CN112339741A - Automatic driving implementation method - Google Patents
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- CN112339741A CN112339741A CN202011228782.6A CN202011228782A CN112339741A CN 112339741 A CN112339741 A CN 112339741A CN 202011228782 A CN202011228782 A CN 202011228782A CN 112339741 A CN112339741 A CN 112339741A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- 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
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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
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a method for implementing automatic driving, and relates to the technical field of automobile electronics. The automatic driving implementation method comprises a vehicle-mounted Ethernet switch machine, a central control domain, an automatic driving domain, a vehicle control domain and an intelligent cabin domain; the automatic driving domain consists of an LTE-V (Long term evolution-variable), a high-precision positioning device, a camera sensor, an ultrasonic sensor, a laser radar sensor, a millimeter wave radar sensor and an automatic driving domain controller; the vehicle control domain is composed of a power assembly, a multiplied CU, a chassis domain, a BMS control domain and a vehicle control domain controller. By designing an automatic driving execution unit in a vehicle control domain, the controller of each domain can control the running of the vehicle by transmitting a vehicle running advanced instruction through a vehicle-mounted Ethernet, and the automatic driving execution unit can automatically decompose the instruction after receiving the vehicle running advanced instruction and then control the ECU of each matched parameter of the vehicle, thereby controlling the running of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to an automatic driving implementation method.
Background
Self-driving automobiles (also known as unmanned automobiles, computer-driven automobiles or wheeled mobile robots) are intelligent automobiles which realize unmanned driving through a computer system; decades of history have been in the 20 th century, the 21 st century shows a trend of approaching to practical use, and the automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that a computer can automatically and safely operate the motor vehicle without any active operation of human. The automatic driving automobile uses a video camera, a radar sensor and a laser range finder to know the surrounding traffic conditions and navigate the road ahead through a detailed map (a map collected by a manned automobile); the automatic driving of the general automobile is implemented by means of machine vision artificial intelligence data fusion amount and matching with a high-precision map to make a path planning decision, and the implementation mode is generally that the steering, braking and driving of the automobile are directly controlled through a CAN bus of an ECU of a functional safety ASIL D.
In the automatic driving control of the operation of the vehicle, the parameters such as steering, braking and driving are different from one vehicle manufacturer to another, so that the details of each vehicle are required to be known if the automatic driving directly controls the operation of the vehicle, and thus, a lot of time is consumed for design and test; in addition, the existing automatic driving only can control the vehicle to automatically drive by designing an original program, can not control the vehicle to run by voice by utilizing human-computer interaction, and can not control the vehicle to run remotely by a remote command.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method for implementing automatic driving, which solves the problems that the running of the vehicle is controlled by the automatic driving, and the related parameters such as steering, braking, driving and the like are different from one vehicle manufacturer to another, so that the details of each vehicle are required to be known if the running of the vehicle is directly controlled by the automatic driving, and a great deal of time is consumed for designing and testing; and the existing automatic driving can only control the vehicle to carry out automatic driving by designing an original program, can not control the running of the vehicle by voice by utilizing human-computer interaction, and can not control the running of the vehicle remotely by a remote command.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an automatic driving implementation system comprises a vehicle-mounted Ethernet switch machine, a central control domain, an automatic driving domain, a vehicle control domain and an intelligent cabin domain;
the central control domain consists of a mobile internet, a solid state disk and a central control domain controller;
the automatic driving domain consists of an LTE-V (Long term evolution-variable), a high-precision positioning device, a camera sensor, an ultrasonic sensor, a laser radar sensor, a millimeter wave radar sensor and an automatic driving domain controller;
the vehicle control domain consists of a power assembly, a multiplied CU, a chassis domain, a BMS control domain and a vehicle control domain controller;
the intelligent cabin domain is composed of a camera, a GPS/Beidou, a HUD, an LTE, a video, a Wifi/Bluetooth/WSN, a human-computer interaction and an intelligent cabin domain controller.
Preferably, the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain are all domain controllers which independently work according to the change of the surrounding environment and can be controlled through a touch screen.
Preferably, the automatic driving execution unit decomposes the high-level vehicle operation instructions of each domain transmitted from the vehicle-mounted ethernet, and then controls the ECU matched with each parameter of the vehicle, so as to control the vehicle to operate, including three parts of steering, braking and driving.
Preferably, the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain are respectively connected with each domain through a vehicle-mounted ethernet.
The automatic driving implementation method comprises the following specific contents:
s1, firstly, an automobile manufacturer can make a vehicle operation protocol according to operation and control parameters of steering, braking and driving according to the characteristics of the product of the automobile manufacturer, and the vehicle operation protocol can be decomposed by an automatic driving execution unit;
s2, the automatic driving execution unit decomposes the vehicle operation high-level instructions of each domain transmitted by the vehicle-mounted Ethernet into various vehicle operation protocols after receiving the vehicle operation high-level instructions, and controls steering, braking and driving through a sub-domain of the vehicle operation protocols, so that the vehicle operation is controlled;
s3, the automatic driving domain senses, cognizes, fuses data and makes a decision on various position information of the vehicle through the LTE-V, high-precision positioning, the camera sensor, the ultrasonic sensor, the laser radar sensor and the millimeter wave radar sensor of the automatic driving domain, and sends the decision, namely a vehicle operation advanced instruction to the vehicle control domain through the vehicle-mounted Ethernet of the central gateway so as to automatically control the vehicle;
s4, the intelligent cabin domain realizes control over the vehicle through human-computer interaction, and the intelligent cabin domain can send the same instruction to control the vehicle to run through facilities such as a camera, a touch screen, Wifi/Bluetooth/WSN and the like;
and S5, the remote control sends the same instruction to the vehicle control domain through the mobile internet, the central control domain and the vehicle-mounted Ethernet, so that the required vehicle adjustment action is realized.
Advantageous effects
The invention provides a method for implementing automatic driving. The method has the following beneficial effects:
1. according to the method for implementing automatic driving, a human-computer interaction system is designed, human-computer interaction can be carried out in an intelligent cabin or the same command can be transmitted through remote control to control running of the vehicle, the control mode does not need to know details of each vehicle , a large amount of time is not needed to be consumed for design and test, and the method is convenient and fast to implement.
2. The method for implementing automatic driving comprises the steps that an automatic driving execution unit in a vehicle control domain is designed, a controller in each domain transmits a vehicle operation advanced instruction through a vehicle-mounted Ethernet to control the operation of a vehicle, and the automatic driving execution unit automatically decomposes the instruction after receiving the vehicle operation advanced instruction and controls an ECU (electronic control unit) matched with each parameter of the vehicle, so that the vehicle is controlled to operate, the working efficiency is greatly improved, and the method is worthy of wide popularization.
Drawings
Fig. 1 is a schematic diagram of a system control structure of an automatic driving implementation method according to the present invention.
Fig. 2 is a schematic structural diagram of an automatic driving implementation system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1-2, an embodiment of the present invention provides an automatic driving implementation system, which includes a vehicle-mounted ethernet interface unit, a central control domain, an automatic driving domain, a vehicle control domain, and an intelligent cabin domain;
the central control domain consists of a mobile internet, a solid state disk and a central control domain controller, and the central control domain consisting of the mobile internet, the solid state disk and the central control domain controller can transmit data through the 5G/4G module and the solid state disk;
the automatic driving domain comprises an LTE-V, high-precision positioning, a camera sensor, an ultrasonic sensor, a laser radar sensor, a millimeter wave radar sensor and an automatic driving domain controller, and the LTE-V, high-precision positioning, the camera sensor, the ultrasonic sensor, the laser radar sensor, the millimeter wave radar sensor and the automatic driving domain controller can monitor various position information and driving route information of the vehicle in the automatic driving process of the vehicle, so that the safety and the stability of the vehicle in the automatic driving process are ensured;
the vehicle control domain is mainly composed of a power assembly, an xCU, a chassis domain, a BMS control domain and a vehicle control domain controller, the vehicle control domain is used for automatically controlling an automatic driving part of the vehicle through the power assembly, the xCU, the chassis domain, the BMS control domain and the vehicle control domain controller, and the vehicle can be automatically driven in an unmanned state by controlling steering, braking and an accelerator of the vehicle;
intelligence passenger cabin domain is by the camera, GPS big dipper, HUD, LTE, video, Wifi bluetooth WSN, human-computer interaction and intelligent passenger cabin domain controller are constituteed, by the camera, GPS big dipper, HUD, LTE, video, Wifi bluetooth WSN, the intelligent passenger cabin domain that human-computer interaction and intelligent passenger cabin domain controller are constituteed, can be according to the needs of taking personnel, the running state and the operation track of autopilot vehicle are controlled through human-computer interaction, thereby make the human-computer interaction in the intelligent passenger cabin or remote control all can transmit the operation that the same order controlled the vehicle.
The central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain can independently work according to the change of the surrounding environment and can be controlled by a touch screen, and the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain can be remotely controlled by a system program and can also be controlled by the touch screen.
The automatic driving execution unit decomposes the high-grade vehicle operation instructions of each domain transmitted from the vehicle-mounted Ethernet and controls the matched ECU of each parameter of the vehicle, thereby controlling the vehicle to operate, including three parts of steering, braking and driving.
The central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain are respectively connected with the domains through vehicle-mounted Ethernet, the central gateway unit is connected with the vehicle-mounted Ethernet cross-connecting machine unit through a vehicle-mounted Ethernet mode, and the central gateway unit is connected with the vehicle-mounted Ethernet cross-connecting machine unit through the vehicle-mounted Ethernet mode, so that the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain can be controlled through the vehicle-mounted Ethernet cross-connecting machine unit.
The automatic driving implementation method comprises the following specific contents:
s1, firstly, an automobile manufacturer can make a vehicle operation protocol according to operation and control parameters of steering, braking and driving according to the characteristics of the product of the automobile manufacturer, and the vehicle operation protocol can be decomposed by an automatic driving execution unit;
s2, the automatic driving execution unit decomposes the vehicle operation high-level instructions of each domain transmitted by the vehicle-mounted Ethernet into various vehicle operation protocols after receiving the vehicle operation high-level instructions, and controls steering, braking and driving through a sub-domain of the vehicle operation protocols, so that the vehicle operation is controlled;
s3, the automatic driving domain senses, cognizes, fuses data and makes a decision on various position information of the vehicle through the LTE-V, high-precision positioning, the camera sensor, the ultrasonic sensor, the laser radar sensor and the millimeter wave radar sensor of the automatic driving domain, and sends the decision, namely a vehicle operation advanced instruction to the vehicle control domain through the vehicle-mounted Ethernet of the central gateway so as to automatically control the vehicle;
s4, the intelligent cabin domain realizes control over the vehicle through human-computer interaction, and the intelligent cabin domain can send the same instruction to control the vehicle to run through facilities such as a camera, a touch screen, Wifi/Bluetooth/WSN and the like;
and S5, the remote control sends the same instruction to the vehicle control domain through the mobile internet, the central control domain and the vehicle-mounted Ethernet, so that the required vehicle adjustment action is realized.
The automatic driving area, the central control area and the intelligent cabin area are all provided with vehicle-mounted touch screens, and the vehicle-mounted touch screens are all arranged in the automatic driving area, the central control area and the intelligent cabin area, so that passengers in the vehicle can control the vehicle or adjust information through the vehicle-mounted touch screens.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. An autonomous driving enforcement system, characterized by: the intelligent control system comprises a vehicle-mounted Ethernet switch, a central control domain, an automatic driving domain, a vehicle control domain and an intelligent cabin domain;
the central control domain consists of a mobile internet, a solid state disk and a central control domain controller;
the automatic driving domain consists of an LTE-V (Long term evolution-variable), a high-precision positioning device, a camera sensor, an ultrasonic sensor, a laser radar sensor, a millimeter wave radar sensor and an automatic driving domain controller;
the vehicle control domain consists of a power assembly, a multiplied CU, a chassis domain, a BMS control domain and a vehicle control domain controller;
the intelligent cabin domain is composed of a camera, a GPS/Beidou, a HUD, an LTE, a video, a Wifi/Bluetooth/WSN, a human-computer interaction and an intelligent cabin domain controller.
2. An autonomous driving enforcement system according to claim 1, characterized in that: the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain work independently according to the change of the surrounding environment and can be controlled through a touch screen.
3. An autonomous driving enforcement system according to claim 1, characterized in that: the automatic driving execution unit decomposes the high-level vehicle operation instructions of each domain transmitted from the vehicle-mounted Ethernet and controls the matched ECU of each parameter of the vehicle, thereby controlling the vehicle to operate, including three parts of steering, braking and driving.
4. An autonomous driving enforcement system according to claim 1, characterized in that: the central control domain, the automatic driving domain, the vehicle control domain and the intelligent cabin domain are respectively connected with each domain through a vehicle-mounted Ethernet.
5. A method of autonomous driving enforcement according to any of claims 1-4, characterized in that: the method comprises the following specific contents:
s1, firstly, an automobile manufacturer can make a vehicle operation protocol according to operation and control parameters of steering, braking and driving according to the characteristics of the product of the automobile manufacturer, and the vehicle operation protocol can be decomposed by an automatic driving execution unit;
s2, the automatic driving execution unit decomposes the vehicle operation high-level instructions of each domain transmitted by the vehicle-mounted Ethernet into various vehicle operation protocols after receiving the vehicle operation high-level instructions, and controls steering, braking and driving through a sub-domain of the vehicle operation protocols, so that the vehicle operation is controlled;
s3, the automatic driving domain senses, cognizes, fuses data and makes a decision on various position information of the vehicle through the LTE-V, high-precision positioning, the camera sensor, the ultrasonic sensor, the laser radar sensor and the millimeter wave radar sensor of the automatic driving domain, and sends the decision, namely a vehicle operation advanced instruction to the vehicle control domain through the vehicle-mounted Ethernet of the central gateway so as to automatically control the vehicle;
s4, the intelligent cabin domain realizes control over the vehicle through human-computer interaction, and the intelligent cabin domain can send the same instruction to control the vehicle to run through facilities such as a camera, a touch screen, Wifi/Bluetooth/WSN and the like;
and S5, the remote control sends the same instruction to the vehicle control domain through the mobile internet, the central control domain and the vehicle-mounted Ethernet, so that the required vehicle adjustment action is realized.
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| CN202011228782.6A CN112339741A (en) | 2020-11-06 | 2020-11-06 | Automatic driving implementation method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200002A (en) * | 2021-05-26 | 2021-08-03 | 上汽通用五菱汽车股份有限公司 | Active safety domain controller, control system and control method |
| CN113242311A (en) * | 2021-05-26 | 2021-08-10 | 北京理工大学 | Electric vehicle domain architecture network control automatic emergency brake control system and scheduling method thereof |
| CN113460085A (en) * | 2021-06-28 | 2021-10-01 | 东风汽车集团股份有限公司 | Service-oriented automatic driving network design and communication method and computer equipment |
| CN113799747A (en) * | 2021-09-30 | 2021-12-17 | 奇瑞新能源汽车股份有限公司 | Controller of intelligent driving automobile and intelligent driving automobile |
| CN113954866A (en) * | 2021-09-28 | 2022-01-21 | 英博超算(南京)科技有限公司 | Method for realizing automatic driving under condition of no lane line |
| CN114228638A (en) * | 2021-12-22 | 2022-03-25 | 东风悦享科技有限公司 | System and method for transmitting super data of vehicle end of L4-grade automatic driving vehicle |
| CN114655143A (en) * | 2022-04-22 | 2022-06-24 | 祝涛 | Electronic electrical appliance control system for vehicle and vehicle thereof |
| CN115497195A (en) * | 2022-08-09 | 2022-12-20 | 重庆长安汽车股份有限公司 | Data control system, method, device and medium for realizing driving record |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200002A (en) * | 2021-05-26 | 2021-08-03 | 上汽通用五菱汽车股份有限公司 | Active safety domain controller, control system and control method |
| CN113242311A (en) * | 2021-05-26 | 2021-08-10 | 北京理工大学 | Electric vehicle domain architecture network control automatic emergency brake control system and scheduling method thereof |
| CN113242311B (en) * | 2021-05-26 | 2022-02-11 | 北京理工大学 | Electric vehicle domain architecture network control automatic emergency brake control system and scheduling method thereof |
| CN113460085A (en) * | 2021-06-28 | 2021-10-01 | 东风汽车集团股份有限公司 | Service-oriented automatic driving network design and communication method and computer equipment |
| CN113954866A (en) * | 2021-09-28 | 2022-01-21 | 英博超算(南京)科技有限公司 | Method for realizing automatic driving under condition of no lane line |
| CN113799747A (en) * | 2021-09-30 | 2021-12-17 | 奇瑞新能源汽车股份有限公司 | Controller of intelligent driving automobile and intelligent driving automobile |
| CN114228638A (en) * | 2021-12-22 | 2022-03-25 | 东风悦享科技有限公司 | System and method for transmitting super data of vehicle end of L4-grade automatic driving vehicle |
| CN114655143A (en) * | 2022-04-22 | 2022-06-24 | 祝涛 | Electronic electrical appliance control system for vehicle and vehicle thereof |
| CN115497195A (en) * | 2022-08-09 | 2022-12-20 | 重庆长安汽车股份有限公司 | Data control system, method, device and medium for realizing driving record |
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