CN106379298A - Intelligent braking control method based on time calculation of target motion body and automobile - Google Patents
Intelligent braking control method based on time calculation of target motion body and automobile Download PDFInfo
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- CN106379298A CN106379298A CN201610897033.XA CN201610897033A CN106379298A CN 106379298 A CN106379298 A CN 106379298A CN 201610897033 A CN201610897033 A CN 201610897033A CN 106379298 A CN106379298 A CN 106379298A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000006698 induction Effects 0.000 claims description 7
- 241000222712 Kinetoplastida Species 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract 2
- 241000282472 Canis lupus familiaris Species 0.000 description 32
- 241001465754 Metazoa Species 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an intelligent braking control method based on time calculation of a target motion body and an automobile. The intelligent braking control method comprises the following steps: a GPS locator on the target motion body acquires position data of the target motion body, a first speed measurement sensor acquires a current speed of the target motion body, and a data write-in module writes an acquired result into a transponder on the target motion body; a second speed measurement sensor on the automobile acquires a current speed of the automobile, at least one reader gives out a wake-up signal to drive the transponder in a sensing range of the reader to enter a working state and is arranged on the top of the automobile, and the longest sensing distance of the sensing range is a preset distance threshold, namely the distance from the target motion body to the top of the automobile; the transponder transmits the position data and current speed of the target motion body to the reader; the reader transmits the position data and current speed of the target motion body to the processor; the processor analyzes whether the target motion body will collide with the automobile and outputs a braking signal to the braking device if the target motion body will collide with the automobile; and the braking device controls the automobile to be automatically braked.
Description
Technical field
The present invention relates to communication technical field, particularly to a kind of intelligence based on target movable body and automobile Time Calculation
Brake control method.
Background technology
In city, Canis familiaris L. is many, Che Duo, and thing followed thing is also many, through the cat cat and dog Canis familiaris L. meeting with unexpected calamity that often sees on road,
In cell, the dispute between car and animal is not also rarely seen.For the driver bumping against animal, mostly it is because driving
During do not notice animal on road, thus leading to unexpectedly occur, for the animal jaywalking, relatively
It is susceptible to traffic accident.Therefore need a kind of can detecting at present badly and the dynamic of road is crossed in front of driving vehicle on road
Thing, is analyzed to the probability occurring to clash into and controls the technological means of braking automobile with this.
Content of the invention
Goal of the invention：For above-mentioned situation, in order to overcome the shortcoming of prior art, embodiments provide a kind of energy
Enough it is located at, on detecting road, the animal crossing road in front of driving vehicle, the probability occurring to clash into is analyzed and is controlled with this
The intelligent braking control method based on target movable body and automobile Time Calculation of braking automobile processed, can effectively solve the problem that the above-mentioned back of the body
The problem being related in scape technology.
Technical scheme：A kind of intelligent braking control method based on target movable body and automobile Time Calculation, including step：
Obtain target movable body present position data, first test the speed sensing using the GPS locator that is arranged on target movable body
Device obtains target movable body present speed, Data write. module by described target movable body present position data and described target
The write of movable body present speed is arranged in the transponder on target movable body；
Obtain automobile present speed using the second tachogenerator being arranged on automobile, at least one reader sends wake-up signal
The described transponder in its induction range is made to enter working condition, wherein said reader is arranged on automobile top, induction range
The longest distance of reaction be predeterminable range threshold value, predeterminable range threshold value be target movable body to automobile top distance；
The described target movable body present position data of storage and described target are transported after entering working condition by described transponder
Kinetoplast present speed is transferred to described reader；
Described reader is by the described target movable body present position data receiving and described target movable body present speed
It is transferred to the processor being arranged on automobile；
Described processor obtains body of a motor car width, body of a motor car length and road electronic chart, and running car position is entered
Row positioning the corresponding display in electronic chart by the location data of automobile, obtain automobile side to nearest car from electronic chart
The distance of diatom, calculates target movable body to the distance of described nearest lane line according to target movable body present position data,
The distance of automobile side to nearest lane line is added with the distance of target movable body to described nearest lane line and show that target is transported
Kinetoplast to the first point of destination distance；Known target movable body is to the distance of the first point of destination, target movable body to automobile top
Distance, calculate automobile top to the distance of the first point of destination using Pythagorean theorem formula；By automobile top to the first purpose
The distance of point is added the distance drawing automobile tail to the first point of destination with body of a motor car length；Known target movable body is to first
The distance of point of destination, target movable body present speed, calculate target movable body according to distance Velocity Time formula and move to
Time needed for one point of destination；Known automobile top to the distance of the first point of destination, automobile present speed, during according to distance speed
Between formula calculate automobile top and travel the time needed for the first point of destination；Wherein, body of a motor car width is equal to the first purpose
O'clock to the second point of destination distance, the second point of destination and another side of automobile are in same horizontal line；Known first point of destination
To distance, the target movable body present speed of the second point of destination, according to distance Velocity Time formula calculate target movable body from
First point of destination to the second point of destination motion required time；By target movable body move to time needed for the first point of destination with
Target movable body is added from the first point of destination to the second point of destination motion required time and show that target movable body moves to second
Time needed for point of destination；Known automobile tail to the distance of the first point of destination, automobile present speed, according to distance Velocity Time
Formula calculates automobile tail and travels the time needed for the first point of destination；Judge that automobile top travels to needed for the first point of destination
Time t2 whether meet t1≤t2≤t4, and the time t5 that travels needed for the first point of destination of automobile tail whether meet t1≤
T5≤t4, wherein t1 move to the time needed for the first point of destination for target movable body, and t4 moves to second for target movable body
Time needed for point of destination, if meeting, described processor output brake signal gives the brake gear in automobile；
Described brake gear controls automobile automatically to carry out brake operation according to brake signal.
As a kind of optimal way of the present invention, described reader is two, be separately positioned on automobile top left end and
Right-hand member, when the described reader of left end senses described transponder, described transponder is located at the front left side of automobile；Right-hand member described
When reader senses described transponder, described transponder is located at the forward right side of automobile.
The present invention realizes following beneficial effect：Effectively it is pointed to the target movable body on vehicle front road（Animal）Carry out
Detecting, and the probability calculating automobile and the generation collision of target movable body of Negotiation speed Distance Time, can analyzing
When can occur to bump against, the brake of automobile being controlled, thus avoiding automobile to bump against with target movable body, having ensured target motion
The life security of body.
Brief description
The executive item relationship frame figure of the intelligent braking control method that Fig. 1 provides for the present invention；
The intelligent braking control method schematic flow sheet that Fig. 2 provides for the present invention；
The environmental applications schematic diagram of the intelligent braking control method that Fig. 3 provides for the present invention；
Another environmental applications schematic diagram of the intelligent braking control method that Fig. 4 provides for the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention.
Refer to Fig. 1 and Fig. 2, the executive item relationship frame figure of the intelligent braking control method that Fig. 1 provides for the present invention；
The intelligent braking control method schematic flow sheet that Fig. 2 provides for the present invention.Specifically, the present embodiment provides a kind of target that is based on to transport
Kinetoplast and the intelligent braking control method of automobile Time Calculation, comprise the following steps：
101：Obtain target movable body present position data, first test the speed using the GPS locator that is arranged on target movable body
Sensor obtains target movable body present speed, Data write. module by described target movable body present position data and described
The write of target movable body present speed is arranged in the transponder on target movable body；
102：Obtain automobile present speed using the second tachogenerator being arranged on automobile, at least one reader sends wake-up
Signal makes the described transponder in its induction range enter working condition, and wherein said reader is arranged on automobile top, sensing
The longest distance of reaction of scope is predeterminable range threshold value, and predeterminable range threshold value is the distance to automobile top for the target movable body；
103：By the described target movable body present position data of storage and described mesh after described transponder entrance working condition
Mark movable body present speed is transferred to described reader；
104：Described reader will be current to the described target movable body present position data receiving and described target movable body
Speed is transferred to the processor being arranged on automobile；
105：Described processor obtains body of a motor car width, body of a motor car length and road electronic chart, to running car position
Put and positioned and the corresponding display in electronic chart by the location data of automobile, obtain automobile side from electronic chart to
The distance of nearly lane line, according to target movable body present position data calculate target movable body to described nearest lane line away from
From the distance of the distance of automobile side to nearest lane line and target movable body to described nearest lane line being added and draws target
Movable body to the first point of destination distance；Known target movable body is to the distance of the first point of destination, target movable body to vehicle top
The distance in portion, calculates automobile top to the distance of the first point of destination using Pythagorean theorem formula；By automobile top to the first mesh
The distance of point be added the distance drawing automobile tail to the first point of destination with body of a motor car length；Known target movable body is to
The distance of one point of destination, target movable body present speed, calculate target movable body according to distance Velocity Time formula and move to
Time needed for first point of destination；Known automobile top to the distance of the first point of destination, automobile present speed, according to distance speed
Time formula calculates automobile top and travels the time needed for the first point of destination；Wherein, body of a motor car width is equal to the first mesh
O'clock to the second point of destination distance, the second point of destination and another side of automobile are in same horizontal line；Known first purpose
O'clock to the distance of the second point of destination, target movable body present speed, target movable body is calculated according to distance Velocity Time formula
From the first point of destination to the second point of destination motion required time；Target movable body is moved to the time needed for the first point of destination
It is added from the first point of destination to the second point of destination motion required time with target movable body and show that target movable body moves to the
Time needed for two points of destination；Known automobile tail to the distance of the first point of destination, automobile present speed, during according to distance speed
Between formula calculate automobile tail and travel the time needed for the first point of destination；Judge that automobile top travels to the first point of destination institute
Whether the time t2 needing meets t1≤t2≤t4, and whether the time t5 that automobile tail travels needed for the first point of destination meets t1
≤ t5≤t4, wherein t1 move to the time needed for the first point of destination for target movable body, and t4 moves to for target movable body
Time needed for two points of destination, if meeting, described processor output brake signal gives the brake gear in automobile；
106：Described brake gear controls automobile automatically to carry out brake operation according to brake signal.
Wherein, described reader is two, is separately positioned on left end and the right-hand member of automobile top, the described reader of left end
When sensing described transponder, described transponder is located at the front left side of automobile；The described reader of right-hand member senses described response
During device, described transponder is located at the forward right side of automobile.
In the present embodiment, only target movable body is described for pet dog, in practical application, target movable body can be it
Its object, its need possesses has life and in motion.
Specifically, the GPS locator on target movable body obtains pet dog present position data d1, the first tachogenerator
Obtain pet dog present speed s1, Data write. module by described pet dog present position data d1 and described target movable body
Present speed s1 write is arranged in the transponder on target movable body.The second tachogenerator being arranged on automobile obtains vapour
Car present speed s2.
The described reader of left end is named as the first reader, the described reader of right-hand member is named as the second reader.
In conjunction with Fig. 1 Fig. 2 and with reference to Fig. 3, the environmental applications of the intelligent braking control method that Fig. 3 provides for the present invention are illustrated
Figure.When the first reader goes out wake-up signal and makes the described transponder in its induction range enter working condition, described transponder
Pet dog present position data d1 of storage and pet dog present speed s1 are transferred to the first reader, the first reader will
Pet dog present position data d1 receiving and pet dog present speed s1 are transferred to the processor being arranged on automobile.
Processor obtains body of a motor car width a1, body of a motor car length b1 and road electronic chart, to running car position
Put and positioned and the corresponding display in electronic chart by the location data of automobile, obtain automobile side from electronic chart to
Nearly lane line apart from a2, pet dog is calculated to the distance of described nearest lane line according to pet dog present position data d1
A3, automobile side to nearest lane line is drawn house pet apart from a2 with pet dog to described being added apart from a3 of nearest lane line
Canis familiaris L. is to the first point of destination apart from a4, i.e. a2+a3=a4.
Known pet dog to the first point of destination apart from a4, pet dog to automobile top apart from c1（First reader sense
Answer the longest distance of reaction of scope）, calculate automobile top to the first point of destination apart from b2 using Pythagorean theorem formula, its
In, a4 is right-angle side, and c1 is hypotenuse, and b2 is another right-angle side.
Automobile top to the first point of destination is added with body of a motor car length b1 apart from b2 and draws automobile tail to first
Point of destination apart from b3；Known pet dog to the first point of destination apart from a4, pet dog present speed s1, during according to distance speed
Between formula calculate pet dog and move to time t1, wherein t1=a4/s1 needed for the first point of destination.
Known automobile top to the first point of destination apart from b2, automobile present speed s2, according to distance Velocity Time formula
Calculate automobile top and travel time t2, t2=b2/s2 needed for the first point of destination.
Wherein, body of a motor car width a1 is equal to distance, the second point of destination and the automobile of the first point of destination to the second point of destination
Another side is in same horizontal line.
Known first point of destination to the second point of destination apart from a1, pet dog present speed s1, according to distance Velocity Time
Formula calculates time t3 needed for from the first point of destination to the second point of destination motion for the pet dog, wherein, t3=a1/s1.
Pet dog is moved to time t1 needed for the first point of destination with pet dog from the first point of destination to the second point of destination
The required time t3 of motion is added and show that pet dog moves to the time t4 needed for the second point of destination.
Known automobile tail to the first point of destination apart from b3, automobile present speed s2, according to distance Velocity Time formula
Calculate automobile tail and travel time t5 needed for the first point of destination, wherein, t5=b3/s2.
Judge whether the time t2 that automobile top travels needed for the first point of destination meets t1≤t2≤t4, and automobile tail
Whether the time needed for the first point of destination that travels meets t1≤t5≤t4, and wherein t1 moves to the first point of destination institute for pet dog
The time needing, t4 moves to the time needed for the second point of destination for pet dog, if meeting, described processor exports brake signal
Give the brake gear in automobile.
Wherein, as t1≤t2≤t4, it may be determined that for pet dog and automobile it may happen that bumping against, here during t1≤t5≤t4
In the case of, described processor output brake signal gives the brake gear in automobile, and described brake gear is according to brake signal control
Automobile carries out brake operation automatically, thus avoiding pet dog to be hit.
In conjunction with Fig. 1 Fig. 2 and with reference to Fig. 4, another environmental applications of the intelligent braking control method that Fig. 4 provides for the present invention are shown
It is intended to.Wherein, when the second reader goes out wake-up signal and makes the described transponder in its induction range enter working condition, described
Pet dog present position data d1 of storage and pet dog present speed s1 are transferred to the first reader by transponder, and first reads
Read device and the pet dog receiving present position data d1 and pet dog present speed s1 are transferred to the place being arranged on automobile
Reason device.
Wherein, the operation of described computing device is basically identical with above-mentioned, and difference is the change on direction, and here is not entered
Row repeats.
Above-described embodiment only technology design to illustrate the invention and feature, its objective is to allow the skill being familiar with this technical field
Art personnel will appreciate that present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalents done by spirit of the invention or modification, all should be included within the scope of the present invention.
Claims (2)
1. a kind of intelligent braking control method based on target movable body and automobile Time Calculation is it is characterised in that include following
Step：
Obtain target movable body present position data, first test the speed sensing using the GPS locator that is arranged on target movable body
Device obtains target movable body present speed, Data write. module by described target movable body present position data and described target
The write of movable body present speed is arranged in the transponder on target movable body；
Obtain automobile present speed using the second tachogenerator being arranged on automobile, at least one reader sends wake-up signal
The described transponder in its induction range is made to enter working condition, wherein said reader is arranged on automobile top, induction range
The longest distance of reaction be predeterminable range threshold value, predeterminable range threshold value be target movable body to automobile top distance；
The described target movable body present position data of storage and described target are transported after entering working condition by described transponder
Kinetoplast present speed is transferred to described reader；
Described reader is by the described target movable body present position data receiving and described target movable body present speed
It is transferred to the processor being arranged on automobile；
Described processor obtains body of a motor car width, body of a motor car length and road electronic chart, and running car position is entered
Row positioning the corresponding display in electronic chart by the location data of automobile, obtain automobile side to nearest car from electronic chart
The distance of diatom, calculates target movable body to the distance of described nearest lane line according to target movable body present position data,
The distance of automobile side to nearest lane line is added with the distance of target movable body to described nearest lane line and show that target is transported
Kinetoplast to the first point of destination distance；Known target movable body is to the distance of the first point of destination, target movable body to automobile top
Distance, calculate automobile top to the distance of the first point of destination using Pythagorean theorem formula；By automobile top to the first purpose
The distance of point is added the distance drawing automobile tail to the first point of destination with body of a motor car length；Known target movable body is to first
The distance of point of destination, target movable body present speed, calculate target movable body according to distance Velocity Time formula and move to
Time needed for one point of destination；Known automobile top to the distance of the first point of destination, automobile present speed, during according to distance speed
Between formula calculate automobile top and travel the time needed for the first point of destination；Wherein, body of a motor car width is equal to the first purpose
O'clock to the second point of destination distance, the second point of destination and another side of automobile are in same horizontal line；Known first point of destination
To distance, the target movable body present speed of the second point of destination, according to distance Velocity Time formula calculate target movable body from
First point of destination to the second point of destination motion required time；By target movable body move to time needed for the first point of destination with
Target movable body is added from the first point of destination to the second point of destination motion required time and show that target movable body moves to second
Time needed for point of destination；Known automobile tail to the distance of the first point of destination, automobile present speed, according to distance Velocity Time
Formula calculates automobile tail and travels the time needed for the first point of destination；Judge that automobile top travels to the first point of destination institute
Whether the time t2 needing meets t1≤t2≤t4, and whether the time t5 that automobile tail travels needed for the first point of destination meets t1
≤ t5≤t4, wherein t1 move to the time needed for the first point of destination for target movable body, and t4 moves to for target movable body
Time needed for two points of destination, if meeting, described processor output brake signal gives the brake gear in automobile；
Described brake gear controls automobile automatically to carry out brake operation according to brake signal.
2. a kind of intelligent braking control method based on target movable body and automobile Time Calculation according to claim 1,
It is characterized in that, described reader is two, is separately positioned on left end and the right-hand member of automobile top, the described reader sense of left end
When should arrive described transponder, described transponder is located at the front left side of automobile；The described reader of right-hand member senses described transponder
When, described transponder is located at the forward right side of automobile.
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| CN201610897033.XA CN106379298B (en) | 2016-10-14 | 2016-10-14 | Intelligent brake control method based on target moving body and automobile time calculation |
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| CN201610897033.XA CN106379298B (en) | 2016-10-14 | 2016-10-14 | Intelligent brake control method based on target moving body and automobile time calculation |
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| CN106379298B CN106379298B (en) | 2019-12-06 |
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Cited By (2)
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| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN114370476A (en) * | 2022-01-21 | 2022-04-19 | 广东工业大学 | Rapid active vibration reduction method for high-speed motion platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN114370476A (en) * | 2022-01-21 | 2022-04-19 | 广东工业大学 | Rapid active vibration reduction method for high-speed motion platform |
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