CN113997929B - Steering control method, system and device for PRT vehicle - Google Patents
Steering control method, system and device for PRT vehicle Download PDFInfo
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- CN113997929B CN113997929B CN202111383648.8A CN202111383648A CN113997929B CN 113997929 B CN113997929 B CN 113997929B CN 202111383648 A CN202111383648 A CN 202111383648A CN 113997929 B CN113997929 B CN 113997929B
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- 238000000034 method Methods 0.000 title claims description 20
- 238000013016 damping Methods 0.000 claims description 30
- 230000000087 stabilizing effect Effects 0.000 claims description 29
- 230000006641 stabilisation Effects 0.000 claims description 13
- 238000011105 stabilization Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000013506 data mapping Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present utility model is directed to a PRT vehicle steering design. Four guide wheel mechanisms are arranged on the side of the vehicle, and when the vehicle runs normally, the side guide wheels are not contacted with the concave-shaped rail. When the vehicle deviates from the forward running track, the guide wheels are contacted with the side parts of the concave track to support the vehicle to prevent the vehicle from derailing, meanwhile, the pressure sensor on the guide wheel mechanism transmits signals to the steering stability controller, the controller analyzes and sends control instructions to the steering mechanism of the vehicle through feedback signals, and the steering mechanism corrects the running direction of the vehicle, so that the normal running of the vehicle is ensured.
Description
Technical Field
The utility model relates to a steering control method of concave track traffic, in particular to a method, a system and a device for controlling vehicle stability of a PRT (Personal Rapid Transit personal rapid transit) vehicle during steering.
Background
The PRT (Personal Rapid Transit ) vehicle is a personalized vehicle which is intelligently controlled by a computer, unmanned and operates on a special closed 'concave' type track network, and is a novel vehicle of a light 'concave' type track in a city. Due to the use scenario requirements, PRT vehicles typically have vehicle and "concave" track miniaturization features to reduce construction and use costs. The attachment and steering of vehicles on small "concave" rails is a problem.
For the prior patent 1: the utility model discloses a bogie structure of a PRT suspension train and a running system (CN 207617731U) comprising the bogie structure, and the bogie structure of the PRT suspension train adopts a straight-line framework main body, so that the whole bogie structure has a small transverse dimension, and further the transverse dimension of a running beam in a suspension type monorail traffic system can be effectively reduced. However, the utility model has the disadvantage of being of a non-rail-holding structure, and the bogies are all hinged by vertical shafts.
For the prior patent 2: a walking steering device and an intelligent PRT traffic 'concave' type railway vehicle (CN 113212462A) are provided, and the steering mechanism disclosed by the utility model comprises a power element, a first steering arm, a second steering arm and a linkage element; the linkage element is used for driving the first steering arm to fall on the left side of the chassis and driving the second steering arm to lift on the right side of the chassis, or driving the first steering arm to lift on the left side of the chassis and driving the second steering arm to fall on the right side of the chassis. The disadvantage of this utility model is that there is still a problem in that the brake housing cannot be arranged.
Disclosure of Invention
The present utility model is directed to a PRT vehicle steering design. Four guide wheel mechanisms are arranged on the side of the vehicle, and when the vehicle runs normally, the side guide wheels are not contacted with the concave-shaped rail. When the vehicle deviates from the forward running track, the guide wheels are contacted with the side parts of the concave track to support the vehicle to prevent the vehicle from derailing, meanwhile, the pressure sensor on the guide wheel mechanism transmits signals to the steering stability controller, the controller analyzes and sends control instructions to the steering mechanism of the vehicle through feedback signals, and the steering mechanism corrects the running direction of the vehicle, so that the normal running of the vehicle is ensured.
As a first aspect, the present utility model provides a steering control method of a PRT vehicle, the method comprising the steps of:
starting a vehicle steering stabilizing system, and acquiring a pressure value acquired by a pressure sensor on a guide wheel in real time, wherein the guide wheel is arranged at any end of a wheel bearing of a vehicle;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls the steering system to correct the running posture of the vehicle;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilization system releases control of the steering system.
In combination with the first aspect, in any situation that the vehicle steering stabilization system may occur, when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilization system controls the disc damper arranged in the vehicle, and controls the offset of the center of gravity of the vehicle in the opposite direction of the inertia during steering by adjusting the position of the damping block in the disc damper, so as to offset the inertia of the vehicle during steering, thereby reducing the offset of the vehicle caused by steering and keeping the stability of the vehicle during steering;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system controls a damping block in a disc damper arranged in the vehicle to reset, so that the gravity center of the vehicle is reset;
the vehicle steering stabilizing system presets data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to position and control the damping blocks.
In combination with the first aspect or the first case described above, the second case in any case where it may occur is that the starting condition of the vehicle steering stabilization system is: the track recognition device at the front part of the vehicle recognizes the trend of a concave track at the front part of the vehicle in the recognition area in real time, and when the concave track at the front part of the vehicle is recognized to change direction, the vehicle steering stabilizing system is started; when the concave track in front of the vehicle is recognized to finish turning, namely, a curve is changed into a straight track, the steering stabilizing system is put into a standby state.
As a second aspect, the present utility model discloses a steering control system of a PRT vehicle, comprising:
the steering stability controller is used for acquiring real-time pressure data transmitted by a pressure sensor on a guide wheel arranged at a wheel bearing of the vehicle when the vehicle steering stability system is started, acquiring a preset position of a damping block arranged in the disc damper after data processing, and positioning;
the pressure sensor is used for monitoring the pressure value between the wheel and the inner side wall of the concave track in real time and transmitting the pressure value to the steering stability controller;
and the guide wheel is used for reducing friction between the wheel and the inner wall of the concave track and adjusting the stability of the vehicle.
With reference to the second aspect, a third condition in any case it may occur is that the guide wheel includes: guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of a rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or four guide wheels with pressure sensors are arranged at two ends of a front wheel bearing and two ends of a rear wheel bearing of the vehicle.
In combination with the second or third aspect, the fourth case in any case it may occur is,
the system also comprises a disc type damper, the steering stability controller performs data processing according to the real-time pressure value acquired by the pressure sensor, selects the preset position of the corresponding damping block, controls the damping block to position, and is used for counteracting the inertia of the vehicle when the vehicle steers by changing the gravity center of the vehicle and adjusting the stability of the vehicle.
With reference to the second aspect or the third or fourth aspect, in a fifth aspect of any case that may occur, the system further includes: the track recognition system is used for triggering the steering stability controller, and is used for recognizing the direction of the concave track in front of the vehicle in real time and triggering the steering stability controller when recognizing that the concave track in front of the vehicle changes direction; when the concave track in front of the vehicle is recognized to finish turning, the steering stability controller is put into a standby state.
As a third aspect, the present utility model discloses a computer readable storage medium storing one or more programs, characterized in that the computer readable storage medium stores one or more program instructions, which when executed by a processor, perform any one of the methods of the first aspect.
As a fourth aspect, the present utility model discloses a PRT vehicle, which is equipped with the storage medium according to the third aspect and the above-described system operating according to instructions in the storage medium.
The beneficial effects of the utility model are as follows:
according to the utility model, the stability of the vehicle in the running process of the vehicle is ensured, the sensor arranged on the guide wheel senses the vehicle deviation information, the vehicle deviation signal is transmitted to the steering stability controller, and the controller sends a command to the disc damper to correct the running posture of the vehicle, so that the stable running of the vehicle is ensured.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a cross-sectional view of a "concave" track;
FIG. 2 is a schematic view of a guide wheel structure;
FIG. 3 is a schematic view of a disc damper;
fig. 4 is a block diagram of a PRT vehicle steering control system.
The attached drawings are identified: 1- "concave" type track, 2-vehicle, 3-leading wheel, 4-pressure sensor, 5-disc damper, 6-damping piece, 7-steering stable controller.
Detailed Description
The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present utility model.
Example 1:
the utility model provides a steering control method of a PRT vehicle, which is characterized by comprising the following steps:
starting a vehicle steering stabilizing system, and acquiring pressure values acquired by pressure sensors on four guide wheels on front and rear wheel shafts in real time;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls the steering system to correct the running posture of the vehicle; if the vehicle deviates leftwards in the steering process, the steering stabilizing system of the vehicle controls the steering system to drive the wheels rightwards, so that inertia generated by deviation is counteracted, the deviation amount of the vehicle is reduced, and the stability of the vehicle is maintained;
when the offset of the vehicle decreases, the pressure value monitored by the pressure sensor also decreases, and when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilization system releases control of the steering system.
As shown in figure 1, the track adopted by the utility model is a concave track, a vehicle runs in the middle of a track groove, and four guide wheels are arranged on two sides of a front wheel bearing and a rear wheel bearing of the vehicle and are used for reducing friction between the wheels and the inner wall of the concave track and adjusting the stability of the vehicle. When the running direction of the vehicle deviates from the normal track, the guide wheel can be contacted with the side part of the track when the deviation occurs, so that the pressure sensor is pressed, and the pressure value is changed.
Example 2:
on the basis of the embodiment 1, the embodiment provides an improvement of a steering control method of a PRT vehicle, and the method comprises the following steps:
the track recognition device at the front of the vehicle recognizes the concave track at the front of the vehicle in real time, and when the concave track at the front of the vehicle is recognized to change direction, the vehicle steering stabilization system is started.
And starting the vehicle steering stabilizing system, and keeping real-time data communication with a pressure sensor on a guide wheel arranged at a wheel bearing of the vehicle, so as to acquire a pressure value between the guide wheel transmitted by the pressure sensor and the inner side of the concave track in real time.
When the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system controls the disc damper arranged in the vehicle, and the position of the damping block in the disc damper is adjusted to control the gravity center of the vehicle to shift in the opposite direction of the inertia during steering so as to offset the inertia of the vehicle during steering, thereby reducing the shift of the vehicle caused by steering and keeping the stability of the vehicle during steering. The vehicle steering stabilizing system presets data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to position and control the damping blocks.
And when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the stability of the vehicle is proved to be recovered to a normal state. At the moment, the vehicle steering stabilizing system controls the damping blocks in the disc type damper arranged in the vehicle to reset, so that the gravity center of the vehicle is reset.
When the concave track in front of the vehicle is recognized to finish turning, namely, when a curve is changed into a straight track, the steering stabilizing system is enabled to enter a standby state until the concave track is recognized to turn again next time, and then the steering stabilizing system is started.
In this embodiment, four guide wheels with pressure sensors are provided at both ends of the front wheel bearing and both ends of the rear wheel bearing of the vehicle. Similarly, the guide wheel with the pressure sensor can be arranged according to the following scheme: guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of a rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor.
As shown in fig. 2, a pressure sensor is arranged on a support of a guide wheel and can feed back a signal to a vehicle steering stabilizing system, a vehicle steering stabilizing controller of the vehicle steering stabilizing system analyzes the vehicle deviation position by processing the sensor signal and feeds back a damping block position signal to the vehicle steering stabilizing controller, and the vehicle steering stabilizing controller adjusts the position of the damping block so that the vehicle is corrected to a preset running track.
As shown in FIG. 3, the disc damper is mainly composed of a detachable round box body, a transmission bearing is arranged in the middle of the box body, the transmission bearing is driven by a motor, and a damping block fixed on the transmission bearing is shifted under the drive of the motor. When the steering stabilizing system moves to the preset position, the motor is locked, so that the damping blocks are locked and positioned together until the steering stabilizing system controls the steering stabilizing system to adjust the position again. The damping blocks can control the whole gravity center of the vehicle to deviate to one side deviating to the opposite direction of steering inertia at different positions. The problem that the wheels contacting the rails need to bear excessive pressure due to inertia effect when the vehicle turns is avoided, the structure and the service life of the wheels are greatly influenced, and the vehicle may even be turned over.
The starting of the vehicle steering stabilization system mainly depends on the control of the track recognition device in front of the vehicle. The track recognition device can recognize the trend of the concave track in front of the vehicle in real time. If the concave track in the identification range is straight, the track identification device does not start the vehicle steering stabilization system or enables the vehicle steering stabilization system to be in a standby state. Once the trend of the concave track in the identification range deviates leftwards or rightwards, the vehicle is judged to enter the steering direction, and the track identification device starts a vehicle steering stabilization system to control the stability of the vehicle.
Example 3
As shown in fig. 4, the present utility model discloses a steering control system of a PRT vehicle, which includes a steering control device of the PRT vehicle, and the steering control device in the activated state positions a damping block built in a disc damper according to a real-time pressure value of a pressure sensor. The steering control system also comprises a track recognition system, and the track recognition system recognizes the trend of the concave track in front of the vehicle in the recognition area in real time, namely whether the vehicle is in straight running or steering left and right. Thereby controlling the start and standby of the steering control device.
A steering control apparatus of a PRT vehicle, comprising:
the steering stability controller is used for acquiring real-time pressure data transmitted by a pressure sensor on a guide wheel arranged at a wheel bearing of the vehicle according to the method when the vehicle steering stability system is started, acquiring the preset position of a damping block arranged in the disc damper after data processing, and positioning;
the pressure sensor is used for monitoring the pressure value between the wheel and the concave track in real time and transmitting the pressure value to the steering stability controller;
the steering stability controller processes data according to the real-time pressure value of the pressure sensor, selects the preset position of the damping block arranged in the disc damper, and positions the damping block so as to offset the inertia of the vehicle during steering.
The track recognition device is used for triggering the steering stability controller, and the track recognition device recognizes the trend of the concave track in front of the vehicle in the recognition area in real time and triggers the steering stability controller when recognizing that the concave track in front of the vehicle changes direction; when the concave track in front of the vehicle is recognized to finish turning, the steering stability controller is put into a standby state.
It should be understood that the above-described embodiments are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model. It is also to be understood that various changes and modifications may be made by those skilled in the art after reading the disclosure herein, and that such equivalents are intended to fall within the scope of the utility model as defined in the appended claims.
Claims (7)
1. A method of steering control of a PRT vehicle, the method comprising the steps of:
starting a vehicle steering stabilizing system, and acquiring a pressure value acquired by a pressure sensor on a guide wheel in real time, wherein the guide wheel is arranged at any end of a wheel bearing of a vehicle; when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilization system controls the steering system
The system corrects the running posture of the vehicle; when the pressure value monitored by the pressure sensor is lower than a pressure threshold value, the vehicle steering stabilization system releases control of the steering system;
when the pressure value monitored by the pressure sensor exceeds a preset pressure threshold value, the vehicle steering stabilizing system also controls a disc damper arranged in the vehicle, and the vehicle center of gravity is controlled to shift in the opposite direction of steering inertia by adjusting the position of a damping block in the disc damper so as to offset the inertia of the vehicle during steering and correct the running posture of the vehicle;
when the pressure value monitored by the pressure sensor is lower than the pressure threshold value, the vehicle steering stabilizing system controls the damping block in the disc damper to reset;
the vehicle steering stabilizing system presets data mapping of pressure values and damping block positions, and selects corresponding damping block position data according to the acquired real-time pressure value data to position and control the damping blocks.
2. The steering control method of the PRT vehicle according to claim 1, characterized in that: the starting conditions of the vehicle steering stabilization system are as follows: the track identification system at the front part of the vehicle identifies the trend of a concave track at the front part of the vehicle in the identification area in real time, and when the concave track at the front part of the vehicle is identified to change direction, the vehicle steering stabilizing system is started; and when the concave track in front of the vehicle is recognized to finish turning, controlling the steering stabilizing system to enter a standby state.
3. A steering control system of a PRT vehicle for implementing the steering control method of the PRT vehicle according to any one of claims 1 or 2, characterized by comprising:
a steering stability controller for controlling the stability of the vehicle when the vehicle is steered according to the method of any one of the preceding claims 1-2;
the pressure sensor is used for monitoring the pressure value between the wheel and the concave track in real time and transmitting the pressure value to the steering stability controller;
the guide wheel is used for reducing friction between the wheel and the inner wall of the concave track and adjusting the stability of the vehicle;
the disc type damper is used for performing data processing on the steering stability controller according to the real-time pressure value acquired by the pressure sensor, selecting the preset position of the corresponding damping block, controlling the damping block to position, and adjusting the stability of the vehicle by changing the gravity center of the vehicle to offset the inertia of the vehicle when the vehicle is steering.
4. A steering control system for a PRT vehicle according to claim 3, characterized in that the guide wheel comprises: guide wheels with pressure sensors are respectively arranged at two ends of a front wheel bearing of the vehicle; or two ends of a rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the left end of the front wheel bearing and the right end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or the right end of the front wheel bearing and the left end of the rear wheel bearing of the vehicle are respectively provided with a guide wheel with a pressure sensor; or four guide wheels with pressure sensors are arranged at two ends of a front wheel bearing and two ends of a rear wheel bearing of the vehicle.
5. A steering control system for a PRT vehicle as claimed in claim 3, further comprising: the track recognition system is used for triggering the steering stability controller, and is used for recognizing the direction of the concave track in front of the vehicle in real time and triggering the steering stability controller when recognizing that the concave track in front of the vehicle changes direction; when the concave track in front of the vehicle is recognized to finish turning, the steering stability controller is put into a standby state.
6. A computer readable storage medium storing one or more programs, wherein the computer readable storage medium stores one or more program instructions that, when executed by a processor, perform the method of steering control of a PRT vehicle as claimed in any one of claims 1 to 2.
7. A PRT vehicle mounted with the storage medium of claim 6 and a steering control system of the PRT vehicle according to any one of claims 3 to 5 operating in accordance with instructions in the storage medium.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383648.8A CN113997929B (en) | 2021-11-22 | 2021-11-22 | Steering control method, system and device for PRT vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111383648.8A CN113997929B (en) | 2021-11-22 | 2021-11-22 | Steering control method, system and device for PRT vehicle |
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| Publication Number | Publication Date |
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| CN113997929A CN113997929A (en) | 2022-02-01 |
| CN113997929B true CN113997929B (en) | 2023-12-05 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115601854B (en) * | 2022-09-29 | 2024-02-23 | 上海蕴业信息科技有限公司 | Driving behavior record analysis equipment and system |
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