CN108327718B - A kind of Vehicle Adaptive Cruising Control Systems and its control method - Google Patents

A kind of Vehicle Adaptive Cruising Control Systems and its control method Download PDF

Info

Publication number
CN108327718B
CN108327718B CN201810125484.0A CN201810125484A CN108327718B CN 108327718 B CN108327718 B CN 108327718B CN 201810125484 A CN201810125484 A CN 201810125484A CN 108327718 B CN108327718 B CN 108327718B
Authority
CN
China
Prior art keywords
vehicle
data
cruise control
radar
herbaceous peony
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.)
Active
Application number
CN201810125484.0A
Other languages
Chinese (zh)
Other versions
CN108327718A (en
Inventor
周丰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xinzhixiang Technology Co.,Ltd.
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201810125484.0A priority Critical patent/CN108327718B/en
Publication of CN108327718A publication Critical patent/CN108327718A/en
Application granted granted Critical
Publication of CN108327718B publication Critical patent/CN108327718B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of Vehicle Adaptive Cruising Control Systems, including Chinese herbaceous peony radar and Chinese herbaceous peony camera, for detecting the object of vehicle front;Radar after vehicle, for detecting the object of rear of vehicle;Vehicle side radar, for detecting the object of vehicle side;Cruise control database, for storing cruise control strategy;Car running computer module acquires the real time running status data of vehicle, is controlled according to driving status of the cruise control strategy to vehicle;Data analysis module, for analyzing radar, vehicle side radar, Chinese herbaceous peony camera and the collected data of car running computer module after Chinese herbaceous peony radar, vehicle;Policy update module, the cruise control strategy for storing up to cruise control databases are updated;Policy update interface module provides the more new interface of cruise control strategy for policy update module.The present invention can improve the deficiencies in the prior art, reduce data processing amount, reduce the interdependency for data collection capacity and acquisition accuracy.

Description

A kind of Vehicle Adaptive Cruising Control Systems and its control method
Technical field
The present invention relates to Vehicular intelligent control technology field, especially a kind of Vehicle Adaptive Cruising Control Systems and its control Method processed.
Background technique
In recent years, with the development of artificial intelligence technology, the automatic Pilot technology of vehicle has obtained development at full speed, wherein Vehicle adaptive cruise (ACC) the automatic Pilot technology more universal as one, realizes volume production on a variety of vehicles.It is existing Vehicle Adaptive Cruising Control Systems, although control accuracy is higher, this is built upon a large amount of data collection and analysis On the basis of realize.Not only data processing amount is big, and very high for the accuracy interdependency of data acquisition, if external environment Data are acquired and there is interference, then will be greatly reduced the control accuracy of Vehicle Adaptive Cruising Control Systems.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of Vehicle Adaptive Cruising Control Systems and its control method, energy The deficiencies in the prior art are enough solved, data processing amount is not only reduced, and are reduced accurate for data collection capacity and acquisition The interdependency of degree.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of Vehicle Adaptive Cruising Control Systems, including,
Chinese herbaceous peony radar and Chinese herbaceous peony camera, for detecting the object of vehicle front;
Radar after vehicle, for detecting the object of rear of vehicle;
Vehicle side radar, for detecting the object of vehicle side;
Cruise control database, for storing cruise control strategy;
On the one hand car running computer module acquires the real time running status data of vehicle, on the other hand according to cruise control plan Slightly the driving status of vehicle is controlled;
Data analysis module, for radar, vehicle side radar, Chinese herbaceous peony camera and car running computer mould after Chinese herbaceous peony radar, vehicle The collected data of block are analyzed;
Policy update module, the cruise control strategy for storing up to cruise control databases are updated;
Policy update interface module provides the more new interface of cruise control strategy for policy update module.
A kind of control method of above-mentioned Vehicle Adaptive Cruising Control Systems, comprising the following steps:
A, the reality of radar after Chinese herbaceous peony radar, vehicle, vehicle side radar, Chinese herbaceous peony camera and car running computer module acquisition vehicle driving When data, and send data to data analysis module;
B, data analysis module analyzes data, and analysis result is sent to policy update module and policy update connects Mouth mold block;
C, the more new interface for the cruise control strategy that the selection of policy update interface module is carrying out, and set up strategy more Communication connection between new module and cruise control database;
D, policy update module is updated the cruise control strategy being carrying out by more new interface, then according to more New result is updated relevant cruise control strategies other in cruise control database;
E, car running computer module executes updated cruise control strategy.
Preferably, data analysis module carries out analysis to data and includes the following steps in step B,
B1, the data that Chinese herbaceous peony radar and Chinese herbaceous peony camera obtain are merged into fitting, for only in Chinese herbaceous peony radar or vehicle The data packet occurred in preceding camera carries out denoising, then erased noise data packet is imaged using Chinese herbaceous peony radar and Chinese herbaceous peony The vehicle side data and car running computer module that data, vehicle side radar obtain after Chinese herbaceous peony data that head obtains, the vehicle that radar obtains after vehicle The vehicle operation data of acquisition establishes vehicle-state set A, the A={ (a in time domain scale1, b1, c1, d1)…(an, bn, cn, dn), wherein anFor vehicle outside longitudinal direction state, bnFor vehicle outside transverse state, c1For vehicle running state, dnIt is adopted for state Collect the moment;
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2
B3, the objective function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting in fitting Weighted value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point.
Preferably, the selection method of more new interface is to calculate the priority of more new interface in step C, priority is selected Soprano be used as more new interface, if there is the interface of multiple equal priorities, select the smallest interface of more amount of new data as The calculation method of more new interface, priority f is,
F=L × t,
Wherein, L is interface at a distance from cruise control strategy execution real time position, and t is that the update of interface is delayed.
Preferably, in step D, for the related cruise control policy selections being not carried out other in cruise control database The smallest interface of more amount of new data is used as more new interface.
Brought beneficial effect is by adopting the above technical scheme: the present invention is by improving for cruise control strategy Update mode realizes the purpose for reducing data processing amount and improving control accuracy.By the pretreatment of the data to acquisition, Useless, approximate data are deleted or merge substitution, to effectively increase the validity of data.By establishing more New interface, may be implemented the flexible update of cruise control strategy, so that the actual effect of cruise control policy update is improved, so that more Cruise control strategy after new is more suitable actual vehicle running state.The present invention revolutionizes existing adaptive cruise control The data processing and self study process of system processed have very extensive application prospect, and low for hardware requirement, not will increase The hardware cost of vehicle.
Detailed description of the invention
Fig. 1 is the structure chart of a specific embodiment of the invention.
In figure: 1, Chinese herbaceous peony radar;2, radar after vehicle;3, vehicle side radar;4, Chinese herbaceous peony camera;5, cruise control database; 6, data analysis module;7, policy update module;8, policy update interface module;9, car running computer module.
Specific embodiment
Referring to Fig.1, a specific embodiment of the invention includes,
Chinese herbaceous peony radar 1 and Chinese herbaceous peony camera 4, for detecting the object of vehicle front;
Radar 2 after vehicle, for detecting the object of rear of vehicle;
Vehicle side radar 3, for detecting the object of vehicle side;
Cruise control database 5, for storing cruise control strategy;
On the one hand car running computer module 9 acquires the real time running status data of vehicle, on the other hand according to cruise control plan Slightly the driving status of vehicle is controlled;
Data analysis module 6, for radar 2, vehicle side radar 3, Chinese herbaceous peony camera 4 and driving electricity after Chinese herbaceous peony radar 1, vehicle The collected data of brain module 9 are analyzed;
Policy update module 7, for being updated to the cruise control strategy stored in cruise control database 5;
Policy update interface module 8 provides the more new interface of cruise control strategy for policy update module 7.
A kind of control method of above-mentioned Vehicle Adaptive Cruising Control Systems, comprising the following steps:
A, radar 2, vehicle side radar 3, Chinese herbaceous peony camera 4 and car running computer module 9 acquire vehicle row after Chinese herbaceous peony radar 1, vehicle The real time data sailed, and send data to data analysis module 6;
B, data analysis module 6 analyzes data, and analysis result is sent to policy update module 7 and policy update Interface module 8;
C, policy update interface module 8 selects the more new interface for the cruise control strategy being carrying out, and sets up strategy Communication connection between update module 7 and cruise control database 5;
D, policy update module 7 is updated the cruise control strategy being carrying out by more new interface, then basis Result is updated to be updated relevant cruise control strategies other in cruise control database 5;
E, car running computer module 9 executes updated cruise control strategy.
In step B, data analysis module 6 carries out analysis to data and includes the following steps,
B1, the data that Chinese herbaceous peony radar 1 and Chinese herbaceous peony camera 4 obtain are merged into fitting, for only in Chinese herbaceous peony radar 1 or The data packet occurred in Chinese herbaceous peony camera 4 carries out denoising, then erased noise data packet uses Chinese herbaceous peony radar 1 and Chinese herbaceous peony The vehicle side data and driving electricity that data, vehicle side radar 3 obtain after Chinese herbaceous peony data that camera 4 obtains, the vehicle that radar 2 obtains after vehicle The vehicle operation data that brain module 9 obtains establishes vehicle-state set A, the A={ (a in time domain scale1, b1, c1, d1)…(an, bn, cn, dn), wherein anFor vehicle outside longitudinal direction state, bnFor vehicle outside transverse state, c1For vehicle running state, dnFor The state acquisition moment;
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2
B3, the objective function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting in fitting Weighted value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point.
In step B1, the method for carrying out denoising to data packet is that data packet is decomposed into loop cycle portion and non-week Phase circulation portions;For loop cycle portion, Fourier decomposition is carried out, the high fdrequency component for being higher than frequency threshold is then deleted, for non- Loop cycle portion carries out ratio enlargement, and the part that then will be greater than amplitude thresholds carries out scaled down, is less than amplitude threshold Value;Then treated loop cycle portion and aperiodic tasks portion are merged.
In step C, the selection method of more new interface is to calculate the priority of more new interface, and highest priority person is selected to make For more new interface, if there is the interface of multiple equal priorities, select the smallest interface of more amount of new data as more new interface, The calculation method of priority f is,
F=L × t,
Wherein, L is interface at a distance from cruise control strategy execution real time position, and t is that the update of interface is delayed.
In step D, for the related cruise control policy selection more new datas being not carried out other in cruise control database 5 It measures the smallest interface and is used as more new interface.
Before updating cruise control strategy, the related cruise control strategy that is not carried out in cruise control database 5 it Between establish and update transmission function G, it is linearly related to update transmission function G and objective function F.
In step E, after car running computer module 9 executes updated cruise control strategy, adopted according to car running computer module 9 Collect the real time data of vehicle driving and the deviation of objective function F, carries out feedback modifiers to transmission function G is updated, guaranteeing more Under the premise of new transmission function G and objective function F is linearly related, make the deviation average of vehicle program traveling and objective function F Keep minimum.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear", The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute The orientation or positional relationship shown is merely for convenience of the description present invention, rather than the device or element of indication or suggestion meaning must There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (3)

1. a kind of control method of Vehicle Adaptive Cruising Control Systems, the Vehicle Adaptive Cruising Control Systems include,
Chinese herbaceous peony radar (1) and Chinese herbaceous peony camera (4), for detecting the object of vehicle front;
Radar (2) after vehicle, for detecting the object of rear of vehicle;
Vehicle side radar (3), for detecting the object of vehicle side;
Cruise control database (5), for storing cruise control strategy;
Car running computer module (9) on the one hand acquires the real time running status data of vehicle, on the other hand according to cruise control strategy The driving status of vehicle is controlled;
Data analysis module (6), for radar (2) after Chinese herbaceous peony radar (1), vehicle, vehicle side radar (3), Chinese herbaceous peony camera (4) and Car running computer module (9) collected data are analyzed;
Policy update module (7), for being updated to the cruise control strategy stored in cruise control database (5);
Policy update interface module (8) provides the more new interface of cruise control strategy for policy update module (7);
Characterized by the following steps:
A, radar (2), vehicle side radar (3), Chinese herbaceous peony camera (4) and car running computer module (9) acquisition after Chinese herbaceous peony radar (1), vehicle The real time data of vehicle driving, and send data to data analysis module (6);
B, data analysis module (6) analyzes data, and analysis result is sent to policy update module (7) and policy update Interface module (8);
Data analysis module (6) carries out analysis to data and includes the following steps,
B1, the data that Chinese herbaceous peony radar (1) and Chinese herbaceous peony camera (4) obtain are merged into fitting, for only in Chinese herbaceous peony radar (1) Or the data packet occurred in Chinese herbaceous peony camera (4) carries out denoising, then erased noise data packet uses Chinese herbaceous peony radar (1) The vehicle side that data, vehicle side radar (3) obtain after the Chinese herbaceous peony data that obtain with Chinese herbaceous peony camera (4), the vehicle that radar (2) obtains after vehicle The vehicle operation data that data and car running computer module (9) obtain establishes vehicle-state set A, the A={ (a in time domain scale1, b1, c1, d1)…(an, bn, cn, dn), wherein anFor vehicle outside longitudinal direction state, bnFor vehicle outside transverse state, c1For vehicle Driving status, dnFor the state acquisition moment;
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2
B3, the objective function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting weight in fitting Value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point
C, the more new interface for the cruise control strategy that policy update interface module (8) selection is carrying out, and set up strategy more Communication connection between new module (7) and cruise control database (5);
D, policy update module (7) is updated the cruise control strategy being carrying out by more new interface, then according to more New result is updated relevant cruise control strategies other in cruise control database (5);
E, car running computer module (9) executes updated cruise control strategy.
2. the control method of Vehicle Adaptive Cruising Control Systems according to claim 1, it is characterised in that: in step C, The selection method of more new interface is to calculate the priority of more new interface, selects highest priority person as more new interface, if occurring The interface of multiple equal priorities then selects the smallest interface of more amount of new data as more new interface, the calculation method of priority f For,
F=L × t,
Wherein, L is interface at a distance from cruise control strategy execution real time position, and t is that the update of interface is delayed.
3. the control method of Vehicle Adaptive Cruising Control Systems according to claim 2, it is characterised in that: in step D, The smallest interfaces of related cruise control policy selection more amount of new data being not carried out other in cruise control database (5) are made For more new interface.
CN201810125484.0A 2018-02-08 2018-02-08 A kind of Vehicle Adaptive Cruising Control Systems and its control method Active CN108327718B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810125484.0A CN108327718B (en) 2018-02-08 2018-02-08 A kind of Vehicle Adaptive Cruising Control Systems and its control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810125484.0A CN108327718B (en) 2018-02-08 2018-02-08 A kind of Vehicle Adaptive Cruising Control Systems and its control method

Publications (2)

Publication Number Publication Date
CN108327718A CN108327718A (en) 2018-07-27
CN108327718B true CN108327718B (en) 2019-11-19

Family

ID=62928527

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810125484.0A Active CN108327718B (en) 2018-02-08 2018-02-08 A kind of Vehicle Adaptive Cruising Control Systems and its control method

Country Status (1)

Country Link
CN (1) CN108327718B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114916078A (en) * 2019-06-27 2022-08-16 华为技术有限公司 Communication method and device
CN111038503B (en) * 2019-11-27 2022-04-29 苏州智加科技有限公司 Vehicle adaptive cruise control method, device, vehicle and storage medium
CN112224204A (en) * 2020-10-12 2021-01-15 坤泰车辆系统(常州)有限公司 Multi-perception fusion multi-interface compatible automobile intelligent cruise control system and method

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202641690U (en) * 2012-05-15 2013-01-02 王伟东 Auxiliary driving adaptive cruise control system for drivers
CN103318176A (en) * 2013-06-28 2013-09-25 郑州宇通客车股份有限公司 Coach self-adaptive cruise control system and control method thereof
CN103381826A (en) * 2013-07-31 2013-11-06 中国人民解放军国防科学技术大学 Adaptive cruise control method based on approximate policy iteration
CN103813952A (en) * 2011-09-06 2014-05-21 沃尔沃拉斯特瓦格纳公司 Equipment and method for adapting a cruise control system in a vehicle
CN105172791A (en) * 2015-10-30 2015-12-23 东风汽车公司 Smart self-adaptive cruise control method
CN106004875A (en) * 2015-03-30 2016-10-12 通用汽车环球科技运作有限责任公司 Adaptive cruise control system
CN106143490A (en) * 2015-04-07 2016-11-23 上海汽车集团股份有限公司 Adaptive cruise control method and device
US9545931B1 (en) * 2015-09-23 2017-01-17 International Business Machines Corporation Automated setting of cruising speeds
CN106828490A (en) * 2015-12-03 2017-06-13 成都九十度工业产品设计有限公司 A kind of automobile intelligent cruise control method
CN106828491A (en) * 2015-12-03 2017-06-13 成都九十度工业产品设计有限公司 A kind of automobile intelligent cruise control system and its control method
CN107200017A (en) * 2017-05-22 2017-09-26 北京联合大学 A kind of automatic driving vehicle control system based on deep learning

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103813952A (en) * 2011-09-06 2014-05-21 沃尔沃拉斯特瓦格纳公司 Equipment and method for adapting a cruise control system in a vehicle
CN202641690U (en) * 2012-05-15 2013-01-02 王伟东 Auxiliary driving adaptive cruise control system for drivers
CN103318176A (en) * 2013-06-28 2013-09-25 郑州宇通客车股份有限公司 Coach self-adaptive cruise control system and control method thereof
CN103381826A (en) * 2013-07-31 2013-11-06 中国人民解放军国防科学技术大学 Adaptive cruise control method based on approximate policy iteration
CN106004875A (en) * 2015-03-30 2016-10-12 通用汽车环球科技运作有限责任公司 Adaptive cruise control system
CN106143490A (en) * 2015-04-07 2016-11-23 上海汽车集团股份有限公司 Adaptive cruise control method and device
US9545931B1 (en) * 2015-09-23 2017-01-17 International Business Machines Corporation Automated setting of cruising speeds
CN105172791A (en) * 2015-10-30 2015-12-23 东风汽车公司 Smart self-adaptive cruise control method
CN106828490A (en) * 2015-12-03 2017-06-13 成都九十度工业产品设计有限公司 A kind of automobile intelligent cruise control method
CN106828491A (en) * 2015-12-03 2017-06-13 成都九十度工业产品设计有限公司 A kind of automobile intelligent cruise control system and its control method
CN107200017A (en) * 2017-05-22 2017-09-26 北京联合大学 A kind of automatic driving vehicle control system based on deep learning

Also Published As

Publication number Publication date
CN108327718A (en) 2018-07-27

Similar Documents

Publication Publication Date Title
CN108327718B (en) A kind of Vehicle Adaptive Cruising Control Systems and its control method
CN110991272B (en) Multi-target vehicle track recognition method based on video tracking
CN108256577B (en) Obstacle clustering method based on multi-line laser radar
CN106093946B (en) A kind of target condensing method and device suitable for scene surveillance radar
CN100585622C (en) Human body tracing method based on gauss hybrid models
CN110363355B (en) Cloud-edge collaborative forecasting system and method for alumina production index
CN106251704A (en) Ship track prediction method
CN112734809B (en) On-line multi-pedestrian tracking method and device based on Deep-Sort tracking framework
CN106228569A (en) A kind of fish speed of moving body detection method being applicable to water quality monitoring
CN104331623A (en) Self-adaptive target tracking information filtering algorithm of maneuvering strategies
CN103810393A (en) Electrocardial waveform feature point locating method based on electrocardial vectors
CN108569297A (en) A kind of recognition methods of vehicle driving-cycle and system
CN107392938A (en) A kind of sparse tracking of structure based on importance weighting
CN109118516A (en) A kind of target is from moving to static tracking and device
CN109947115A (en) Mower control system and control method thereof
CN111352419A (en) Path planning method and system for updating experience playback cache based on time sequence difference
CN111367901B (en) Ship data denoising method
CN104504934B (en) Navigation traffic control method
CN104504935B (en) Navigation traffic control method
Wang et al. Accurate real-time ship target detection using Yolov4
CN117173888A (en) Data-driven-based hybrid vehicle queue performance index online evaluation method
Yang et al. Behavior recognition and fuel consumption prediction of tractor sowing operations using smartphone
CN111382688A (en) Traffic police gesture recognition method based on cloud communication and support vector machine
CN112465865A (en) Multi-target tracking method based on background modeling and IoU matching
Du et al. A Vision-based Taillight Intention Detection Method for Intelligent and Connected Vehicles

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20191023

Address after: 100082 State Intellectual Property Office, No. 6, Xitucheng Road, Haidian District, Beijing

Applicant after: Wang Yong

Address before: 124117 Group 2, Xihui Village, Shaling Town, Panshan County, Panjin City, Liaoning Province

Applicant before: Zhou Feng

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20230421

Address after: Room 2-1605c, 13th Floor, Building 1, No. 168 Guang'anmenwai Street, Xicheng District, Beijing, 100055

Patentee after: Beijing Xinzhixiang Technology Co.,Ltd.

Address before: China National Intellectual Property Administration, No. 6, Xitucheng Road, Haidian District, Beijing 100082

Patentee before: Wang Yong

TR01 Transfer of patent right