CN110316184A - Electric car doubling power steering deactivation system and method based on millimetre-wave radar - Google Patents
Electric car doubling power steering deactivation system and method based on millimetre-wave radar Download PDFInfo
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- CN110316184A CN110316184A CN201910578796.1A CN201910578796A CN110316184A CN 110316184 A CN110316184 A CN 110316184A CN 201910578796 A CN201910578796 A CN 201910578796A CN 110316184 A CN110316184 A CN 110316184A
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- vehicle
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- millimetre
- wave radar
- controller
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Classifications
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides electric car doubling power steering deactivation system and method based on millimetre-wave radar, rear view mirror blind zone is measured in real time by being mounted on from the millimetre-wave radar at left and right sides of vehicle rear, when detecting barrier to composition danger is travelled from vehicle, data processing controller issues instruction to prior-warning device and carries out early warning；When detecting that driver can generate dangerous with barrier to the operation from vehicle, data processing controller issues instruction to warning device and carries out warning note, while issuing alarm command to entire car controller；Entire car controller issues control instruction to electric hydraulic power-assisted steering system, and steering wheel power-assisted steering is made to fail.The present invention is operated without driver, it according to the information that radar sensor obtains, is executed by arriving electric hydraulic power-assisted steering system after each quasi-controller Decision Control, can actively intervene and turn in vehicle risk doubling, make vehicle driving trace control in safe range, stability is high.
Description
Technical field
The invention belongs to electric vehicle engineering fields, and in particular to the electric car doubling steering based on millimetre-wave radar helps
Power deactivation system and method.
Background technique
Currently, occurring all kinds of automobiles in the market due to the development of science and technology and to the continuous attention of automotive safety and actively pacifying
Complete and passive safety feature, in particular with net connectionization, intelligentized development, the continuous breakthrough and innovation of active safety technologies.It is based on
The blind area detection system (hereinafter referred to as BSD) of millimetre-wave radar is one kind of advanced DAS (Driver Assistant System), utilizes millimetre-wave radar
Always vehicle after real-time detection issues acousto-optic early warning to driver after radar controller (BECU) processing.But if driver point
The heart is interfered by other external factor so that driver ignores such warning information, due to lacking the information exchange with vehicle, is not had
Have and active control is carried out to the vehicle under dangerous driving status, not can avoid potential danger when doubling.It is existing to be based on millimeter
The doubling miscellaneous function of wave radar is still free on except full-vehicle control, cannot evade expected risk well, practicability is not
It is good.
Summary of the invention
In order to solve the above technical problems, the present invention provides the electric car doubling power steering mistakes based on millimetre-wave radar
System and method is imitated, by merging blind area detection sensor, entire car controller, electric hydraulic power-assisted steering system, improves vehicle
Carrying out the safety of doubling when driving.The present invention adopts the following technical scheme:
Electric car doubling power steering deactivation system based on millimetre-wave radar, comprising:
Millimetre-wave radar is two, is respectively arranged in from left and right sides of vehicle rear, for detecting at left and right sides of rear of vehicle
Whether there is barrier, and information is sent to controller in real time；
Data processing controller, receives and processes millimetre-wave radar data, and whether disturbance in judgement object travels composition to from vehicle
Danger, if so, data processing controller issues alarm command to prior-warning device；Received from vehicle travelling state, driver is judged
It is dangerous whether member can generate the operation from vehicle with barrier, if so, data processing controller is to warning device and vehicle control
Device processed issues alarm command；
Prior-warning device receives the alarm command that controller issues, for issuing early warning to driver；
Warning device receives the alarm command that controller issues, for issuing warning note to driver；
Entire car controller receives the alarm command that data processing controller issues, and is used for electric hydraulic power-assisted steering system
System issues control signal；
Electric hydraulic power-assisted steering system receives the control signal that controller issues, control steering wheel power-assisted steering failure.
Preferably, the electric hydraulic power-assisted steering system includes steering controller and electric power steering oil pump, described
Steering controller is used to for vehicle voltage being changed into the operating voltage of steering motor, and the electric power steering oil pump is used for will be low
Pressure turns to oil liquid and switchs to high pressure steering oil liquid；
When steering controller receives the control signal that entire car controller issues, steering controller no longer changes vehicle voltage
For the operating voltage of steering motor, the input of electric power steering oil pump no-voltage, electric hydraulic power-assisted steering system failure, direction
Disk is without power steering.
Preferably, it is perpendicular to the ground to be mounted on vehicle two sides of tail surface for the millimetre-wave radar, apart from ground level 40
~80cm, keeps 20 ° of angle of releases outward, and surface is covered without metal material.
Preferably, the prior-warning device is LED light, and the LED light is separately mounted to the A at left and right sides of car
On column, when data processing controller judges that rear obstacle travels composition danger to this vehicle, then side LED where barrier is controlled
Indicator light flashing issues early warning to driver.
Preferably, the warning device is voice siren device, is installed by pilot set in the car, when judgement drives
When personnel can generate dangerous with barrier to the operation from vehicle, control voice siren device issues audio alert prompt.
The invention also discloses the electric car doublings based on millimetre-wave radar to turn to Failure Control method, including walks as follows
It is rapid: rear view mirror blind zone being measured in real time by being mounted on from the millimetre-wave radar at left and right sides of vehicle rear, is hindered when detecting
When hindering object to composition danger is travelled from vehicle, data processing controller issues instruction to prior-warning device and carries out early warning；Work as detection
When can generate dangerous with barrier to the operation from vehicle to driver, data processing controller to warning device sending instruct into
Row warning note, while alarm command is issued to entire car controller；Entire car controller is issued to electric hydraulic power-assisted steering system
Control instruction makes steering wheel power-assisted steering fail.
Preferably, whether detection barrier travels composition danger to from vehicle method particularly includes: millimetre-wave radar obtains barrier
Hinder object and from the relative distance between vehicle, data processing controller receive the data that millimetre-wave radar transmission comes and handled,
If relative distance gradually becomes smaller, disturbance in judgement object approaches trend；Relative distance and preset safety distance threshold are carried out
Compare, if relative distance is less than threshold value, disturbance in judgement object travels this vehicle and constitutes danger.
Preferably, prior-warning device installation is in the car convenient for the left and right sides of driver's observation, if data processing controller is sentenced
When disconnected rear obstacle travels composition danger to this vehicle, then the prior-warning device of side issues early warning where controlling barrier.
Preferably, whether detection driver can generate the operation from vehicle dangerous with barrier method particularly includes: number
It is obtained according to processing controller and turns to modulating signal, if side steering indicating light installed unlatching where barrier, controlled warning device and carry out alarm and mention
Show, meanwhile, data processing controller issues alarm command to entire car controller.
Preferably, steering wheel power-assisted steering is made to fail method particularly includes: steering controller receives vehicle control unit controls
Vehicle voltage is no longer changed into the operating voltage of steering motor, electric power steering oil pump no-voltage by instruction, steering controller
Input, steering wheel power-assisted steering failure.
Beneficial effects of the present invention:
(1) apparatus of the present invention structure is simple, and integrated level is high, is turned by millimetre-wave radar, controller and electric hydaulic power-assisted
To the communication connection of system, environment sensing, control decision, the closed-loop control for executing processing are realized；
(2) control method of the invention is stablized effectively, by adjusting the electric hydraulic power-assisted steering at vehicle vehicle controller end
Control module software architecture can be realized, and increases information reception all the way and merges with the interaction of original control strategy, response is fast, precision
Height, environmental suitability are strong；
(3) present invention extends original warning function, turns in only warning function originally plus active control vehicle
To function, so that safety is higher；
(4) course changing control of the invention does not lock steering wheel by making electric hydraulic power-assisted steering fail to obtain, and drives
Member still can make steering wheel rotation energetically, prevent from turning to failure bring danger；
(5) full-vehicle steering system of the invention can carry out steering control according to script control strategy in no warning information
System can accomplish that system splits at any time and combines without influencing there are merging warning information when warning information to carry out course changing control
Its original function, stability is strong, and adaptability is high.
Detailed description of the invention
Attached drawing is used to provide to preferred understanding of the invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is system block diagram of the invention；
Fig. 2 is the schematic view of the mounting position of each sensor of the present invention and controller on vehicle；
Fig. 3 is work flow diagram of the invention.
In the figure, it is marked as 1, left side millimetre-wave radar；2, right side millimetre-wave radar；3, left side LED light；4, right side
LED light；5, voice siren device；6, data processing controller；7, entire car controller；8, steering controller；9, electronic to help
Power steering pump；10, pure electric bus.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing.
The invention discloses a kind of the electric car doubling power steering deactivation system based on millimetre-wave radar, main application
In pure electric bus 10, comprising:
Millimetre-wave radar is two, and left side millimetre-wave radar 1 and right side millimetre-wave radar 2 are respectively arranged in from vehicle rear
The left and right sides, it is perpendicular to the ground that millimetre-wave radar is mounted on vehicle two sides of tail surface, apart from 40~80cm of ground level, outward
Keep 20 ° of angle of releases, surface is covered without metal material, for detecting whether have barrier at left and right sides of rear of vehicle, and by information
It is sent to controller in real time；
Data processing controller 6, receives and processes millimetre-wave radar data, and whether disturbance in judgement object travels composition to from vehicle
Danger, if so, data processing controller 6 issues alarm command to prior-warning device；Received from vehicle travelling state, driver is judged
It is dangerous whether member can generate the operation from vehicle with barrier, if so, data processing controller 6 is to warning device and vehicle control
Device 7 processed issues alarm command；
Prior-warning device, the prior-warning device are LED light, and the LED light is separately mounted at left and right sides of car
A column on, be left side LED light 3 and right side LED light 4, convenient for driver observe, when data processing controller 6 judge
When rear obstacle travels composition danger to this vehicle, then LED light flashing in side where controlling barrier issues driver
Early warning receives the alarm command that controller issues, for issuing early warning to driver；
Warning device, the warning device are voice siren device 5, install by pilot set in the car, work as judgement
When driver can generate dangerous with barrier to the operation from vehicle, control voice siren device 5 issues audio alert prompt, connects
The alarm command that admission controller issues, for issuing warning note to driver；
Entire car controller 7 receives the alarm command that data processing controller 6 issues, and controls after setting suitable time-delay to steering
Device 8 processed issues control signal；
Electric hydraulic power-assisted steering system, the electric hydraulic power-assisted steering system include steering controller 8 and electronic help
Power steering pump 9, the steering controller 8 are used to for vehicle voltage being changed into the operating voltage of steering motor, described electronic to help
Power steering pump 9 is used to low pressure steering oil liquid switching to high pressure to turn to oil liquid；
When steering controller 8 receives the control signal that entire car controller 7 issues, steering controller 8 is no longer by vehicle voltage
It is changed into the operating voltage of steering motor, the input of 9 no-voltage of electric power steering oil pump, electric hydraulic power-assisted steering system loses
Effect, steering wheel is without power steering.
In an embodiment of the present invention, specific control method includes the following steps:
Step 1: environment sensing is detected in rear view mirror blind zone by being mounted on the millimetre-wave radar at left and right sides of vehicle rear
Whether there are obstacles, if so, the information that will test barrier is transmitted to data processing controller (BECU) 6；If it is not, then
Return to lasting detection；
Step 2: BECU receives the data that millimetre-wave radar transmission comes and is simultaneously handled, disturbance in judgement level in left side or
Whether right side, disturbance in judgement object approach trend, so that whether disturbance in judgement object, which travels this vehicle, constitutes danger；
Step 3: it if BECU, which judges that left back barrier travels this vehicle, constitutes danger, controls left side LED light and dodges
It is bright, early warning is issued to driver；If BECU, which judges that right back barrier travels this vehicle, constitutes danger, right side is controlled
LED light flashing issues early warning to driver；
Step 4: BECU detection turns to modulating signal, if left side LED light flashes, left steering lamp is opened, system judgement
There is left-hand rotation to be intended to, driver can generate danger with barrier to the operation from vehicle, then control voice siren device 5 and issue alarm
Prompt；
If right turn lamp is opened when right side LED light flashes, system judgement has right-hand rotation to be intended to, and driver is to from vehicle
Operation can be generated with barrier dangerous, then control voice siren device 5 and issue warning note；
Audio alert prompts simultaneously, and BECU sends alarm command to entire car controller (VCU) 7；
Step 5: if VCU does not receive BECU to the warning message issued, vehicle voltage is changed by steering controller 8
To the operating voltage of motor, electric power steering oil pump 9 has voltage input normal work, and low pressure steering oil liquid is switched to high pressure and is turned
To oil liquid, power steering is realized；
If VCU receives the warning message that BECU is issued, VCU issues control instruction, steering controller 8 to steering controller 8
Vehicle voltage is no longer changed into the operating voltage of steering motor, the input of 9 no-voltage of electric power steering oil pump, steering wheel power-assisted
Failure is turned to, driver is difficult to steering wheel rotation, is unable to complete lane-change steering operation；
Step 6: repeating the above steps, until backward barrier is not travelling composition danger to this vehicle.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.It is all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. the electric car doubling power steering deactivation system based on millimetre-wave radar characterized by comprising
Millimetre-wave radar is two, is respectively arranged in from left and right sides of vehicle rear, for whether detecting the rear of vehicle left and right sides
There is barrier, and information is sent to controller in real time；
Data processing controller receives and processes millimetre-wave radar data, and whether disturbance in judgement object travels composition danger to from vehicle,
If so, data processing controller issues alarm command to prior-warning device；Received from vehicle travelling state, judge driver to certainly
It is dangerous whether the operation of vehicle can generate with barrier, if so, data processing controller is sent out to warning device and entire car controller
Alarm command out；
Prior-warning device receives the alarm command that controller issues, for issuing early warning to driver；
Warning device receives the alarm command that controller issues, for issuing warning note to driver；
Entire car controller receives the alarm command that data processing controller issues, for sending out to electric hydraulic power-assisted steering system
Signal is controlled out；
Electric hydraulic power-assisted steering system receives the control signal that controller issues, control steering wheel power-assisted steering failure.
2. the electric car doubling power steering deactivation system according to claim 1 based on millimetre-wave radar, feature
It is, the electric hydraulic power-assisted steering system includes steering controller and electric power steering oil pump, the steering controller
For vehicle voltage to be changed into the operating voltage of steering motor, the electric power steering oil pump is used to low pressure turning to oil liquid
Switch to high pressure and turns to oil liquid；
When steering controller receives the control signal that entire car controller issues, vehicle voltage is no longer changed by steering controller
To the operating voltage of motor, the input of electric power steering oil pump no-voltage, electric hydraulic power-assisted steering system failure, steering wheel without
Power steering.
3. the electric car doubling power steering deactivation system according to claim 1 based on millimetre-wave radar, feature
It is, it is perpendicular to the ground that the millimetre-wave radar is mounted on vehicle two sides of tail surface, apart from 40~80cm of ground level, outward
20 ° of angle of releases are kept, surface is covered without metal material.
4. the electric car doubling power steering deactivation system according to claim 1 based on millimetre-wave radar, feature
It is, the prior-warning device is LED light, and the LED light is separately mounted on the A column at left and right sides of car, works as number
When judging that rear obstacle travels composition danger to this vehicle according to processing controller, then side LED light is dodged where controlling barrier
It is bright, early warning is issued to driver.
5. the electric car doubling power steering deactivation system according to claim 1 based on millimetre-wave radar, feature
It is, the warning device is voice siren device, is installed by pilot set in the car, when judging driver to from vehicle
Operation when can generate dangerous with barrier, control voice siren device issues audio alert prompt.
6. the electric car doubling based on millimetre-wave radar turns to Failure Control method, which comprises the steps of:
Rear view mirror blind zone is measured in real time by being mounted on from the millimetre-wave radar at left and right sides of vehicle rear, is hindered when detecting
When hindering object to composition danger is travelled from vehicle, data processing controller issues instruction to prior-warning device and carries out early warning；Work as detection
When can generate dangerous with barrier to the operation from vehicle to driver, data processing controller to warning device sending instruct into
Row warning note, while alarm command is issued to entire car controller；Entire car controller is issued to electric hydraulic power-assisted steering system
Control instruction makes steering wheel power-assisted steering fail.
7. the electric car doubling according to claim 6 based on millimetre-wave radar turns to Failure Control method, feature
Be, detection barrier whether to travelled from vehicle constitute it is dangerous method particularly includes: millimetre-wave radar obtain barrier with from vehicle
Between relative distance, data processing controller receive millimetre-wave radar transmission come data simultaneously handled, if relative distance
It gradually becomes smaller, then disturbance in judgement object approaches trend；Relative distance is compared with preset safety distance threshold, if relatively
Distance is less than threshold value, then disturbance in judgement object travels this vehicle and constitutes danger.
8. the electric car doubling according to claim 6 based on millimetre-wave radar turns to Failure Control method, feature
It is, prior-warning device installation is in the car convenient for the left and right sides of driver's observation, if data processing controller judges rear barrier
When object travels composition danger to this vehicle, then the prior-warning device of side issues early warning where controlling barrier.
9. the electric car doubling according to claim 6 based on millimetre-wave radar turns to Failure Control method, feature
It is, it is dangerous whether detection driver can generate the operation from vehicle with barrier method particularly includes: data processing and control
Device, which obtains, turns to modulating signal, if side steering indicating light installed unlatching where barrier, controls warning device and carries out warning note, meanwhile, number
Alarm command is issued to entire car controller according to processing controller.
10. the electric car doubling according to claim 6 based on millimetre-wave radar turns to Failure Control method, feature
It is, steering wheel power-assisted steering is made to fail method particularly includes: steering controller receives vehicle control unit controls instruction, turns to control
Vehicle voltage is no longer changed into the operating voltage of steering motor, the input of electric power steering oil pump no-voltage, steering wheel by device processed
Power-assisted steering failure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910578796.1A CN110316184A (en) | 2019-06-28 | 2019-06-28 | Electric car doubling power steering deactivation system and method based on millimetre-wave radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910578796.1A CN110316184A (en) | 2019-06-28 | 2019-06-28 | Electric car doubling power steering deactivation system and method based on millimetre-wave radar |
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| CN201910578796.1A Pending CN110316184A (en) | 2019-06-28 | 2019-06-28 | Electric car doubling power steering deactivation system and method based on millimetre-wave radar |
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| CN114620127A (en) * | 2022-04-12 | 2022-06-14 | 中国第一汽车股份有限公司 | Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium |
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| CN114620127A (en) * | 2022-04-12 | 2022-06-14 | 中国第一汽车股份有限公司 | Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium |
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Application publication date: 20191011 |