Described interface protocol is for defining type of transmission and the transferring content of external input equipment and main arithmetic facility, and described interface protocol is embedded in function-driven storehouse.Main arithmetic facility, by enumerating, obtains the description entry of external equipment, and these description entrys inform which kind of equipment the external equipment that main arithmetic facility connects is, how to communicate, and then call corresponding function-driven and carry out loading facilities.
The control motherboard that assembling is completed is connected with car body by link, and the design sketch after connection as shown in Figure 4, Figure 5.Fig. 4 is the lateral plan of the miniature intelligent vehicle of compound type, and Fig. 5 is the miniature intelligent vehicle birds-eye view of compound type, and wherein 1 is car body, 2 for controlling motherboard, and 3 is vehicle control apparatus, and 4 is main arithmetic facility, 5 is the data storage device of main arithmetic facility, and 6 is picture pick-up device, and 7 is tripod head equipment, 8 is collecting device 1,9 is mains connection set, and 10 is that collecting device 2,11 is link, 3～8,10 is PnP device.Wherein, car body 1 is connected with control motherboard 2 by link 11.Vehicle control apparatus 3, collecting device 8, mains connection set 9, collecting device 10 are arranged on bottom control motherboard, the relevant position in each equipment access bottom control motherboard data-interface; Main arithmetic facility 4, data storage device 5, picture pick-up device 6, tripod head equipment 7 are arranged on top layer control motherboard, the relevant position in each equipment access top layer control motherboard data-interface, and picture pick-up device 6 is arranged on tripod head equipment 7; Data-interface between bottom control motherboard and top layer control motherboard is connected by data line.So far, the hardware installation part of the miniature intelligent vehicle of compound type completes, and its function that respectively sets parts as shown in Figure 6.
The miniature intelligent vehicle of described compound type further comprises the miniature intelligent vehicle operating system of compound type, this operating system installation, operates on described main arithmetic facility.Fig. 7 is the constructional drawing of the miniature intelligent vehicle operating system of compound type, wherein comprises function-driven storehouse, functional knowledge storehouse and main program, and main program comprises that the initialize routine of equipment and the miniature intelligent vehicle of compound type move required environment sensing, decision-making and control program.Fig. 8 is the constructional drawing in function-driven storehouse, and described function-driven storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, and its systematic function that basic driver of equipment is combined with corresponding miniature intelligent vehicle required function drives.Described function-driven storehouse is made up of jointly basic driver and the corresponding functional description of original device, and system is the basic driver of loading facilities first, then carrys out value-added tax function driving by obtaining the functional description of this equipment.Fig. 9 is functional knowledge library structure figure, and described functional knowledge storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type.What in knowledge base, comprise basic function and combination function function realizes function and function combination expansion logic.Basic function is pointed out in the function-driven of external equipment.According to the driving needs of miniature intelligent vehicle, basic function has detection of obstacles function, Road Detection function, traffic sign measuring ability etc.Combination function is to expand logic by basic function by combination to form, described function combination expansion logic is used for the basic function of multiple external equipment, generate combination function through combination expansion, described combination function is the function that the basic function that has according to external equipment obtains through combination expansion, and described combination function comprises that barrier avoiding function, road are followed function, changed function, the function etc. of parking.For example, overtaking other vehicles is a kind of combination function, and it combines the detection of obstacles function in basic function, Road Detection function and jointly form this combination function with the control method of expansion.The main program of the miniature intelligent vehicle operating system of compound type comprises that the initialize routine of equipment and the miniature intelligent vehicle of compound type move required environment sensing, decision-making and control program.
According to a further aspect in the invention, the present invention also proposes the constructive method of the miniature intelligent vehicle of a kind of compound type, described miniature intelligent vehicle comprises car body, link, control motherboard and PnP device, described control motherboard is divided into top layer control motherboard and bottom control motherboard is two-layer, described PnP device comprises main arithmetic facility, vehicle control apparatus and external input equipment, and described constructive method comprises the following steps:
Step 1, is mounted to described PnP device on the interface of relevant position on described top layer control motherboard and bottom control motherboard;
Step 2, is connected the connection slotted eye of described top layer control motherboard and bottom control motherboard by described link;
Step 3, is connected described top layer control motherboard by data line with the data-interface of bottom control motherboard, complete the assembling of controlling motherboard;
Step 4, is connected by link described control motherboard with described car body;
Step 5, in the main arithmetic facility being arranged on described top layer control motherboard, the miniature intelligent vehicle operating system of compound type is installed in configuration.
Described PnP device comprises: main arithmetic facility, vehicle control apparatus and external input equipment; Described main arithmetic facility is for carrying out the inspection of functions of the equipments, combination, environment sensing, decision-making and the control of functions of the equipments; Described vehicle control apparatus comprises motor control module, steering wheel control module and lighting control module; Described external input equipment comprises vision facilities, audio frequency apparatus, waveform equipment, GPS equipment and communication facilities.
Described step 1 further comprises: main arithmetic facility is connected to the main arithmetic facility installing zone on described top layer control motherboard by link through slotted eye; Image capture device is installed to the tripod head equipment installing zone on described top layer control motherboard; Vehicle control apparatus is installed to the vehicle control apparatus installing zone on described bottom control motherboard; Mains connection set is installed to the mains connection set installing zone on described bottom control motherboard; External input equipment is installed to the external input equipment installing zone on described bottom control motherboard.
The miniature intelligent vehicle operating system of described compound type comprises function-driven storehouse, functional knowledge storehouse and main program, wherein, described function-driven storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, basic driver and corresponding functional description by original device form jointly, and its systematic function that basic driver of equipment is combined with corresponding miniature intelligent vehicle required function drives; Described functional knowledge storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, and what it comprised basic function and combination function function realizes function and function combination expansion logic; Described main program comprises that the initialize routine of equipment and the miniature intelligent vehicle of compound type move required environment sensing, decision-making and control program.
Described basic function comprises detection of obstacles function, Road Detection function and traffic sign measuring ability; Described combination function is expanded logic by basic function by combination and is obtained, and described combination function comprises that barrier avoiding function, road follow function, change function and the function of parking; Described function combination expansion logic, for by the basic function of multiple external equipment, generates combination function through combination expansion.
Complete after the installation of above hardware and operating system, the miniature intelligent vehicle of compound type is assembled complete.According to the equipment of user-selected use, the miniature intelligent vehicle of compound type will have corresponding basic function and combination function automatically.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (11)
1. the miniature intelligent vehicle of compound type, is characterized in that, the miniature intelligent vehicle of this compound type comprises car body, link, control motherboard and PnP device, wherein:
Described car body is connected with control motherboard by link, for receiving control command and realizing motion, support and control motherboard and be arranged on the equipment of controlling above motherboard, described car body comprises provides the electronic governor of the motor of power, control rate, control the steering wheel and the car light that turn to;
Described control motherboard is used for connecting each PnP device, for PnP device provides carrier, described control motherboard is divided into top layer control motherboard and bottom control motherboard, top layer control motherboard is responsible for computing, bottom control motherboard is responsible for Data Collection, and top layer control motherboard is connected with data-interface by the connection slotted eye arranging respectively on it with bottom control motherboard;
Described link is for being connected containing the parts of grooved hole;
Described PnP device comprises: main arithmetic facility, vehicle control apparatus and external input equipment; Described main arithmetic facility is for carrying out the inspection of functions of the equipments, combination, environment sensing, decision-making and the control of functions of the equipments; Described vehicle control apparatus comprises motor control module, steering wheel control module and lighting control module; Described external input equipment comprises vision facilities, audio frequency apparatus, waveform equipment, GPS equipment and communication facilities;
Described PnP device directly inserts in the corresponding interface of described control motherboard, between PnP device, communicates by interface protocol and main arithmetic facility.
2. the miniature intelligent vehicle of compound type according to claim 1, it is characterized in that, described top layer control motherboard comprises main arithmetic facility installing zone, tripod head equipment installing zone and data-interface, wherein, main arithmetic facility is connected to described main arithmetic facility installing zone by link through slotted eye, image capture device is installed in described tripod head equipment installing zone, and described data-interface is used for carrying out data communication.
3. the miniature intelligent vehicle of compound type according to claim 1, it is characterized in that, described bottom control motherboard comprises vehicle control apparatus installing zone, mains connection set installing zone, external input equipment installing zone and data-interface, wherein, vehicle control apparatus, mains connection set and external input equipment are respectively installed to corresponding installation region, and described data-interface is used for carrying out data communication.
4. the miniature intelligent vehicle of compound type according to claim 1, is characterized in that, the miniature intelligent vehicle of described compound type further comprises the miniature intelligent vehicle operating system of compound type, this operating system installation, operates on described main arithmetic facility.
5. the miniature intelligent vehicle of compound type according to claim 4, it is characterized in that, the miniature intelligent vehicle operating system of described compound type comprises function-driven storehouse, functional knowledge storehouse and main program, wherein, described function-driven storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, basic driver and corresponding functional description by original device form jointly, and its systematic function that basic driver of equipment is combined with corresponding miniature intelligent vehicle required function drives; Described functional knowledge storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, and what it comprised basic function and combination function function realizes function and function combination expansion logic; Described main program comprises that the initialize routine of equipment and the miniature intelligent vehicle of compound type move required environment sensing, decision-making and control program.
6. the miniature intelligent vehicle of compound type according to claim 5, is characterized in that, described basic function comprises detection of obstacles function, Road Detection function and traffic sign measuring ability; Described combination function is expanded logic by basic function by combination and is obtained, and described combination function comprises that barrier avoiding function, road follow function, change function and the function of parking; Described function combination expansion logic, for by the basic function of multiple external equipment, generates combination function through combination expansion.
7. a constructive method for the miniature intelligent vehicle of compound type, described miniature intelligent vehicle comprise car body,
Link, control motherboard and PnP device, described control motherboard is divided into top layer control motherboard and bottom control motherboard is two-layer, described PnP device comprises main arithmetic facility, vehicle control apparatus and external input equipment, it is characterized in that, described constructive method comprises the following steps:
Step 1, is mounted to described PnP device on the interface of relevant position on described top layer control motherboard and bottom control motherboard;
Step 2, is connected the connection slotted eye of described top layer control motherboard and bottom control motherboard by described link;
Step 3, is connected described top layer control motherboard by data line with the data-interface of bottom control motherboard, complete the assembling of controlling motherboard;
Step 4, is connected by link described control motherboard with described car body;
Step 5, in the main arithmetic facility being arranged on described top layer control motherboard, the miniature intelligent vehicle operating system of compound type is installed in configuration.
8. method according to claim 7, is characterized in that, described PnP device comprises: main arithmetic facility, vehicle control apparatus and external input equipment; Described main arithmetic facility is for carrying out the inspection of functions of the equipments, combination, environment sensing, decision-making and the control of functions of the equipments; Described vehicle control apparatus comprises motor control module, steering wheel control module and lighting control module; Described external input equipment comprises vision facilities, audio frequency apparatus, waveform equipment, GPS equipment and communication facilities.
9. method according to claim 8, is characterized in that, described step 1 further comprises: main arithmetic facility is connected to the main arithmetic facility installing zone on described top layer control motherboard by link through slotted eye; Image capture device is installed to the tripod head equipment installing zone on described top layer control motherboard; Vehicle control apparatus is installed to the vehicle control apparatus installing zone on described bottom control motherboard; Mains connection set is installed to the mains connection set installing zone on described bottom control motherboard; External input equipment is installed to the external input equipment installing zone on described bottom control motherboard.
10. method according to claim 7, it is characterized in that, the miniature intelligent vehicle operating system of described compound type comprises function-driven storehouse, functional knowledge storehouse and main program, wherein, described function-driven storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, basic driver and corresponding functional description by original device form jointly, and its systematic function that basic driver of equipment is combined with corresponding miniature intelligent vehicle required function drives; Described functional knowledge storehouse is mounted in the built-in function in the miniature intelligent vehicle operating system of compound type, and what it comprised basic function and combination function function realizes function and function combination expansion logic; Described main program comprises that the initialize routine of equipment and the miniature intelligent vehicle of compound type move required environment sensing, decision-making and control program.
11. methods according to claim 10, is characterized in that, described basic function comprises detection of obstacles function, Road Detection function and traffic sign measuring ability; Described combination function is expanded logic by basic function by combination and is obtained, and described combination function comprises that barrier avoiding function, road follow function, change function and the function of parking; Described function combination expansion logic, for by the basic function of multiple external equipment, generates combination function through combination expansion.
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| CN102800236A (en) * | 2012-06-18 | 2012-11-28 | 中国人民解放军军事交通学院 | Electric and mechanical integration platform of automobile model micro-car |
| CN104713563B (en) * | 2013-12-11 | 2018-01-09 | 国家电网公司 | Navigation equipment and transformer station's wheeled robot |
| CN103646004B (en) * | 2013-12-24 | 2017-09-22 | 中国科学院自动化研究所 | Modularization miniature intelligent vehicle hardware system and the method for constructing miniature intelligent vehicle |
| CN104732835B (en) * | 2015-02-02 | 2017-08-01 | 上海交通大学 | A kind of intelligent miniature vehicle instructional device in stadium |
| CN104992584A (en) * | 2015-08-10 | 2015-10-21 | 武汉理工大学 | Micro-vehicle component and machinery integration control platform |
| CN107291074A (en) * | 2016-09-29 | 2017-10-24 | 中国科学院自动化研究所 | A kind of miniature intelligent vehicle system |
| CN111862766A (en) * | 2020-08-11 | 2020-10-30 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro intelligent vehicle experiment device |
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| CN101396993A (en) * | 2008-10-24 | 2009-04-01 | 宁波经济技术开发区茂伟氏机电制造有限公司 | Electric automobile intelligent control system |
| US20110071706A1 (en) * | 2009-09-23 | 2011-03-24 | Adaptive Materials, Inc. | Method for managing power and energy in a fuel cell powered aerial vehicle based on secondary operation priority |
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