CN103871240B - A kind of many bodies interactive intelligent driving system - Google Patents
A kind of many bodies interactive intelligent driving system Download PDFInfo
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Abstract
A kind of many bodies interactive intelligent driving system, comprises some satellite navigation subsystem, some pathway station control subsystem, some vehicle-mounted interactive controlling subsystems, some vehicle motion control subsystems and road control center; The a set of satellite navigation subsystem of each vehicle, vehicle-mounted interactive controlling subsystem and vehicle motion control subsystem; Road is divided into some sections, and each section is equipped with a set of pathway station control subsystem; Road control center is for monitoring some pathway station control subsystem.The information of vehicle-mounted interactive controlling subsystem real-time collecting pathway station control subsystem, vehicle motion control subsystem and satellite navigation subsystem, and according to these information, interactive controlling pathway station control subsystem, vehicle motion control subsystem and satellite navigation subsystem.Present invention achieves Lu Yulu, Che Yuche and road, interactive controlling between car and people, improve road safety, intelligent and vehicle running intelligent, economy.
Description
Technical field
The present invention relates to intelligent travelling crane system, particularly relate to a kind of many bodies interactive intelligent driving system.
Background technology
Advanced drive assist system obtains huge development in the past between the more than ten years, substantially increase drive safety.Along with the great development of the communication technology, integration control technology, digital Age, intelligent travelling crane system is because it is while raising drive safety, can improve driver comfort, promote Driving, the needs meeting people's Intelligent travel are more and more subject to people's attention.Ultimate principle is by the detecting and tracking to vehicle front running environment, for vehicle provide one real-time pre-before amount, realize by the integrated manipulator of vehicle the auxiliary driving function that has anticipation.
The outer intelligent travelling crane system of Present Domestic all adopts vehicle-mounted detecting system, as checkout equipments such as vehicle-carried microwave radar, laser radar, optical camera, break the barriers the technology such as identification, image recognition, realize the judgement to vehicle front road conditions, thus realize the auxiliary driving of intelligence, but because laser radar, optical camera etc. need very high speed, therefore often expensive, substantially increase single vehicle cost; Simultaneously owing to being in the vehicle of dynamic operation, along with environment ceaselessly changes, system affects very large by environmental change, stability is not high.With regard to vehicle intelligent navigation, currently mainly contain self-adaption cruise system (ACC:Adaptive Cruise Control) and the large class intelligent driving system of cooperation self-adaption cruise system (CACC:Cooperate Adaptive Cruise Control) two.
Namely the AI intelligent travelling crane system of such as the 7th generation A6L have employed ACC system model, the sensing mechanisms that AI system is made up of a set of camera, microwave radar, ultrasonic radar is formed, it achieves omnidistance carefree driving experience by integrated multiple sensors, AI system gets involved in daily driving to greatest extent, make driver lighter under the road conditions of complexity, effectively can avoid the harm that accident and reduction accident are brought.CACC system compares ACC, adds a two car communication controller, and can realize the interactively intelligent cruise of car car and control, owing to still adopting vehicle-mounted detecting system, cost is still very high, and the overall situation is navigational still limited.
Along with development and automobile the popularizing in people's daily life of modern science and technology, there is 3G intelligent travelling crane service system.3G intelligent travelling crane service system, except the basic function such as GPS, car phone, also can realize real time information retrieval, information entertainment content customization of individual character, magnanimity expand program, real-time road navigation, one-touch information service, electronic guide, SNS(Social Networking Services) automobile friend's community and vehicle-mounted mobile communication function.Its Development by Depending on Network improves service, provides the enjoyment that information is driven, but cannot provide the function of adaptive cruise, do not possess intelligent navigation function.
Therefore, those skilled in the art is devoted to develop a kind of many bodies interactive intelligent driving system, achieves the pre-front control of the interactive high precision of real-time many bodies of satellite positioning navigation, vehicle; Section panorama service chart transmits in real time, the mutual and many base stations of road in mutual, many workshops of road and people are mutual; Realize road, mutual between car and people three.
Summary of the invention
Because the above-mentioned defect of prior art, technical matters to be solved by this invention is to provide a kind of many bodies interactive intelligent driving system.
For achieving the above object, the invention provides a kind of many bodies interactive intelligent driving system, utilize Navsat to control the traveling of vehicle;
It is characterized in that, described intelligent travelling crane system comprises some satellite navigation subsystem, some pathway station control subsystem, some vehicle-mounted interactive controlling subsystems, some vehicle motion control subsystems and road control center;
The a set of described satellite navigation subsystem of each vehicle, described vehicle-mounted interactive controlling subsystem and described vehicle motion control subsystem;
Road is divided into some sections, and each section is equipped with a set of described pathway station control subsystem; Described road control center is for monitoring some described pathway station control subsystem;
Described satellite navigation subsystem comprises vehicle mounted satellite navigator, for receiving the positional parameter coming from described Navsat and the road parameters comprising this car operation information coming from described vehicle-mounted interactive controlling subsystem, and generate and calibration satellite navigation signal according to described positional parameter and the described road parameters comprising this car operation information;
Described vehicle motion control subsystem comprises vehicle motion control ECU(Electronic Control Unit); Described vehicle motion control subsystem is used for the real-time running state of monitoring vehicle, generates vehicle real time kinematics status signal; And accept the pre-vehicle in front control signal coming from described vehicle-mounted interactive controlling subsystem, according to described vehicle real-time running state signal, generate vehicle Real-Time Control Strategy, the interactively pre-front control of real-time many bodies is carried out to vehicle;
Described pathway station control subsystem comprises pathway station and controls control tower, pathway station control ECU and pathway station control signal emitting antenna; The vehicle real time execution signal that described pathway station control subsystem is dispatched a car for the described vehicle interactive controlling subsystem monitoring road information and derive from the vehicle run in the road, generates Real-time Road three-dimensional map; And described Real-time Road three-dimensional map is transmitted described vehicle-mounted interactive controlling subsystem by described pathway station control signal emitting antenna;
Described vehicle-mounted interactive controlling subsystem comprises driving radar, interactive navigation instrument and vehicle motion control ECU; Described driving radar is used for the radar signal according to the radar control signal scanning front vehicles of described vehicle motion control ECU; Driver sends voice command by described interactive navigation instrument, and described interactive navigation instrument according to described in comprise the Real-time Road parameter generation interactive navigation figure of this car operation information, and feed back to driver; Institute's speech commands that described vehicle motion control ECU sends for receiving described satellite navigation signals, the radar signal of described front vehicles, described vehicle real time kinematics status signal, described Real-time Road three-dimensional map and driver, comprises the road parameters of this car operation information, described radar control signal, described pre-vehicle in front control signal and described real time execution signal described in generation.
Further, described satellite navigator comprises vehicle mounted satellite navigator ECU, vehicle mounted satellite navigator display and vehicle mounted satellite navigator speech sound device, described vehicle mounted satellite navigator ECU is used for generating and calibrating described satellite navigation signals, and described satellite navigation signals is shown by satellite navigator display; And described vehicle mounted satellite navigator also generates voice guidance signal, described voice guidance signal is play by described satellite navigator speech sound device.
Further, described vehicle motion control subsystem also comprises vehicle sensors; Described vehicle sensors is for collecting the real-time running state of vehicle.
Further, described vehicle real time kinematics status signal comprises vehicle acceleration signal, vehicle velocity signal and Vehicular yaw angular velocity signal.
Further, described pathway station control subsystem also comprises road vehicle Information Radio Frequency identification induction installation, road radar and camera.
Further, described vehicle-mounted interactive controlling subsystem also comprises vehicle structure parameter information radio-frequency (RF) identification chip.
Further, described road vehicle Information Radio Frequency identification induction installation is used for the vehicle structure parameter radiofrequency signal that the built-in described vehicle structure parameter information radio-frequency (RF) identification chip of sense vehicle sends.
Further, the Real-time Road radar signal about road on vehicle, pedestrian of described road radar for obtaining; Described camera is for obtaining the real time picture of road.
Further, described interactive navigation instrument comprises interactive navigation instrument ECU, interactive navigation instrument display and interactive navigation instrument speech sound device; Described interactive navigation instrument ECU is for generating interactive navigation figure, and described interactive navigation figure is by described interactive navigation instrument display display; And described interactive navigation instrument also generates road information voice signal, described road information voice signal is play by described interactive navigation instrument speech sound device.
Further, the information between the described pathway station control subsystem in each section is transmitted mutually by described road control center.
One many bodies interactive intelligent system of the present invention:
1, by roadway segment digitizing, road camera, road radar and information of vehicles induction installation is arranged at roadside, by pathway station realization to the real-time monitoring in this section and control, the cooperation control to vehicles all in section can be realized, thus improve road safety, carrying capacity and fluency.
2, achieve the communication of road-center and roadside base station, comprehensive understanding controls whole road network, realizes the mutual of Lu Yulu, improves road controlling, pre-front response, raising road network layout ability and navigation accuracy.
3, by pathway station, by the communication with vehicle-mounted interaction center, not only can realize the interactive controlling of road and car, the interactive controlling of car and car can also be realized, while reducing single unit vehicle cost, increase substantially the cooperation control between vehicle and intelligent navigation.
4, by the control of pathway station to whole wagon flow, Collaborative Control and the pre-front of single unit vehicle between vehicle can be realized and control, improve the driving safety of vehicle, handling and economy.By road, mutual between car and people three, improve road safety, intelligent and vehicle running intelligent, economy.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of many bodies interactive intelligent driving system of the present invention;
Fig. 2 is the structural representation of a preferred embodiment of a kind of many bodies interactive intelligent driving system of the present invention;
Fig. 3 is that the signal of a kind of many bodies interactive intelligent driving system of the present invention controls schematic diagram.
Embodiment
Elaborate to embodiments of the invention below in conjunction with accompanying drawing, the present embodiment is implemented under with technical solution of the present invention prerequisite, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, Figure 2 and Figure 3, a kind of many bodies interactive intelligent driving system, comprises some satellite navigation subsystem 1, some pathway station control subsystem 2, some vehicle-mounted interactive controlling subsystems 3, some vehicle motion control subsystems 4 and road control center 5.Vehicle in intelligent travelling crane system obtains positional parameter by Navsat 6.The a set of satellite navigation subsystem of each vehicle, vehicle-mounted interactive controlling subsystem and vehicle motion control subsystem; Further, road is divided into some sections, and each section is equipped with a set of pathway station control subsystem, and road control center is for monitoring some pathway station control subsystem.
Wherein, satellite navigation subsystem 1 comprises vehicle mounted satellite navigator 7, and satellite navigator 7 comprises vehicle mounted satellite navigator ECU8, vehicle mounted satellite navigator display 9 and vehicle mounted satellite navigator speech sound device 10;
Pathway station control subsystem 2 comprises pathway station and controls control tower 11, pathway station control ECU12, pathway station control signal emitting antenna 13, the road camera 14 being positioned at roadside, road radar 15 and road vehicle Information Radio Frequency identification induction installation 16;
Vehicle-mounted interactive controlling subsystem 3 comprises the vehicle structure parameter information radio-frequency (RF) identification chip 17 of built-in vehicle, vehicle-mounted interactive controlling ECU18, vehicle driving radar 19 and interactive navigation instrument 20, and interactive navigation instrument 20 comprises interactive navigation instrument ECU21, interactive navigation instrument display 22 and interactive navigation instrument speech sound device 23;
Vehicle motion control subsystem 4 comprises vehicle motion control ECU24, engine controller 25, brake controller 26, steering controller 27 and vehicle sensors.
Vehicle-mounted interactive controlling ECU18 is also connected with pathway station control ECU12, vehicle mounted satellite navigator ECU8, interactive navigation instrument ECU21, vehicle motion control ECU24 respectively by control signal.
Many bodies interactive intelligent driving system of the present invention is come road, interactive controlling between car and people three in different ways in different situations, specifically as shown in Figures 2 and 3:
1) interactive controlling of a vehicle:
A) when vehicle is when controlling sections of road without pathway station:
Vehicle mounted satellite navigator 7 receives the positional parameter 28 from Navsat 6, and through vehicle mounted satellite navigator ECU8, vehicle mounted satellite navigator ECU8, in conjunction with built-in satellite map, generates satellite navigation signals 29 and voice guidance signal 30; By satellite navigator display 9, satellite navigation signals 29 is passed to driver on the one hand, pass to driver's voice guidance signal 30 by satellite navigator speech sound device 10; On the other hand satellite navigation signals 29 is passed to vehicle-mounted interactive controlling ECU18, the front vehicles radar signal 31 that vehicle-mounted interactive controlling ECU18 combines the acquisition of driving radar 19 passes to vehicle motion control ECU18, vehicle-mounted interactive controlling ECU18 scans front vehicles information by the control trailer-mounted radar 19 that radar control signal 50 is real-time simultaneously, realizes low accuracy satel-lite navigation feature;
B) when vehicle enters the section with pathway station control:
The vehicle structure parameter radiofrequency signal 33 that the vehicle structure parameter information radio-frequency (RF) identification chip 17 of the built-in vehicle sensed sends is passed to pathway station control ECU12 by the road vehicle Information Radio Frequency identification induction installation 16 in pathway station control subsystem 2; Pathway station control ECU12 by the road of this built-in section High Accuracy Parameter dimensionally Figure 34 upload to vehicle-mounted interactive controlling ECU18; High precision road parameters 35 is passed to vehicle mounted satellite navigator ECU8 by vehicle-mounted interactive controlling ECU18 mono-aspect, and vehicle mounted satellite navigator ECU8 combined high precision road parameters 35 calibration satellite positional parameter 28, generates new satellite navigation information 29; On the other hand high precision road parameters 35 is uploaded to interactive navigation instrument ECU21, generate interactive navigation figure, thus realize the bottom map reconstruct of vehicle-mounted interactive controlling ECU18 and this road section information of interactive navigation instrument ECU21;
C) when vehicle is in the section operational process with pathway station control:
Other vehicle real time execution signals 38 that the road real time picture 37 that the Real-time Road radar signal 36 about vehicle on road and pedestrian vehicle structure parameter radiofrequency signal 33, road radar obtained, camera obtain, other vehicles of this section pass to pathway station controls ECU pass to pathway station control ECU12, pathway station control ECU12 according to above-mentioned signal combination inner bottom road three-dimensional map generation have dynamic vehicle information, pedestrian information new road dimensionally Figure 34 pass to vehicle-mounted interactive controlling ECU18, vehicle-mounted interactive controlling ECU18 is in conjunction with satellite navigation information 29, driving radar signal 31, new road three-dimensional map information 34, the voice command 40 of this car operating state signal 39 and driver, generate the Real-time Road parameter 35 comprising this car operation information on the one hand and pass to interactive navigation instrument ECU21, interactive navigation instrument ECU21 generates interactive navigation Figure 41, by interactive navigation instrument display 22, road information is presented to driver, generate road information voice signal 42 and pass to driver by interactive navigation instrument speech sound device 23, thus the panorama service chart realizing Ben Cheben section transmits in real time, realize the mutual of road and people, on the other hand, vehicle-mounted interactive controlling ECU18 generates pre-vehicle in front control signal 32 and passes to vehicle motion control ECU24, vehicle motion control ECU24 is in conjunction with pre-vehicle in front control signal 32, the vehicle acceleration signal 43 that onboard sensor obtains, vehicle velocity signal 44, Vehicular yaw angular velocity signal 45 connecting inner wagon control policy map generates vehicle Real-Time Control Strategy, by engine control signal 46, brake control signal 47 and steering controling signal 48 control engine controller 25 respectively, brake controller 26, steering controller 27, realize the pre-front control of the interactive high precision of real-time many bodies of whole vehicle,
2) with many cars interactive controlling in section:
Real time radar signal 31 is passed to pathway station control ECU12 by the vehicle driving radar 19 of vehicle a, pathway station control ECU12 is according to a vehicle structure parameter radiofrequency signal 33-a, b vehicle structure parameter radiofrequency signal 33-b, the real time radar signal 36 about vehicle on road and pedestrian that road radar 15 obtains, the road real time picture 37 that road camera 14 obtains, a vehicle passes to a car real time execution signal 49-a of pathway station control ECU12, b vehicle passes to the b car real time execution signal 49-b of pathway station control ECU12, the front b car real time radar signal 31 obtained in conjunction with the vehicle driving radar 19-a of vehicle a generates following of car directiveness more than and travels strategy, a car vehicle-mounted interactive controlling ECU18-a and the vehicle-mounted interactive controlling ECU18-b of b car is passed to respectively by pathway station control signal emitting antenna 13, a car vehicle-mounted interactive controlling ECU18-a travels strategy in conjunction with above-mentioned following, a car satellite navigation information 29-a, a car operating state signal 39-a, the control to a car motion state is realized by a car vehicle motion control ECU24-a, b car vehicle-mounted interactive controlling ECU18-b travels strategy, b car satellite navigation information 29-b, b car operating state signal 39-b in conjunction with above-mentioned following, realize the control to b car motion state by b car vehicle motion control ECU24-b, realize many cars interactive controlling in same section thus,
3) the vehicle interactive controlling of Multiple Sections, in the present embodiment, comprises section A and section B.The pathway station control subsystem 2-A of section A comprises pathway station and controls control tower 11-A, pathway station control signal emitting antenna 13-A, the road camera 14-A, the road radar 15-A that are positioned at roadside and road vehicle Information Radio Frequency identification induction installation 16-A; The pathway station control subsystem 2-B of section B comprises pathway station and controls control tower 11-B, pathway station control signal emitting antenna 13-B, the road camera 14-B, the road radar 15-B that are positioned at roadside and road vehicle Information Radio Frequency identification induction installation 16-B;
A) if the section B that pathway station b controls breaks down when there is impassable and congestion:
This road information is passed to road control center 5 by this pathway station B, this information is passed to other pathway station of roadside by road control center 5, thus ensure that the vehicle in other sections can know the real-time information of road ahead in advance, take measures in advance, select variation route to circumvent barrier;
B) when the section B that vehicle enters pathway station B control does not also roll the section A of pathway station A control away from:
The vehicle structure parameter radiofrequency signal 33 that the vehicle structure parameter information radio-frequency (RF) identification chip 17 of the built-in vehicle sensed sends is passed to pathway station B control ECU12-B by road vehicle Information Radio Frequency identification induction installation 16-B, pathway station B control ECU12-B by the road of built-in B section High Accuracy Parameter dimensionally Figure 34 upload to vehicle-mounted interactive controlling ECU18, simultaneously pathway station B sends confirmation signal to pathway station A; When vehicle is about to roll pathway station A control section away from, pathway station A sends signal to pathway station B, pathway station B starts to control car, B road parameters 29 is passed to vehicle mounted satellite navigator ECU8 by vehicle-mounted interactive controlling ECU18 mono-aspect, vehicle mounted satellite navigator ECU8 combined high precision road parameters 29 calibration satellite positional parameter 28, generates new satellite navigation information 29; On the other hand high accuracy three-dimensional ground Figure 35 is uploaded to interactive navigation instrument ECU21, then delete the bottom map of the A road section information in vehicle-mounted interactive controlling ECU18, thus realize the bottom map reconstruct of the B road section information in vehicle-mounted interactive controlling ECU18 and interactive navigation instrument ECU21.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technician in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. the interactive intelligent of body a more than driving system, utilizes Navsat to obtain the positional parameter of vehicle;
It is characterized in that, described intelligent travelling crane system comprises some satellite navigation subsystem, some pathway station control subsystem, some vehicle-mounted interactive controlling subsystems, some vehicle motion control subsystems and road control center;
The a set of described satellite navigation subsystem of each vehicle, described vehicle-mounted interactive controlling subsystem and described vehicle motion control subsystem;
Road is divided into some sections, and each section is equipped with a set of described pathway station control subsystem; Described road control center is for monitoring some described pathway station control subsystem;
Described satellite navigation subsystem comprises vehicle mounted satellite navigator, for receiving the positional parameter coming from described Navsat and the road parameters comprising this car operation information coming from described vehicle-mounted interactive controlling subsystem, and generate and calibration satellite navigation signal according to described positional parameter and the described road parameters comprising this car operation information;
Described vehicle motion control subsystem comprises vehicle motion control ECU; Described vehicle motion control subsystem is used for the real-time running state of monitoring vehicle, generates vehicle real-time running state signal; And accept the pre-vehicle in front control signal coming from described vehicle-mounted interactive controlling subsystem, according to described vehicle real-time running state signal, generate vehicle Real-Time Control Strategy, the interactively pre-front control of real-time many bodies is carried out to vehicle;
Described pathway station control subsystem comprises pathway station and controls control tower, pathway station control ECU and pathway station control signal emitting antenna; The vehicle real time execution signal that described pathway station control subsystem sends for the described vehicle interactive controlling subsystem monitoring road information and derive from the vehicle run in the road, generates Real-time Road three-dimensional map; And described Real-time Road three-dimensional map is transmitted described vehicle-mounted interactive controlling subsystem by described pathway station control signal emitting antenna;
Described vehicle-mounted interactive controlling subsystem comprises driving radar, interactive navigation instrument and vehicle interactive controlling ECU;
Described driving radar is used for the radar control signal scanning front vehicles information according to described vehicle interactive controlling ECU; Driver sends voice command by described interactive navigation instrument, and described interactive navigation instrument according to described in comprise the Real-time Road parameter generation interactive navigation figure of this car operation information, and feed back to driver; Institute's speech commands that described vehicle interactive controlling ECU sends for receiving described satellite navigation signals, the radar signal of described front vehicles, described vehicle real-time running state signal, described Real-time Road three-dimensional map and driver, comprises the road parameters of this car operation information, described radar control signal, described pre-vehicle in front control signal and described real time execution signal described in generation.
2. many bodies interactive intelligent driving system as claimed in claim 1, wherein, described satellite navigator comprises vehicle mounted satellite navigator ECU, vehicle mounted satellite navigator display and vehicle mounted satellite navigator speech sound device, described vehicle mounted satellite navigator ECU is used for generating and calibrating described satellite navigation signals, and described satellite navigation signals is shown by satellite navigator display; And described vehicle mounted satellite navigator also generates voice guidance signal, described voice guidance signal is play by described satellite navigator speech sound device.
3. many bodies interactive intelligent driving system as claimed in claim 1, wherein, described vehicle motion control subsystem also comprises vehicle sensors; Described vehicle sensors is for collecting the real-time running state of vehicle.
4. many bodies interactive intelligent driving system as claimed in claim 1, wherein, described vehicle real-time running state signal comprises vehicle acceleration signal, vehicle velocity signal and Vehicular yaw angular velocity signal.
5. many bodies interactive intelligent driving system as claimed in claim 1, wherein, described pathway station control subsystem also comprises road vehicle Information Radio Frequency identification induction installation, road radar and camera.
6. many bodies interactive intelligent driving system as claimed in claim 5, wherein, described vehicle-mounted interactive controlling subsystem also comprises vehicle structure parameter information radio-frequency (RF) identification chip.
7. many bodies interactive intelligent driving system as claimed in claim 6, wherein, described road vehicle Information Radio Frequency identification induction installation is used for the vehicle structure parameter radiofrequency signal that the built-in described vehicle structure parameter information radio-frequency (RF) identification chip of sense vehicle sends.
8. many bodies interactive intelligent driving system as claimed in claim 5, wherein, the Real-time Road radar signal about road on vehicle, pedestrian of described road radar for obtaining; Described camera is for obtaining the real time picture of road.
9. many bodies interactive intelligent driving system as claimed in claim 1, wherein, described interactive navigation instrument comprises interactive navigation instrument ECU, interactive navigation instrument display and interactive navigation instrument speech sound device; Described interactive navigation instrument ECU is for generating interactive navigation figure, and described interactive navigation figure is by described interactive navigation instrument display display; And described interactive navigation instrument also generates road information voice signal, described road information voice signal is play by described interactive navigation instrument speech sound device.
10. many bodies interactive intelligent driving system as claimed in claim 1, wherein, the information between the described pathway station control subsystem in each section is transmitted mutually by described road control center.
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| CN104410431B (en) * | 2014-11-19 | 2017-03-29 | 柳州航盛科技有限公司 | Vehicle business card remote sensing recognition system |
| CN104539908A (en) * | 2015-01-13 | 2015-04-22 | 济南高达信息技术有限公司 | Driver panoramic video self-monitoring system based on traffic television network |
| CN104883536A (en) * | 2015-01-13 | 2015-09-02 | 济南高达信息技术有限公司 | Driver panoramic video surveillance safe driving system |
| CN110162025A (en) * | 2018-01-22 | 2019-08-23 | 陈继文 | A kind of automatic driving of motor vehicle control system |
| CN108973979B (en) * | 2018-07-18 | 2021-09-28 | 乾碳国际公司 | Hybrid vehicle predictive power control system scheme |
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| JP4230341B2 (en) * | 2003-12-02 | 2009-02-25 | 富士通テン株式会社 | Driving assistance device |
| EP2360059A1 (en) * | 2010-02-16 | 2011-08-24 | Inntrasys ApS | On-board unit for electrical appliance of a vehicle |
| CN203480701U (en) * | 2013-04-03 | 2014-03-12 | 淮阴工学院 | Early-warning device for running safety of vehicles on city road intersections based on vehicle and road cooperation |
| CN103632558A (en) * | 2013-11-15 | 2014-03-12 | 西北工业大学 | Bionic swarm intelligence-based real-time positioning navigation and motion control method and system for moving vehicle |
| CN103606270A (en) * | 2013-11-27 | 2014-02-26 | 重庆邮电大学 | Vehicle-road cooperative communication method and system |
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