CN106891892A - A kind of method and system of vehicle traveling control - Google Patents
A kind of method and system of vehicle traveling control Download PDFInfo
- Publication number
- CN106891892A CN106891892A CN201510960400.1A CN201510960400A CN106891892A CN 106891892 A CN106891892 A CN 106891892A CN 201510960400 A CN201510960400 A CN 201510960400A CN 106891892 A CN106891892 A CN 106891892A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- controlled
- master control
- car
- spacing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004891 communication Methods 0.000 claims abstract description 78
- 230000006855 networking Effects 0.000 claims description 25
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 7
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 claims description 4
- 230000006870 function Effects 0.000 description 7
- 239000000203 mixture Substances 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000977 initiatory effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Abstract
The embodiment of the invention provides a kind of method and system of vehicle traveling control, many chassis include at least one master control vehicle and at least one controlled vehicle, car-mounted terminal is separately installed with the master control vehicle and controlled vehicle, the master control vehicle and controlled vehicle are constituted by communication network based on the car-mounted terminal；Described method includes：Vehicle data is set；The vehicle data includes setting spacing and setting speed；The setting spacing and setting speed are sent to controlled vehicle；The controlled vehicle is used for according to the spacing between setting spacing regulation and the master control vehicle, and, according to the setting speed automatic running.The embodiment of the present invention allows that controlled vehicle does not need the operation and control of driver, reaches the purpose of automatic Pilot.
Description
Technical field
The present invention relates to mobile communication technology field, more particularly to a kind of side of vehicle traveling control
Method and a kind of system of vehicle traveling control.
Background technology
With continuing to develop for automotive engineering, the popularization and application of intelligent transportation turns into hair important at present
One of exhibition trend.And the optimized integration of intelligent transportation is to realize the radio communication between car and car,
Driving great convenience can be given by radio communication.
In the modern life, as self-driving travel mode is increasingly popular, scale automobile cargo transport day
Gradually turn into trend, increasing vehicle selection forms a team to go on a journey.In the process of moving, between vehicle
Communication is kept in real time, and the individual vehicle being prevented from fleet loses contact, when indivedual in fleet
Vehicle is because traffic lights, travel speed are relatively slow, intercepted or traffic accident etc. by other vehicles
When various situations are fallen behind, the vehicle in fleet could in time know concrete condition, know vehicle of falling behind
Actual conditions such that it is able to be scheduled according to actual conditions, then, if the car in fleet
There is vehicle to fall behind, it is not required that later to look for vehicle of falling behind, be unlikely to because falling behind vehicle flower
Take very big time and efforts.
Therefore, realize that the radio communication between car and car is important problem, disclosure satisfy that and increasingly increase
Communication requirement long, so as to improve traffic efficiency, be human pilot it is current bring it is reliable and secure and
Multiple facility, makes journey more comfortable, while being also possible to bring more unexpected to human pilot
Function, for example control vehicle traveling.
The content of the invention
In view of the above problems, it is proposed that the present invention overcomes above mentioned problem or at least to provide one kind
Partly solve the above problems vehicle traveling control method and corresponding vehicle traveling control be
System.
It is described many according to one aspect of the present invention, there is provided a kind of method of vehicle traveling control
Chassis includes at least one master control vehicle and at least one controlled vehicle, the master control vehicle and quilt
Car-mounted terminal is separately installed with control vehicle, based on the car-mounted terminal by the master control vehicle and quilt
Control vehicle composition communication network；
Described method includes：
Vehicle data is set；The vehicle data includes setting spacing and setting speed；
The setting spacing and setting speed are sent to controlled vehicle；The controlled vehicle is used for root
According to the spacing between setting spacing regulation and the master control vehicle, and, according to the setting
Speed automatic running.
Alternatively, also include：
After the master control vehicle launch, obtain between the master control vehicle and the controlled vehicle
Spacing；
When the spacing between the master control vehicle and the controlled vehicle reaches setting spacing, send
Enabled instruction is to the controlled vehicle；The controlled vehicle is used to start using the enabled instruction.
Alternatively, global position system GPS is separately installed with the master control vehicle and controlled vehicle,
It is described obtain between master control vehicle and the controlled vehicle spacing the step of include：
The positional information of the master control vehicle is obtained based on the global position system GPS, and,
The positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
Alternatively, radar sensor is separately installed with the master control vehicle and controlled vehicle, it is described
The step of obtaining the spacing between master control vehicle and the controlled vehicle be：
Car between the master control vehicle and the controlled vehicle is obtained based on the radar sensor
Away from.
Alternatively, when the controlled vehicle reaches setting speed, will be according to the setting automatic row of speed
Sail；When the speed of the controlled vehicle changes, the automatic running is released.
Alternatively, also include：
Spacing between master control vehicle described in real-time monitoring and the controlled vehicle；
When the spacing between the master control vehicle and the controlled vehicle is unsatisfactory for setting spacing, to
The controlled vehicle sends the prompting message reminded and maintain safe distance.
Alternatively, the wireless communication module for carrying out radio communication is configured with the car-mounted terminal；
The car-mounted terminal includes master control car-mounted terminal and controlled car-mounted terminal, described based on the vehicle-mounted end
Hold that the mode of the master control vehicle and controlled vehicle composition communication network is as follows：
It is described when master control car-mounted terminal receives the networking request signal that controlled car-mounted terminal sends
Master control car-mounted terminal sends feedback signal to described by control vehicle-mounted end for the networking request signal
End；Wherein, the networking request signal includes the controlled terminal information of the controlled car-mounted terminal；
The feedback signal includes the main control terminal information of the master control car-mounted terminal；It is described by control vehicle-mounted
Terminal is used to preserve the main control terminal information；
The controlled terminal information is preserved in the master control car-mounted terminal；
The controlled terminal information is based on by the wireless communication module in the master control car-mounted terminal
Communication network is constituted with other car-mounted terminals.
According to another aspect of the present invention, there is provided a kind of system of vehicle traveling control, it is described many
Chassis includes at least one master control vehicle and at least one controlled vehicle, the master control vehicle and quilt
Car-mounted terminal is separately installed with control vehicle, based on the car-mounted terminal by the master control vehicle and quilt
Control vehicle composition communication network；
Described system includes：
Vehicle data setup module, is suitable to set vehicle data；The vehicle data includes setting car
Away from setting speed；
Vehicle data sending module, is suitable to for the setting spacing and setting speed to be sent to controlled car
；The controlled vehicle is used for according to the car between setting spacing regulation and the master control vehicle
Away from, and, according to the setting speed automatic running.
Alternatively, also include：
Spacing acquisition module, is suitable to after the master control vehicle launch, obtain the master control vehicle with
Spacing between the controlled vehicle；
Enabled instruction sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when reaching setting spacing, enabled instruction to the controlled vehicle is sent；The controlled vehicle is used for
Started using the enabled instruction.
Alternatively, global position system GPS is separately installed with the master control vehicle and controlled vehicle,
The spacing acquisition module includes：
First spacing acquisition submodule, is suitable to obtain the master based on the global position system GPS
The positional information of vehicle is controlled, and, the positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
Alternatively, radar sensor is separately installed with the master control vehicle and controlled vehicle, it is described
The step of obtaining the spacing between master control vehicle and the controlled vehicle be：
Second spacing acquisition submodule, is suitable to obtain the master control vehicle based on the radar sensor
And the spacing between the controlled vehicle.
Alternatively, when the controlled vehicle reaches setting speed, will be according to the setting automatic row of speed
Sail；When the speed of the controlled vehicle changes, the automatic running is released.
Alternatively, also include：
Spacing monitoring module, is suitable between master control vehicle described in real-time monitoring and the controlled vehicle
Spacing；
Prompting message sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when being unsatisfactory for setting spacing, the prompting message reminded and maintain safe distance is sent to the controlled vehicle.
Alternatively, the wireless communication module for carrying out radio communication is configured with the car-mounted terminal；
The car-mounted terminal includes master control car-mounted terminal and controlled car-mounted terminal, and described system also includes：
Networking initiation module, for receiving the group that controlled car-mounted terminal sends in master control car-mounted terminal
During net request signal, the master control car-mounted terminal sends feedback signal for the networking request signal
To the controlled car-mounted terminal；Wherein, the networking request signal includes described by control vehicle-mounted end
The controlled terminal information at end；The feedback signal includes the main control terminal of the master control car-mounted terminal
Information；The controlled car-mounted terminal is used to preserve the main control terminal information；
End message preserving module, for preserving the controlled terminal in the master control car-mounted terminal
Information；
Communication network comprising modules, in the master control car-mounted terminal by the radio communication mold
Block is based on the controlled terminal information and constitutes communication network with other car-mounted terminals.
A kind of method and system of vehicle traveling control of the invention, constitutes car between vehicle
Radio communication can be carried out based on car-mounted terminal between team, and vehicle, can be provided with fleet
Master control vehicle and controlled vehicle, master control vehicle can control the controlled vehicle to carry out automatic running.Specifically
For, the vehicle data of vehicle can be pre-set on master control vehicle, wherein vehicle data includes setting
Determine spacing and setting speed, then by communication between the car-mounted terminal on vehicle, will
Setting spacing and setting speed are sent to controlled vehicle so that controlled vehicle can be according to setting spacing
With setting speed automatic running, realize that controlled vehicle can not need the operation and control of driver,
Reach the purpose of automatic Pilot.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the present invention
Technological means, and can be practiced according to the content of specification, and in order to allow it is of the invention on
Stating can become apparent with other objects, features and advantages, below especially exemplified by specific reality of the invention
Apply mode.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantage and benefit for
Those of ordinary skill in the art will be clear understanding.Accompanying drawing is only used for showing preferred embodiment
Purpose, and it is not considered as limitation of the present invention.And in whole accompanying drawing, joined with identical
Examine symbol and represent identical part.In the accompanying drawings：
Fig. 1 shows that a kind of method of vehicle traveling control according to an embodiment of the invention is implemented
The step of example one flow chart；
Fig. 2 shows that a kind of method of vehicle traveling control according to an embodiment of the invention is implemented
The step of example two flow chart；And
Fig. 3 shows that a kind of system of vehicle traveling control according to an embodiment of the invention is implemented
The structured flowchart of example.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although in accompanying drawing
Show the exemplary embodiment of the disclosure, it being understood, however, that may be realized in various forms this
Disclosure by embodiments set forth here without that should be limited.Conversely, there is provided these embodiments be in order to
Can be best understood from the disclosure, and can by the scope of the present disclosure it is complete convey to ability
The technical staff in domain.
Reference picture 1, the method for showing a kind of vehicle traveling control according to an embodiment of the invention
The step of embodiment one flow chart, many chassis include at least one master control vehicle and at least one
Platform is controlled vehicle, car-mounted terminal is separately installed with the master control vehicle and controlled vehicle, based on institute
Car-mounted terminal is stated by the master control vehicle and controlled vehicle composition communication network；
Described method specifically may include steps of：
Step 101, sets vehicle data；The vehicle data includes setting spacing and setting speed；
Step 102, controlled vehicle is sent to by the setting spacing and setting speed；The controlled car
For according to it is described setting spacing regulation and the master control vehicle between spacing, and, according to
The setting speed automatic running.
In embodiments of the present invention, constituted between vehicle and can be based between fleet, and vehicle
Car-mounted terminal carries out radio communication, and master control vehicle and controlled vehicle, master control can be provided with fleet
Vehicle can control the controlled vehicle to carry out automatic running.Specifically, can be advance on master control vehicle
The vehicle data of vehicle is set, and wherein vehicle data includes setting spacing and setting speed, Ran Houche
By communication between car-mounted terminal on, setting spacing and setting speed are sent to
Controlled vehicle so that controlled vehicle can be realized according to setting spacing and setting speed automatic running
Controlled vehicle can not need the operation and control of driver, reach the purpose of automatic Pilot.
Reference picture 2, the method for showing a kind of vehicle traveling control according to an embodiment of the invention
The step of embodiment flow chart, many chassis include at least one master control vehicle and at least one
Controlled vehicle, is separately installed with car-mounted terminal, based on described on the master control vehicle and controlled vehicle
The master control vehicle and controlled vehicle are constituted communication network by car-mounted terminal；
Described method specifically may include steps of：
Step 201, after the master control vehicle launch, obtains the master control vehicle and the controlled car
Spacing between；
In one preferred embodiment of the invention, pacify respectively on the master control vehicle and controlled vehicle
Equipped with global position system GPS, the step 201 can include following sub-step：
Sub-step S11, the position of the master control vehicle is obtained based on the global position system GPS
Information, and, the positional information of the controlled vehicle；
Sub-step S12, is believed using the positional information of the master control vehicle and the position of the controlled vehicle
Breath calculates spacing.
In one preferred embodiment of the invention, pacify respectively on the master control vehicle and controlled vehicle
Equipped with radar sensor, the step 201 can include following sub-step：
Sub-step S21, the master control vehicle and the controlled vehicle are obtained based on the radar sensor
Between spacing.
In embodiments of the present invention, the spacing between two cars is true by GPS location or adaption radar
It is fixed.It is of course also possible to obtain the spacing between two cars, the embodiment of the present invention by other means
This is not any limitation as.
Step 202, when the spacing between the master control vehicle and the controlled vehicle reaches setting spacing
When, send enabled instruction to the controlled vehicle；The controlled vehicle is used to refer to using the startup
Order starts；
In embodiments of the present invention, master control vehicle can be allowed to travel in advance, master control vehicle will start to obtain
Take with the spacing between controlled vehicle, when the spacing between master control vehicle and controlled vehicle reaches setting
Spacing when, enabled instruction will be sent to the controlled vehicle, after being controlled vehicle receiver, will be according to finger
Order starts and travels, and follows after master control vehicle.
Step 203, sets vehicle data；The vehicle data includes setting spacing and setting speed；
Step 204, controlled vehicle is sent to by the setting spacing and setting speed；The controlled car
For according to it is described setting spacing regulation and the master control vehicle between spacing, and, according to
The setting speed automatic running.
In one preferred embodiment of the invention, when the controlled vehicle reaches setting speed,
Will be according to setting speed automatic running.
In embodiments of the present invention, controlled vehicle can be travelled after master control vehicle, and according to setting
Determine the spacing between spacing regulation and master control vehicle, wherein, when the speed of controlled vehicle reaches setting
After vehicle, it is possible to according to set speed automatic running.Driver may not necessarily step on acceleration
Pedal, so that mitigate the long-distance fatigue driven significantly, while at the uniform velocity traveling can also reduce fuel oil
Consumption.So, no matter how the automobile running resistance that wind-force and change in road slope cause changes,
As long as in the range of engine power permission, the speed of operation of controlled vehicle can keep constant.
During long-term high-speed driving, driver need it is long-term by right threading on accelerator pedal with
Speed of operation higher is maintained, and applies the embodiment of the present invention, can significantly reduce driver's
Burden, improves the comfortableness of traveling, in addition, supply and the engine power of vehicle fuel can be made
Between cooperation be in optimum state, effectively reduce fuel consumption, reduce the discharge of harmful gas.
In concrete application of the invention, during the traveling of fleet, the spacing between two cars
After meeting setting spacing, the speed of controlled vehicle can keep consistent with the speed of master control vehicle.
Step 205, the spacing between master control vehicle described in real-time monitoring and the controlled vehicle；
Step 206, when the spacing between the master control vehicle and the controlled vehicle is unsatisfactory for setting car
Away from when, the prompting message reminded and maintain safe distance is sent to the controlled vehicle.
In embodiments of the present invention, can with the spacing between real-time monitoring master control vehicle and controlled vehicle,
When the spacing between master control vehicle and controlled vehicle does not meet setting spacing, will be sent out to controlled vehicle
The prompting message for maintaining safe distance is sent, controlled vehicle then will adjust speed according to prompting message, by it
Adjusted to meeting setting spacing with the spacing between master control vehicle, when controlled vehicle speed and with
After spacing between master control vehicle meets setting spacing and setting speed, will continue to keep the setting car
Speed is travelled.It should be noted that the speed of controlled vehicle and with the car between master control vehicle
Away from, it is allowed to there is certain error with setting spacing and setting speed, as long as controlled vehicle is also by car
Speed and spacing control can be defined as meeting condition in the error range.
In a kind of preferred exemplary of the invention, setting speed and spacing can be adjustment or change
's.
In one preferred embodiment of the invention, when the speed of the controlled vehicle changes,
Release the automatic running.
In implementing, after controlled vehicle starts automatic Pilot, driver may not necessarily step on acceleration
Pedal, but can be control travel direction.After human pilot stepping on accelerator pedal, can release and drive automatically
Sail, and be no longer influenced by the control of master control vehicle.
In embodiments of the present invention there is provided the implementation that communication network is constituted between a kind of car-mounted terminal
Example, can be configured with the wireless communication module for carrying out radio communication on the car-mounted terminal；Institute
Stating car-mounted terminal includes current car-mounted terminal and other car-mounted terminals, and the car-mounted terminal can pass through
Following manner constitutes communication network：
It is described when master control car-mounted terminal receives the networking request signal that controlled car-mounted terminal sends
Master control car-mounted terminal sends feedback signal to described by control vehicle-mounted end for the networking request signal
End；Wherein, the networking request signal includes the controlled terminal information of the controlled car-mounted terminal；
The feedback signal includes the main control terminal information of the master control car-mounted terminal；It is described by control vehicle-mounted
Terminal is used to preserve the main control terminal information；
The controlled terminal information is preserved in the master control car-mounted terminal；
The controlled terminal information is based on by the wireless communication module in the master control car-mounted terminal
Communication network is constituted with other car-mounted terminals.
In embodiments of the present invention, the car-mounted terminal that can be based on being installed on vehicle is realized between vehicle
Radio communication.Assuming that the first car-mounted terminal is main control vehicle-mounted terminal, the second car-mounted terminal is controlled
Mounted terminal.
Specifically, the second car-mounted terminal is attempted and the first car by sending networking request signal first
Mounted terminal carries out wireless connection, wherein, the of the second car-mounted terminal is carried in networking request signal
Two end messages, after the first car-mounted terminal is received, will preserve second terminal information, and pin local
To networking request signal feedback signal, wherein, the of the first car-mounted terminal is carried in feedback signal
One end message, after the second car-mounted terminal is received, will preserve first terminal information, now local
First car-mounted terminal and the second car-mounted terminal networking success, the first car-mounted terminal and the second car-mounted terminal
Radio communication can be carried out according to first terminal information and second terminal information.
When the distance between vehicle data exceed predeterminable range data, then the communication between vehicle
May disconnect, or poor communications quality, now can also by trunking realize vehicle it
Between radio communication.Specifically, if detect the first car-mounted terminal and the second car-mounted terminal it
Between range data exceeded predeterminable range data, then search for vehicle-mounted with second in the first car-mounted terminal
Whether there is trunking between terminal, if in the presence of, the first car-mounted terminal connection trunking,
Then trunking reconnects the second car-mounted terminal, vehicle-mounted with second so as to realize the first car-mounted terminal
Communication connection between terminal.Then, when the first car-mounted terminal needs to be carried out with the second car-mounted terminal
During radio communication, it is possible to forward data by trunking, can vehicle distances farther out when,
Also high-quality communication can be provided, the communication mode diversification between vehicle.
Using the embodiment of the present invention, the exchange between vehicle can be carried out in vehicle travel process,
The driving situation of vehicle in fleet can in real time be known, the growing communication need of human pilot are met
Ask, be that the current of human pilot brings reliable and secure and multiple facility so as to improve traffic efficiency,
Make journey more comfortable, while being also possible to bring more unexpected functions to human pilot.
In a kind of preferred exemplary of concrete application of the present invention, it is assumed that certain fleet constitutes communication network,
So in the communication network that the car-mounted terminal of the fleet is constituted, the vehicle-mounted of navigator's vehicle is normally set up
Terminal undertakes data exchanging function, and the car-mounted terminal based on navigator's vehicle is realized vehicle-mounted in communication network
Radio communication between terminal.
It should be noted that navigator's vehicle in fleet can for one, or two or
Person more than two, the following vehicle in fleet similarly, can for one, or two or
Person more than two, the embodiment of the present invention is not any limitation as to this.
Using the embodiment of the present invention, communication network can be constituted between vehicle, then between vehicle
Just can be based on the traffic of communication network free exchange, weather, road conditions, pedestrian, periphery, parking etc.
Information, and real-time information interaction, payment are provided, are planned as a whole etc., it is widely used and meets demand.
Specifically, after communication network is constituted between vehicle, following scene can be realized：
1st, front road is blocked up, then vehicle above will be sent out real-time road data by communication network
Other vehicles are given, and for other vehicles provide reference.
2nd, there is accident, accident vehicle sends safety prompt function information and gives other vehicles by communication network,
It is for future reference that other vehicles can temporarily store accident image, or according to safety prompt function alarm etc..
3rd, self-driving travel constitutes interim fleet, and fleet vehicle information is locked by communication network, and in car
Real-time exchange position, traffic information between team member.
4th, for the vehicle condition monitor in real time in composition fleet and vehicle information management intellectuality.
5th, when automatic Pilot is realized, navigation vehicle can give the real-time letter of other vehicles in communication network
Cease the route plan of design optimization.And realize that large-scale optimizatoin is planned as a whole in emergency situations.
It should be noted that above-mentioned scene is only that some are simple after constituting communication network between vehicle
Application description example, implement the embodiment of the present invention when, can also be realized respectively by communication network
Facilitating functions is planted, the embodiment of the present invention is not any limitation as to this.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of action group
Close, but those skilled in the art should know, and the embodiment of the present invention is not acted by described
The limitation of order because according to the embodiment of the present invention, some steps can using other orders or
Carry out simultaneously.Secondly, those skilled in the art should also know, implementation described in this description
Example belongs to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Reference picture 3, the system for showing a kind of vehicle traveling control according to an embodiment of the invention
The structured flowchart of embodiment, many chassis include at least one master control vehicle and at least one quilt
Control vehicle, is separately installed with car-mounted terminal, based on the car on the master control vehicle and controlled vehicle
The master control vehicle and controlled vehicle are constituted communication network by mounted terminal；
Described system can specifically include such as lower module：
Vehicle data setup module 301, is suitable to set vehicle data；The vehicle data includes setting
Spacing and setting speed；
Vehicle data sending module 302, be suitable to by it is described setting spacing and setting speed be sent to it is controlled
Vehicle；The controlled vehicle is used for according between setting spacing regulation and the master control vehicle
Spacing, and, according to the setting speed automatic running.
In one preferred embodiment of the invention, also include：
Spacing acquisition module, is suitable to after the master control vehicle launch, obtain the master control vehicle with
Spacing between the controlled vehicle；
Enabled instruction sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when reaching setting spacing, enabled instruction to the controlled vehicle is sent；The controlled vehicle is used for
Started using the enabled instruction.
In one preferred embodiment of the invention, pacify respectively on the master control vehicle and controlled vehicle
Equipped with global position system GPS, the spacing acquisition module includes：
First spacing acquisition submodule, is suitable to obtain the master based on the global position system GPS
The positional information of vehicle is controlled, and, the positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
In one preferred embodiment of the invention, pacify respectively on the master control vehicle and controlled vehicle
Equipped with radar sensor, the step of spacing between the acquisition master control vehicle and the controlled vehicle
For：
Second spacing acquisition submodule, is suitable to obtain the master control vehicle based on the radar sensor
And the spacing between the controlled vehicle.
In one preferred embodiment of the invention, when the controlled vehicle reaches setting speed,
Will be according to setting speed automatic running；When the speed of the controlled vehicle changes, institute is released
State automatic running.
In one preferred embodiment of the invention, also include：
Spacing monitoring module, is suitable between master control vehicle described in real-time monitoring and the controlled vehicle
Spacing；
Prompting message sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when being unsatisfactory for setting spacing, the prompting message reminded and maintain safe distance is sent to the controlled vehicle.
In one preferred embodiment of the invention, it is configured with for carrying out nothing on the car-mounted terminal
The wireless communication module of line communication；The car-mounted terminal includes master control car-mounted terminal and by control vehicle-mounted end
End, described system also includes：
Networking initiation module, for receiving the group that controlled car-mounted terminal sends in master control car-mounted terminal
During net request signal, the master control car-mounted terminal sends feedback signal for the networking request signal
To the controlled car-mounted terminal；Wherein, the networking request signal includes described by control vehicle-mounted end
The controlled terminal information at end；The feedback signal includes the main control terminal of the master control car-mounted terminal
Information；The controlled car-mounted terminal is used to preserve the main control terminal information；
End message preserving module, for preserving the controlled terminal in the master control car-mounted terminal
Information；
Communication network comprising modules, in the master control car-mounted terminal by the radio communication mold
Block is based on the controlled terminal information and constitutes communication network with other car-mounted terminals.
For system embodiment, because it is substantially similar to embodiment of the method, so description
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
Provided herein algorithm and display not with any certain computer, virtual system or other set
It is standby intrinsic related.Various general-purpose systems can also be used together with based on teaching in this.According to upper
The description in face, the structure constructed required by this kind of system is obvious.Additionally, the present invention
It is not directed to any certain programmed language.It is understood that, it is possible to use various programming languages are realized herein
The present disclosure of description, and the description done to language-specific above is to disclose this hair
Bright preferred forms.
In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that
Embodiments of the invention can be put into practice in the case of without these details.In some instances,
Known method, structure and technology is not been shown in detail, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify during the disclosure and helping understands each inventive aspect
One or more, in above to the description of exemplary embodiment of the invention, it is of the invention each
Feature is grouped together into single embodiment, figure or descriptions thereof sometimes.However, simultaneously
The method of the disclosure should not be construed to reflect following intention：That is the present invention for required protection requirement
The more features of feature than being expressly recited in each claim.More precisely, as follows
As the claims in face reflect, inventive aspect is less than single implementation disclosed above
All features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in
The specific embodiment, wherein each claim are in itself as separate embodiments of the invention.
Those skilled in the art are appreciated that can enter to the module in the equipment in embodiment
Row adaptively changes and they is arranged on one or more equipment different from the embodiment
In.Module or unit or component in embodiment can be combined into a module or unit or component,
And multiple submodule or subelement or sub-component can be divided into addition.Except such spy
Levy and/or process or unit in it is at least some exclude each other outside, any combinations can be used
To all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) with
And all processes or unit of so disclosed any method or equipment are combined.Unless in addition
It is expressly recited, it is every disclosed in this specification (including adjoint claim, summary and accompanying drawing)
Individual feature can be replaced by the alternative features for providing identical, equivalent or similar purpose.
Although additionally, it will be appreciated by those of skill in the art that some embodiment bags described herein
Included some features in other embodiments are included rather than further feature, but different embodiments
The combination of feature means to be within the scope of the present invention and formed different embodiments.For example,
In the following claims, the one of any of embodiment required for protection can be with any
Combination use.
All parts embodiment of the invention can realize with hardware, or with one or more
The software module run on processor is realized, or is realized with combinations thereof.The technology of this area
Personnel should be appreciated that can in practice use microprocessor or digital signal processor (DSP)
Come some or all parts in the equipment for realizing vehicle traveling control according to embodiments of the present invention
Some or all functions.The present invention is also implemented as performing method as described herein
Some or all equipment or program of device (for example, computer program and computer journey
Sequence product).It is such to realize that program of the invention be stored on a computer-readable medium, or
Person can have the form of one or more signal.Such signal can be from internet website
Download is obtained, or is provided on carrier signal, or is provided in any other form.
It should be noted that above-described embodiment the present invention will be described is limited rather than to the present invention
Make, and those skilled in the art can design without departing from the scope of the appended claims
Go out alternative embodiment.In the claims, any reference symbol structure that will should not be located between bracket
Cause limitations on claims.Word "comprising" does not exclude the presence of not listed in the claims
Element or step.Word "a" or "an" before element do not exclude the presence of it is multiple this
The element of sample.The present invention can be by means of the hardware for including some different elements and by means of suitable
Realized when the computer of programming.If in the unit claim for listing equipment for drying, these dresses
Several in putting can be embodied by same hardware branch.Word first, second,
And third use does not indicate that any order.These words can be construed to title.
The embodiment of the invention discloses A1, a kind of method of vehicle traveling control, many chassis
Including at least one master control vehicle and at least one controlled vehicle, the master control vehicle and controlled vehicle
On be separately installed with car-mounted terminal, based on the car-mounted terminal by the master control vehicle and controlled vehicle
Composition communication network；
Described method includes：
Vehicle data is set；The vehicle data includes setting spacing and setting speed；
The setting spacing and setting speed are sent to controlled vehicle；The controlled vehicle is used for root
According to the spacing between setting spacing regulation and the master control vehicle, and, according to the setting
Speed automatic running.
A2, the method as described in claim A1, it is characterised in that also include：
After the master control vehicle launch, obtain between the master control vehicle and the controlled vehicle
Spacing；
When the spacing between the master control vehicle and the controlled vehicle reaches setting spacing, send
Enabled instruction is to the controlled vehicle；The controlled vehicle is used to start using the enabled instruction.
A3, the method as described in claim A1 or A2, it is characterised in that the master control vehicle
Be separately installed with global position system GPS on controlled vehicle, the acquisition master control vehicle with it is described
The step of spacing being controlled between vehicle, includes：
The positional information of the master control vehicle is obtained based on the global position system GPS, and,
The positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
A4, the method as described in claim A1 or A2, it is characterised in that the master control vehicle
With radar sensor, the acquisition master control vehicle and the controlled car are separately installed with controlled vehicle
The step of spacing between is：
Car between the master control vehicle and the controlled vehicle is obtained based on the radar sensor
Away from.
A5, the method as described in claim A1, it is characterised in that when the controlled vehicle reaches
During setting speed, will be according to setting speed automatic running；When the speed of the controlled vehicle becomes
During change, the automatic running is released.
A6, the method as described in claim A1 or A5, it is characterised in that also include：
Spacing between master control vehicle described in real-time monitoring and the controlled vehicle；
When the spacing between the master control vehicle and the controlled vehicle is unsatisfactory for setting spacing, to
The controlled vehicle sends the prompting message reminded and maintain safe distance.
A7, the method as described in claim A1, it is characterised in that configured on the car-mounted terminal
There is the wireless communication module for carrying out radio communication；The car-mounted terminal includes master control car-mounted terminal
With controlled car-mounted terminal, it is described based on the car-mounted terminal by the master control vehicle and controlled vehicle group
Mode into communication network is as follows：
It is described when master control car-mounted terminal receives the networking request signal that controlled car-mounted terminal sends
Master control car-mounted terminal sends feedback signal to described by control vehicle-mounted end for the networking request signal
End；Wherein, the networking request signal includes the controlled terminal information of the controlled car-mounted terminal；
The feedback signal includes the main control terminal information of the master control car-mounted terminal；It is described by control vehicle-mounted
Terminal is used to preserve the main control terminal information；
The controlled terminal information is preserved in the master control car-mounted terminal；
The controlled terminal information is based on by the wireless communication module in the master control car-mounted terminal
Communication network is constituted with other car-mounted terminals.
The embodiment of the invention also discloses B8, a kind of system of vehicle traveling control, many chassis
Include at least one master control vehicle and at least one controlled vehicle, the master control vehicle and controlled car
Car-mounted terminal is separately installed with, based on the car-mounted terminal by the master control vehicle and controlled car
Composition communication network；
Described system includes：
Vehicle data setup module, is suitable to set vehicle data；The vehicle data includes setting car
Away from setting speed；
Vehicle data sending module, is suitable to for the setting spacing and setting speed to be sent to controlled car
；The controlled vehicle is used for according to the car between setting spacing regulation and the master control vehicle
Away from, and, according to the setting speed automatic running.
B9, the system as described in claim B8, it is characterised in that also include：
Spacing acquisition module, is suitable to after the master control vehicle launch, obtain the master control vehicle with
Spacing between the controlled vehicle；
Enabled instruction sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when reaching setting spacing, enabled instruction to the controlled vehicle is sent；The controlled vehicle is used for
Started using the enabled instruction.
B10, the system as described in claim B8 or B9, it is characterised in that the master control car
And controlled vehicle on be separately installed with global position system GPS, the spacing acquisition module includes：
First spacing acquisition submodule, is suitable to obtain the master based on the global position system GPS
The positional information of vehicle is controlled, and, the positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
B11, the system as described in claim B8 or B9, it is characterised in that the master control vehicle
With radar sensor, the acquisition master control vehicle and the controlled car are separately installed with controlled vehicle
The step of spacing between is：
Second spacing acquisition submodule, is suitable to obtain the master control vehicle based on the radar sensor
And the spacing between the controlled vehicle.
B12, the system as described in claim B8, it is characterised in that when the controlled vehicle reaches
During to setting speed, will be according to setting speed automatic running；When the speed of the controlled vehicle occurs
During change, the automatic running is released.
B13, the system as described in claim B8 or B12, it is characterised in that also include：
Spacing monitoring module, is suitable between master control vehicle described in real-time monitoring and the controlled vehicle
Spacing；
Prompting message sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when being unsatisfactory for setting spacing, the prompting message reminded and maintain safe distance is sent to the controlled vehicle.
B14, the system as described in claim B8, it is characterised in that match somebody with somebody on the car-mounted terminal
It is equipped with the wireless communication module for carrying out radio communication；The car-mounted terminal includes master control vehicle-mounted end
End and controlled car-mounted terminal, described system also include：
Networking initiation module, for receiving the group that controlled car-mounted terminal sends in master control car-mounted terminal
During net request signal, the master control car-mounted terminal sends feedback signal for the networking request signal
To the controlled car-mounted terminal；Wherein, the networking request signal includes described by control vehicle-mounted end
The controlled terminal information at end；The feedback signal includes the main control terminal of the master control car-mounted terminal
Information；The controlled car-mounted terminal is used to preserve the main control terminal information；
End message preserving module, for preserving the controlled terminal in the master control car-mounted terminal
Information；
Communication network comprising modules, in the master control car-mounted terminal by the radio communication mold
Block is based on the controlled terminal information and constitutes communication network with other car-mounted terminals.
Claims (10)
1. a kind of method that vehicle traveling is controlled, many chassis include at least one master control vehicle
At least one controlled vehicle, car-mounted terminal is separately installed with the master control vehicle and controlled vehicle,
The master control vehicle and controlled vehicle are constituted by communication network based on the car-mounted terminal；
Described method includes：
Vehicle data is set；The vehicle data includes setting spacing and setting speed；
The setting spacing and setting speed are sent to controlled vehicle；The controlled vehicle is used for root
According to the spacing between setting spacing regulation and the master control vehicle, and, according to the setting
Speed automatic running.
2. the method for claim 1, it is characterised in that also include：
After the master control vehicle launch, obtain between the master control vehicle and the controlled vehicle
Spacing；
When the spacing between the master control vehicle and the controlled vehicle reaches setting spacing, send
Enabled instruction is to the controlled vehicle；The controlled vehicle is used to start using the enabled instruction.
3. method as claimed in claim 1 or 2, it is characterised in that the master control vehicle and quilt
Global position system GPS is separately installed with control vehicle, the acquisition master control vehicle is controlled with described
The step of spacing between vehicle, includes：
The positional information of the master control vehicle is obtained based on the global position system GPS, and,
The positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
4. method as claimed in claim 1 or 2, it is characterised in that the master control vehicle and quilt
Be separately installed with radar sensor on control vehicle, the acquisition master control vehicle and the controlled vehicle it
Between spacing the step of be：
Car between the master control vehicle and the controlled vehicle is obtained based on the radar sensor
Away from.
5. the method for claim 1, it is characterised in that set when the controlled vehicle reaches
When determining speed, will be according to setting speed automatic running；When the speed of the controlled vehicle changes
When, release the automatic running.
6. the method as described in claim 1 or 5, it is characterised in that also include：
Spacing between master control vehicle described in real-time monitoring and the controlled vehicle；
When the spacing between the master control vehicle and the controlled vehicle is unsatisfactory for setting spacing, to
The controlled vehicle sends the prompting message reminded and maintain safe distance.
7. the method for claim 1, it is characterised in that be configured with the car-mounted terminal
Wireless communication module for carrying out radio communication；The car-mounted terminal include master control car-mounted terminal and
Controlled car-mounted terminal, it is described to be constituted the master control vehicle and controlled vehicle based on the car-mounted terminal
The mode of communication network is as follows：
It is described when master control car-mounted terminal receives the networking request signal that controlled car-mounted terminal sends
Master control car-mounted terminal sends feedback signal to described by control vehicle-mounted end for the networking request signal
End；Wherein, the networking request signal includes the controlled terminal information of the controlled car-mounted terminal；
The feedback signal includes the main control terminal information of the master control car-mounted terminal；It is described by control vehicle-mounted
Terminal is used to preserve the main control terminal information；
The controlled terminal information is preserved in the master control car-mounted terminal；
The controlled terminal information is based on by the wireless communication module in the master control car-mounted terminal
Communication network is constituted with other car-mounted terminals.
8. a kind of system that vehicle traveling is controlled, many chassis include at least one master control vehicle
At least one controlled vehicle, car-mounted terminal is separately installed with the master control vehicle and controlled vehicle,
The master control vehicle and controlled vehicle are constituted by communication network based on the car-mounted terminal；
Described system includes：
Vehicle data setup module, is suitable to set vehicle data；The vehicle data includes setting car
Away from setting speed；
Vehicle data sending module, is suitable to for the setting spacing and setting speed to be sent to controlled car
；The controlled vehicle is used for according to the car between setting spacing regulation and the master control vehicle
Away from, and, according to the setting speed automatic running.
9. system as claimed in claim 8, it is characterised in that also include：
Spacing acquisition module, is suitable to after the master control vehicle launch, obtain the master control vehicle with
Spacing between the controlled vehicle；
Enabled instruction sending module, is suitable to when the car between the master control vehicle and the controlled vehicle
Away from when reaching setting spacing, enabled instruction to the controlled vehicle is sent；The controlled vehicle is used for
Started using the enabled instruction.
10. system as claimed in claim 8 or 9, it is characterised in that the master control vehicle and
Global position system GPS is separately installed with controlled vehicle, the spacing acquisition module includes：
First spacing acquisition submodule, is suitable to obtain the master based on the global position system GPS
The positional information of vehicle is controlled, and, the positional information of the controlled vehicle；
Using the positional information and the positional information calculation car of the controlled vehicle of the master control vehicle
Away from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960400.1A CN106891892A (en) | 2015-12-18 | 2015-12-18 | A kind of method and system of vehicle traveling control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960400.1A CN106891892A (en) | 2015-12-18 | 2015-12-18 | A kind of method and system of vehicle traveling control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891892A true CN106891892A (en) | 2017-06-27 |
Family
ID=59191345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510960400.1A Pending CN106891892A (en) | 2015-12-18 | 2015-12-18 | A kind of method and system of vehicle traveling control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106891892A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973929A (en) * | 2018-04-28 | 2018-12-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of control method for vehicle and system based on V2X |
| CN110505254A (en) * | 2018-05-16 | 2019-11-26 | 华为技术有限公司 | A kind of communication means, system and the terminal of platooning's traveling |
| CN110803164A (en) * | 2018-08-02 | 2020-02-18 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN110956160A (en) * | 2019-12-17 | 2020-04-03 | 陕西瑞特测控技术有限公司 | Navigation positioning method for fixed-distance driving |
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
-
2015
- 2015-12-18 CN CN201510960400.1A patent/CN106891892A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973929A (en) * | 2018-04-28 | 2018-12-11 | 惠州市德赛西威汽车电子股份有限公司 | A kind of control method for vehicle and system based on V2X |
| CN110505254A (en) * | 2018-05-16 | 2019-11-26 | 华为技术有限公司 | A kind of communication means, system and the terminal of platooning's traveling |
| CN110505254B (en) * | 2018-05-16 | 2020-11-06 | 华为技术有限公司 | Communication method, system and terminal for vehicle formation driving |
| CN110803164A (en) * | 2018-08-02 | 2020-02-18 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN110803164B (en) * | 2018-08-02 | 2021-04-20 | 长城汽车股份有限公司 | Vehicle distance control method and system of fleet and vehicle |
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
| CN110956160A (en) * | 2019-12-17 | 2020-04-03 | 陕西瑞特测控技术有限公司 | Navigation positioning method for fixed-distance driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109017782B (en) | Personalized autonomous vehicle ride characteristics | |
| US10317907B2 (en) | Systems and methods for obstacle avoidance and path planning in autonomous vehicles | |
| CN108062094B (en) | Autonomous system and method for realizing vehicle driving track planning based on processor | |
| CN108725446B (en) | Pitch angle compensation for autonomous vehicles | |
| US10322717B2 (en) | Expert mode for vehicles | |
| CN106891892A (en) | A kind of method and system of vehicle traveling control | |
| US20180164822A1 (en) | Systems and methods for autonomous vehicle motion planning | |
| EP3159853A1 (en) | Systems and methods for advanced driver assistance analytics | |
| CN109085820A (en) | The autonomous vehicle control loop and method of critical condition | |
| CN110271556A (en) | The control loop and control logic of the scene based on cloud planning of autonomous vehicle | |
| CN109813325A (en) | It can runway route planning | |
| US20180004215A1 (en) | Path planning of an autonomous vehicle for keep clear zones | |
| CN103209118B (en) | Car borne gateway equipment, for the communication system of vehicle with for the method that sends vehicle-relevant data collection | |
| CN105835882A (en) | Automatic vehicle traveling method and device | |
| CN107924633A (en) | Information processing equipment, information processing method and program | |
| CN110260872B (en) | Dynamic overtaking track planning system based on GPS under vehicle-road cooperative environment | |
| CN109871009A (en) | Autonomous vehicle emergency during failure communication pattern turns to configuration file | |
| CN110758401A (en) | Stop emergency plan during autonomous vehicle operation | |
| CN106895844A (en) | A kind of guidance path sharing method and device based on car-mounted terminal | |
| CN106899629A (en) | A kind of method and system of wagon control | |
| CN106900028A (en) | A kind of many chassis network-building methods and intelligent vehicle based on car-mounted terminal | |
| CN106898133A (en) | A kind of control method and system of many chassis | |
| CN113359724B (en) | Vehicle intelligent driving system and method based on unmanned aerial vehicle and storage medium | |
| CN106900078A (en) | A kind of many chassis network-building methods and intelligent vehicle based on mobile terminal | |
| CN106898132A (en) | The control method and device of a kind of many chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170627 |
|
| WD01 | Invention patent application deemed withdrawn after publication |