CN113697124B - Intelligent trailer and method for towing aircraft by using same - Google Patents
Intelligent trailer and method for towing aircraft by using same Download PDFInfo
- Publication number
- CN113697124B CN113697124B CN202111002110.8A CN202111002110A CN113697124B CN 113697124 B CN113697124 B CN 113697124B CN 202111002110 A CN202111002110 A CN 202111002110A CN 113697124 B CN113697124 B CN 113697124B
- Authority
- CN
- China
- Prior art keywords
- trailer
- angle
- turntable
- aircraft
- controlling
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/225—Towing trucks
- B64F1/227—Towing trucks adapted for directly connecting to aircraft, e.g. trucks without tow-bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/24—Adaptations of turntables
Abstract
The invention discloses an intelligent trailer and a method for towing an airplane by using the same. The intelligent trailer comprises wheels, a vehicle body, a turntable, pedals, a signal acquisition module and an automatic control system; the turntable is rotationally connected with the vehicle body; the pedal is fixedly connected with the vehicle body and extends to the ground from the edge of the turntable in an inclined way; the turntable is provided with a baffle, and the baffle adopts a wheel holding mode to fix the front wheel of the airplane on the turntable; a signal acquisition module comprising: the angle sensor is arranged on the turntable, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the turntable, and the acceleration sensor is used for detecting the acceleration of the trailer; and the automatic control system is used for controlling the trailer to move forward and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor. The invention realizes the landing corridor bridge of the airplane and the delivery before departure and take-off through the intelligent trailer, and avoids the consumption of fuel oil of the engine of the airplane.
Description
Technical Field
The invention relates to the field of ground movement of an airplane, in particular to an intelligent trailer and a method for towing the airplane by using the intelligent trailer.
Background
At present, an engine is needed to be used as power to slide the aircraft to a designated position before the aircraft lands on a landing corridor bridge and goes out of a field to take off, but the running of the engine consumes fuel oil and does not meet the requirements of energy conservation and emission reduction. In order to save energy and reduce emission, the aircraft can be dragged by adopting the trailer before landing and landing the corridor bridge and taking off from the ground, but how to enable the trailer to run according to the intention of a driver is not related in the prior art.
Disclosure of Invention
The invention aims to provide an intelligent trailer and a method for towing an aircraft by using the intelligent trailer so as to avoid oil consumption of an engine of the aircraft.
In order to achieve the above object, the present invention provides the following solutions:
an intelligent trailer comprises wheels, a vehicle body, a turntable, pedals, a signal acquisition module and an automatic control system;
the turntable is rotationally connected with the vehicle body;
the pedal is fixedly connected with the vehicle body and extends to the ground from the edge of the turntable in an inclined manner;
the turntable is provided with a baffle, and the baffle adopts a wheel holding mode to fix the front wheel of the airplane on the turntable;
the signal acquisition module comprises: the angle sensor is arranged on the turntable, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the turntable, and the acceleration sensor is used for detecting the acceleration of the trailer;
the automatic control system is electrically connected with the signal acquisition module and is used for controlling the trailer to move forward and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor.
Optionally, the automatic control system specifically includes:
the starting control module is used for controlling the trailer to move forward when the trailer is in a static state currently and the angle information from the angle sensor meets the preset condition; the preset conditions include: the angle information indicates a first angle of the front wheel swing of the aircraft, which is larger than a preset value;
the turning control module is used for controlling the trailer to turn in a direction counteracting the second angle when the trailer is in a non-stationary state currently and the angle information from the angle sensor indicates that the trailer rotates to the left or the right by the second angle;
and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that backward acceleration is generated.
Optionally, the intelligent trailer further comprises a wireless communication module for wireless communication with the aircraft.
Optionally, the start control module is further configured to control the towing vehicle to move forward when receiving the wireless signal of the aircraft, including a trailer start command.
Optionally, the parking control module is further configured to control parking of the trailer when the wireless signal of the aircraft is received, including a trailer parking instruction.
Optionally, the intelligent trailer further includes: the push rod mechanism is fixedly connected with the vehicle body and is used for pushing the front wheel of the airplane so as to enable the front wheel of the airplane to move onto the turntable through the pedal.
Optionally, the baffle comprises a first rod and a second rod, and the first rod and the second rod are used for clamping and fixing the front wheel of the aircraft on the turntable;
one end of the second rod piece is rotationally connected with the first rod piece, the other end of the second rod piece can rotate around a connecting point, and the connecting point is a rotational connecting point of one end of the second rod piece and the first rod piece.
Optionally, the method is applied to the intelligent trailer provided by the invention, and the method comprises the following steps:
when the intelligent trailer is in a static state at present and the angle information from the angle sensor meets the preset condition, controlling the trailer to move forward; the preset conditions include: the angle information indicates a first angle of the front wheel swing of the aircraft greater than a preset value;
when the intelligent trailer is in a non-stationary state currently and the angle information from the angle sensor indicates that the intelligent trailer rotates to the left or the right by a second angle, controlling the trailer to turn in a direction counteracting the second angle;
when acceleration information from the receiving sensor indicates that a backward acceleration is generated, the trailer is controlled to stop.
Optionally, the method further comprises:
and when the wireless signal of the aircraft comprises a trailer starting instruction, controlling the trailer to move forward.
Optionally, the method further comprises:
and controlling the trailer to stop when the wireless signal of the aircraft is received and comprises a trailer stopping instruction.
According to the specific embodiment provided by the invention, the following technical effects are disclosed: this application has set up the carousel of being connected with trailer automobile body rotation on the trailer to set up angle sensor on the carousel, simultaneously, this application has still set up acceleration sensor on the trailer. When the aircraft is dragged, the front wheel of the aircraft is fixed on the turntable, the pilot transmits the movement intention of the aircraft by controlling the rotation of the front wheel of the aircraft and braking the aircraft, and the automatic control system of the trailer determines the movement intention according to the angle information acquired by the angle sensor and the acceleration information acquired by the acceleration sensor and controls the forward movement, turning and stopping of the trailer based on the movement intention. The aircraft can move before landing and stopping the corridor bridge and taking off from the ground through the trailer, an aircraft engine is not required to be started, and oil consumption of the aircraft engine is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an intelligent trailer according to an embodiment of the present invention.
Detailed Description
In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first wireless communication module and the second wireless communication module are merely for distinguishing different wireless communication modules, and the order of the different wireless communication modules is not limited. Those skilled in the art will appreciate that the words "first," "second," and the like do not limit the number and order of execution.
In this application, the terms "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to reduce fuel consumption and waste emission, the aircraft is towed to a designated position by adopting the trailer after the aircraft falls and before the aircraft slides out, and an aircraft engine is not required to be started.
The invention aims to provide an intelligent trailer and a method for towing an airplane by using the same.
Referring to fig. 1, the intelligent trailer comprises wheels 9, a vehicle body 8, a turntable 4, pedals 1, a signal acquisition module and an automatic control system. The turntable 4 is rotationally connected with the vehicle body 8, and the pedal 1 is fixedly connected with the vehicle body 8. The pedals 1 extend obliquely from a part of the edge of the turntable 4 to the ground.
The turntable is provided with a baffle plate, and the baffle plate adopts a wheel holding mode to fix the front wheel of the airplane on the turntable.
A signal acquisition module comprising: the angle sensor is arranged on the turntable 4, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the turntable 4 and the acceleration sensor is used for detecting the acceleration of the trailer.
And the automatic control system is electrically connected with the signal acquisition module and is used for controlling the trailer to move forward and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor.
In some embodiments, the intelligent trailer further comprises: and the push rod mechanism 2 is fixedly connected with the vehicle body 8, and the push rod mechanism 2 is used for pushing the front wheel of the airplane to move to the turntable 4 through the pedal 1.
The push rod mechanism 2 includes a piston push rod. Meanwhile, a push rod mechanism accommodating space 3 is also arranged on the vehicle body 8, and the push rod mechanism 2 can be accommodated in the push rod mechanism accommodating space 3. When the push rod mechanism 2 is required to push the front wheel of the aircraft, the push rod mechanism 2 extends out of the push rod mechanism accommodating space 3 to complete pushing work.
In some embodiments, the baffle includes a first rod 5 and a second rod 6, where the first rod 5 and the second rod 6 are used to fasten the front wheel of the aircraft to the turntable 4.
One end of the second rod member 6 is rotatably connected with the first rod member 5, the other end of the second rod member 6 can rotate around a connecting point 7, and the connecting point 7 is a rotation connecting point of one end of the second rod member and the first rod member 5.
The automatic control system specifically comprises:
the starting control module is used for controlling the trailer to move forward when the trailer is in a static state currently and the angle information from the angle sensor meets the preset condition; the preset conditions comprise: the angle information indicates a first angle of the front wheel swing of the aircraft greater than a preset value;
the turning control module is used for controlling the trailer to turn in a direction of counteracting the second angle when the trailer is in a non-stationary state currently and the angle information from the angle sensor indicates that the trailer rotates to the left or the right by the second angle;
and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that the backward acceleration is generated.
The intelligent trailer further comprises a wireless communication module, wherein the wireless communication module is used for wirelessly communicating with the aircraft. The start control module is also used for controlling the intelligent trailer to move forward when receiving the wireless signal of the aircraft, including a trailer start command. The parking control module is also used for controlling the intelligent trailer to park when the wireless signal of the airplane including the trailer parking instruction is received.
When the intelligent trailer is adopted to tow an airplane, the control method of the intelligent trailer is as follows:
when the intelligent trailer is in a static state currently and the angle information from the angle sensor meets the preset condition, controlling the intelligent trailer to move forward; the preset conditions comprise: the angle information indicates a first angle at which the front wheel of the aircraft swings greater than a preset value.
When the intelligent trailer is currently in a non-stationary state and the angle information from the angle sensor indicates that the intelligent trailer rotates a second angle to the left or right, the intelligent trailer is controlled to turn in a direction counteracting the second angle.
And controlling the intelligent trailer to stop when the acceleration information from the receiving sensor indicates that the backward acceleration is generated.
In addition, the control command may be transmitted by wireless transmission, and the trailer may control the trailer based on the control command after receiving the control command. For example, when a wireless signal of the aircraft is received, including a trailer activation instruction, the intelligent trailer is controlled to move forward. And controlling the intelligent trailer to stop when the wireless signal of the aircraft is received and comprises a trailer stopping instruction.
It should be noted that, if the intention of the pilot (such as going forward, turning or stopping) determined based on the sensing information collides with the received control command, the intention of the pilot determined based on the sensing information takes precedence over the control command.
The following describes a specific control method in detail:
the aircraft breaks away from the runway after falling to the ground, gives intelligent trailer through 5G remote control signal, and intelligent trailer reaches the aircraft that needs to drag, adopts push rod mechanism to push the aircraft front wheel to the carousel on, and the baffle on the carousel is fixed the aircraft front wheel on the carousel with the mode of embracing the wheel afterwards.
In the course of towing an aircraft, there are three situations: forward, turn and park.
(1) When the aircraft needs to be changed from a stopped state to a forward state, control can be achieved in two ways: firstly, control instructions can be transmitted to the trailer through a 5G signal. And secondly, the pilot continuously rotates the front wheel left and right for more than 3 degrees and returns, and after the trailer senses the action, the trailer starts to advance by static starting.
But pilot operation (i.e., based on pilot intent perceived by the signal acquisition module) is given priority when the 5G signal is received by the trailer while pilot intent is perceived by the signal acquisition module.
(2) When the aircraft needs to turn, the pilot rotates the front wheel leftwards or rightwards by controlling the hand wheel or the pedal of the aircraft turning system, the front wheel of the aircraft can make corresponding turning action to drive the turntable to rotate together, the angle sensor on the turntable, such as RVDT, transmits an angle signal to the trailer turning servo mechanism, the trailer rotates according to the direction of counteracting the angle signal, and when the angle signal is at the centering position, the trailer stops rotating, so that the purpose of turning is achieved.
(3) When an aircraft needs to be parked, two modes can be adopted: firstly, control instructions can be transmitted to the trailer through a 5G signal. Secondly, the pilot steps on the aircraft brake, and the acceleration sensor of trailer is felt resistance and is suddenly increased and control the parking.
But pilot operation (i.e., based on pilot intent perceived by the signal acquisition module) is given priority when the 5G signal is received by the trailer while pilot intent is perceived by the signal acquisition module.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (3)
1. An intelligent trailer, includes wheel and automobile body, its characterized in that still includes: the intelligent trailer further comprises a wireless communication module, wherein the wireless communication module is used for wirelessly communicating with the aircraft;
the turntable is rotationally connected with the vehicle body;
the pedal is fixedly connected with the vehicle body and extends to the ground from the edge of the turntable in an inclined manner;
the device comprises a turntable, and is characterized in that a baffle is arranged on the turntable, the baffle is used for fixing an aircraft front wheel on the turntable in a wheel holding mode, the baffle comprises a first rod piece and a second rod piece, the first rod piece and the second rod piece are used for clamping and fixing the aircraft front wheel on the turntable, one end of the second rod piece is rotationally connected with the first rod piece, the other end of the second rod piece can rotate around a connecting point, the second rod piece rotates around the connecting point to be in parallel contact with the turntable, and the connecting point is a rotation connecting point of one end of the second rod piece and the first rod piece;
the signal acquisition module comprises: the angle sensor is arranged on the turntable, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the turntable, and the acceleration sensor is used for detecting the acceleration of the trailer;
the automatic control system is electrically connected with the signal acquisition module and is used for controlling the trailer to move forward and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor;
the automatic control system specifically comprises: the starting control module is used for controlling the trailer to move forward when the trailer is in a static state currently and the angle information from the angle sensor meets the preset conditions, and the preset conditions comprise: the angle information indicates a first angle that the swing of the front wheel of the aircraft is larger than a preset value, and the starting control module is further used for controlling the trailer to move forward when receiving a wireless signal of the aircraft, including a trailer starting instruction; the turning control module is used for controlling the trailer to turn in a direction counteracting the second angle when the trailer is in a non-stationary state currently and the angle information from the angle sensor indicates that the trailer rotates to the left or the right by the second angle; and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that the backward acceleration is generated, and is also used for controlling the trailer to park when the wireless signal of the aircraft including the trailer parking instruction is received.
2. The intelligent trailer of claim 1, further comprising: the push rod mechanism is fixedly connected with the vehicle body and is used for pushing the front wheel of the airplane so as to enable the front wheel of the airplane to move onto the turntable through the pedal.
3. A method of towing an aircraft using a smart trailer, the method being applied to a smart trailer as claimed in any one of claims 1 to 2, the method comprising:
when the intelligent trailer is in a static state currently and angle information from the angle sensor meets preset conditions, controlling the trailer to move forward, wherein the preset conditions comprise: the angle information indicates a first angle of the front wheel swing of the aircraft, which is larger than a preset value, and when a wireless signal of the aircraft including a trailer starting instruction is received, the front wheel swing of the aircraft is controlled to move forward;
when the intelligent trailer is in a non-stationary state currently and the angle information from the angle sensor indicates that the intelligent trailer rotates to the left or the right by a second angle, controlling the trailer to turn in a direction counteracting the second angle;
the trailer is controlled to park when acceleration information from the receiving sensor indicates that a rearward acceleration is being generated, and the trailer is controlled to park when a wireless signal from the aircraft is received that includes a trailer park command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002110.8A CN113697124B (en) | 2021-08-30 | 2021-08-30 | Intelligent trailer and method for towing aircraft by using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111002110.8A CN113697124B (en) | 2021-08-30 | 2021-08-30 | Intelligent trailer and method for towing aircraft by using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113697124A CN113697124A (en) | 2021-11-26 |
| CN113697124B true CN113697124B (en) | 2023-06-09 |
Family
ID=78656594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111002110.8A Active CN113697124B (en) | 2021-08-30 | 2021-08-30 | Intelligent trailer and method for towing aircraft by using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113697124B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000318514A (en) * | 1999-05-11 | 2000-11-21 | Mitsubishi Motors Corp | Headlamp optical axis adjusting device of vehicle |
| US6305484B1 (en) * | 2000-03-31 | 2001-10-23 | Leblanc Edward L. | Automated aircraft towing vehicle system |
| CN102239087A (en) * | 2008-11-25 | 2011-11-09 | 以色列宇航工业有限公司 | Towbarless airplane tug |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0526680A1 (en) * | 1991-08-06 | 1993-02-10 | BRUUN, Svend Aage Johan | Vehicle with brake system for individual braking the wheels of the vehicle and method therefor |
| DE19931865A1 (en) * | 1999-07-09 | 2001-01-11 | Schopf Maschb Gmbh | Aircraft towing vehicle |
| CN111977013A (en) * | 2020-09-21 | 2020-11-24 | 罗元建 | Green airport intelligence aircraft tractor |
| CN112960138A (en) * | 2021-02-03 | 2021-06-15 | 北京航空航天大学 | Dragging system and control method for airplane ground running |
-
2021
- 2021-08-30 CN CN202111002110.8A patent/CN113697124B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000318514A (en) * | 1999-05-11 | 2000-11-21 | Mitsubishi Motors Corp | Headlamp optical axis adjusting device of vehicle |
| US6305484B1 (en) * | 2000-03-31 | 2001-10-23 | Leblanc Edward L. | Automated aircraft towing vehicle system |
| CN102239087A (en) * | 2008-11-25 | 2011-11-09 | 以色列宇航工业有限公司 | Towbarless airplane tug |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113697124A (en) | 2021-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2617618B1 (en) | Electronic parking brake system, assistant starting method thereof for motor vehicle | |
| US9321440B2 (en) | Trailer hold assist during standstill | |
| CN104260712B (en) | pure electric automobile automatic parking control method | |
| RU2699325C2 (en) | Vehicle, vehicle speed control system and method | |
| CN103481850B (en) | Emergency braking interfering system and method before collision | |
| CN106627547A (en) | Electronic-parking-brake system with automatic parking function, starting method and vehicle | |
| CN103459226B (en) | The method of operational vehicle driving engine and the control system of operational vehicle driving engine | |
| CN202448969U (en) | Automatic parking device | |
| CN110667535A (en) | Universal drive-by-wire brake control device and brake method for automatic driving vehicle suitable for man-machine driving | |
| JP7259778B2 (en) | Vehicles and automated driving systems | |
| CN114889573A (en) | Temporary parking method, device, electronic equipment and storage medium | |
| CN102923110B (en) | Electronic parking brake system capable of achieving sectional releasing for vehicles and control method thereof | |
| CN113697124B (en) | Intelligent trailer and method for towing aircraft by using same | |
| CN104176022A (en) | Travelling crane brake pedal active control based hill-start assist system | |
| CN104442782A (en) | Automatic automobile braking system | |
| CN101596890A (en) | A kind of automatic braking control system for preventing automobile from crashing during reversing | |
| CN202674287U (en) | Control device for protecting vehicles from being shifted into gear P by mistake | |
| CN102556070B (en) | Automobile backward slip resistant device | |
| JP7327187B2 (en) | Vehicles and automated driving systems | |
| CN114537396A (en) | Self-adaptive control method and system for ramp auxiliary function of automatic-transmission commercial vehicle | |
| CN115703466A (en) | Four-wheel drive slope-parking control method, device and system and vehicle | |
| CN113580953A (en) | Electric control type braking and parking integrated system applied to automatic driving | |
| CN202481079U (en) | Automatic car reversing control device | |
| KR20080010142A (en) | A device for controlling cornering radius of car using brake and method for controlling it | |
| CN107521489A (en) | A kind of road accessory system automobile for improving driving safety |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |