CN204535717U - A kind of board units - Google Patents
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- CN204535717U CN204535717U CN201520142306.0U CN201520142306U CN204535717U CN 204535717 U CN204535717 U CN 204535717U CN 201520142306 U CN201520142306 U CN 201520142306U CN 204535717 U CN204535717 U CN 204535717U
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- 102100038591 Endothelial cell-selective adhesion molecule Human genes 0.000 claims 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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Abstract
The utility model relates to a kind of board units.Based in the urban congestion Fare Collection System of satnav, existing method and apparatus can cause not in time, through presetting toll site charge, error of omission occurs because export locating information when car speed is too fast.A kind of board units provided by the utility model, comprise main control chip, the DSRC module be connected with described main control chip, mobile communication module, locating module, also comprise the DR module be connected with described main control chip, and described DR module is location segmentation reckoning module.Locating information output problem not in time can being solved, preventing the generation of omitting through presetting toll site charge.
Description
Technical Field
The utility model belongs to traffic inspection field, concretely relates to on-vehicle unit.
Background
Along with the continuous development of the related technology of the internet of things, urban road toll collection, highway toll collection and the expansion of various intelligent traffic applications are achieved, the dependence on vehicle-mounted equipment can be gradually eliminated by means of advanced satellite navigation positioning technology, wireless communication technology (including DSRC) and personal user terminal research and development technology, and the technology is developed into a technical system taking a new-generation intelligent vehicle-mounted terminal and an integrated central service system as a core. The intelligent traffic monitoring system realizes the gate virtualization, the charging intellectualization, the inspection automation, the vehicle tracking management and the flexible expansion of the comprehensive application of the intelligent traffic with multiple added values.
Therefore, it is a necessary requirement to build an urban road toll and intelligent traffic management system with the core of the composite intelligent vehicle-mounted terminal obu (on Board unit), the inspection system and the central management system. In order to realize the business targets of vehicle operation management, road charging, violation inspection, traffic flow reporting and the like, and surround the business targets, a vehicle-mounted terminal OBU capable of realizing the tasks is designed.
The existing vehicle-mounted unit integrates multiple functions, such as ETC charging, navigation positioning, vehicle monitoring and the like, so that the purposes and the functions of the vehicle-mounted unit are greatly enriched, wherein the functions comprise a satellite positioning-based charging function, namely whether a vehicle enters a specific area needing charging is determined through a satellite positioning technology, and corresponding payment operation is automatically executed. However, under the condition that the speed of the vehicle carrying the OBU with the satellite positioning function is high, because the transmitting frequency of the positioning information of the satellite positioning system is low, the frequency of the OBU obtaining and outputting the positioning information is correspondingly reduced (generally 1Hz-5Hz), the situation that the vehicle does not enter the charging judgment area (position a in fig. 4) in the last second and crosses the charging judgment area (position C in fig. 4) in the next second often occurs, and within the second, if the OBU cannot output the positioning information in time, the OBU cannot judge whether the vehicle passes through the charging point (position B in fig. 4) in the charging judgment area, the situation that the background service system fails to charge, that is, the vehicle passes through the charging point but does not charge, and the technical problem needs to be solved urgently at present.
SUMMERY OF THE UTILITY MODEL
To the defect that exists among the prior art, the utility model aims at providing an on-vehicle unit can carry out ETC charge, navigation location, vehicle monitoring, inspection operation, can also solve simultaneously because the vehicle speed of a motor vehicle is too fast and the not timely hourglass charge condition that causes of location information output when passing through the charge point.
In order to achieve the above purpose, the utility model adopts the technical scheme that:
a vehicle-mounted unit comprises a main control chip, a DSRC module, a mobile communication module, a positioning module and a DR module, wherein the DSRC module, the mobile communication module and the positioning module are connected with the main control chip; the sensing data are triaxial acceleration and triaxial angular velocity.
Furthermore, the mobile communication module is a WWAN module, is connected with the main control chip through a USB, and supports TDS/TDL, security authentication and authentication protocols of WCDMA and CDMA2K, and voice and digital communication.
Furthermore, the positioning module is a Beidou/GPS positioning module and is connected with the main control chip through a UART interface.
Further, the DR module is connected with the main control chip through an I2C interface.
Further, the inertial navigation position estimation module comprises:
the first receiving unit is connected with the Beidou/GPS positioning module and is used for receiving first positioning information output by the Beidou/GPS positioning module at every whole second moment, and the first positioning information is absolute positioning information of vehicles at every whole second moment;
the second receiving unit is connected with the accelerometer and the gyroscope and used for receiving the sensing data cached in the accelerometer and the gyroscope within a specific time range at regular intervals;
the calculating unit is connected with the first receiving unit and the second receiving unit and used for calculating the relative position information of the vehicle according to the received first positioning information and the sensing data cached in the accelerometer and the gyroscope;
the correction unit is connected with the calculation unit and used for correcting and obtaining second positioning information according to the first positioning information and the relative position information, and the second positioning information is absolute positioning information of the vehicle at the current moment;
and the output unit is connected with the correction unit and used for outputting the absolute positioning information of the vehicle at the current moment, the absolute positioning information of the vehicle at the current moment output at the whole second moment is the first positioning information or the second positioning information after correction, and the absolute positioning information of the vehicle at the current moment output at the non-whole second moment is the second positioning information after correction.
Still further, the fixed time interval is 100 milliseconds, and the specific time range is 100 milliseconds.
Further, the intelligent control system also comprises a ZigBee module, an IC/RFID/ESAM module, a Camera module and an automobile computer control system CAN interface module which are connected with the main control chip module.
The utility model has the effects that: adopt an on-board unit, can solve effectively because the positioning information output of OBU in time causes under the too fast condition of vehicle speed of should collecting fee through the mistake that the charge point can not in time charge.
Drawings
FIG. 1 is a block diagram of the apparatus of the present invention;
FIG. 2 is a block diagram of the DR module of the present invention;
FIG. 3 is a block diagram of the inertial navigation position estimation module according to the present invention;
fig. 4 is a schematic view of the OBU positioning subdivision calculation method process in the specific embodiment of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, an on-board unit includes the following modules:
main control chip module 100:
the main control chip module comprises an Arm9 quad-core main control CPUExynos) Memory, FLASH, etc.
The DSRC module 101:
the special Short-Range Communication, namely DSRC (Dedicated Short-Range Communication), supports the Chinese national standard of 5.8G frequency band, is connected with the main control chip module through USB, and is respectively applied to non-stop charging, vehicle-to-vehicle Communication and vehicle-to-road Communication.
The WWAN module 102:
a mobile communication module, (WWAN is a Wire less Wide Area Network abbreviation, i.e. wireless Wide Area Network), connected with the main control chip module through USB, supporting various mobile communication networks, including TDS/TDL, WCDMA and CDMA2K security authentication and authorization protocols, and voice and digital communication, wherein:
TDS, i.e., TDSCDMA (Time Division-Synchronous Code Division Multiple Access), a 3G mobile communication technology;
TDL, Time Division Long Term Evolution, a fourth generation (4G) mobile communication technology;
wcdma (wideband Code Division Multiple access), a 3G mobile communication technology;
CDMA2K, CDMA2000(Code Division Multiple Access 2000), is a 3G mobile communication technology.
Camera module 103:
and the video data is acquired through the interaction of the I2C or the USB and the main control chip module and a DMA mode.
To specific applications and vehicle characteristics, the mobile device will configure the in-vehicle or in-vehicle camera:
(1) aiming at a common vehicle, the system is mainly used for monitoring the road condition, a front camera is configured, and video data is kept locally or the video part is uploaded to a management system according to application;
(2) for special vehicles such as logistics, passenger transport and the like, the condition in the vehicle is monitored besides the condition of a road surface, so that the cameras in the front of the vehicle and in the vehicle are configured, and video data are transmitted to a specific demand party in real time according to the requirement of a management system.
The DMA method, Direct Memory Access, is also called a burst data transfer method, and is sometimes called a Direct Memory operation.
The automobile computer control system CAN interface module 104:
the main control system reads the relevant information of the automobile computer control system through the CAN interface. CAN is a short for Controller Area Network (CAN), is one of the most widely used field buses internationally, and has become a standard bus for an automobile computer control system and an embedded industrial control local Area Network.
Big dipper/GPS orientation module 105:
the Beidou/GPS satellite positioning module is connected with a main control computer through a UART interface (Universal Asynchronous Receiver/Transmitter) and is responsible for the satellite positioning and navigation functions of the vehicle.
The ZigBee module 106:
ZigBee (Zigbee) module connected with the main control computer through UART interface, ZigBee is based on IEEE802.15.4 standard low power consumption LAN protocol. The technology specified according to this protocol is a short-range, low-power wireless communication technology. Its advantages are short distance, low complexity, self-organization, low power consumption, low data rate and low cost. The device is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices. The system is compatible with the 2.4Gzigbee technology.
IC/RFID/ESAM module 107:
the system is connected with a main control computer through a UART interface, supports protocols such as IEEE 14443 and IEEE 15693, and the like, and China PBOC2.0 series standards, international EMV and CePAS standards in Singapore, and is used for information reading authentication of a contact driver, non-contact fee deduction and equipment disassembly prevention.
The utility model discloses an among the concrete implementation, two card unifications of driver's card and ETC payment card adopt two interface cards, support contact and non-joint card application operation simultaneously. The two-in-one card complies with the national standard of electronic toll special short-range communication and the PBOC specification. The OBU can operate the two-in-one card through the IC card interface, and the driver authentication and ETC payment functions are realized. The two-in-one card stores driver information data as an electronic version of a paper driver license, and the stored driver information is transmitted by JT/T825-2012' IC card road electronic certificate technical standard part 4: the IC card takes the requirement of the qualification data format as reference, all information is less than 7 Kbytes, wherein useful information needs to be filled in 6.1, 6.2, 6.4, 6.5, 6.9, 7.1 and 7.2, and driver information is modified through IC card read-write equipment. The two-in-one card ETC information comprises a bank account, a card type, a balance, an access, an expiration date and the like according to ETC national standards.
Wherein,
the IC is an Integrated Circuit Card (IC Card);
rfid (radio Frequency identification) is a radio Frequency identification, also called radio Frequency identification, and is a communication technology;
the ESAM (Embedded Secure Access Module) is used as a security Module to ensure the security of the vehicle-mounted identification and transaction system and meets the security standard CC EAL5 +. The key information in the ESAM includes a combined digital certificate, a unique ID, system information and information of a vehicle. Without authorization, the ESAM cannot be updated or modified. Remote updating, such as software patch downloading, congestion fee rate, charging point position table and the like, are transmitted by adopting high-security level communication and authentication protocols, and meanwhile, the received and operated updating data at the equipment end are required to pass strict security authentication and authentication.
The DR module 108:
the DR module (Dead Reckoning) shown in fig. 2 is connected with the main control system through I2C, and is combined with a vehicle odometer to realize accurate positioning inertial navigation, and the DR module includes an accelerometer 109 and a gyroscope 110, and is provided with an inertial navigation Dead Reckoning module 111, and is used for performing correction compensation on the big dipper/GPS positioning information provided by the big dipper/GPS positioning module 105, and sending the corrected and compensated positioning information outwards at a higher output frequency, so as to meet the requirement of charging for a specified area based on the satellite positioning technology. The I2C (Inter-Integrated Circuit) bus is a two-wire serial bus developed by PHILIPS for connecting microcontrollers and their peripherals. Is a bus standard widely adopted in the field of microelectronic communication control.
The inertial navigation position estimation module 111 shown in fig. 3 further includes: the first receiving unit 112 is connected with the Beidou/GPS positioning module 105 and is used for receiving first positioning information output by the Beidou/GPS positioning module 105 at every whole second moment, and the first positioning information is absolute positioning information of vehicles at every whole second moment;
a second receiving unit 113 connected to the accelerometer 109 and the gyroscope 110, and configured to receive, at regular intervals, sensing data (the sensing data is three-axis acceleration and three-axis angular velocity) buffered in the accelerometer and the gyroscope within a specific time range;
an estimation unit 114 connected to the first receiving unit 112 and the second receiving unit 113, for estimating the relative position information of the vehicle according to the received first positioning information, the sensing data cached in the accelerometer and the gyroscope;
a correction unit 115 connected to the estimation unit 114, configured to correct and obtain second positioning information according to the first positioning information and the relative position information, where the second positioning information is absolute positioning information of the vehicle at the current time;
and an output unit 116 connected to the correction unit 115, for outputting the absolute positioning information of the current time of the vehicle, wherein the absolute positioning information of the current time of the vehicle output at the time of the second is the first positioning information of the current time or the corrected second positioning information, and the absolute positioning information of the current time of the vehicle output at the time other than the second time is the corrected second positioning information.
In a specific embodiment of the present invention, the inertial navigation position estimation module 111 executes the following steps every 100 milliseconds:
the second receiving unit 113 receives the sensing data (the sensing data is three-axis acceleration and three-axis angular velocity) buffered in the accelerometer 109 and the gyroscope 110 within a specific time range (50-200 ms, preferably 100 ms);
the calculating unit 114 calculates relative position information according to the received first positioning information and the sensing data cached in the accelerometer and the gyroscope;
the Beidou/GPS positioning information (first positioning information) and the relative position information are combined, and absolute positioning information (second positioning information) of the vehicle at the current moment is obtained through correction;
and outputting the absolute positioning information of the current vehicle, wherein the absolute positioning information of the current time of the vehicle output at the whole second time is the first positioning information of the current time or the corrected second positioning information, and the absolute positioning information of the current time of the vehicle output at the non-whole second time is the corrected second positioning information.
The problem of vehicle charging omission caused by overlarge interval of positioning information output by the positioning module can be solved by outputting the corrected and compensated absolute positioning information of the vehicle at the current moment outwards at high frequency.
After having integrateed above-mentioned functional module, the utility model provides an on-vehicle unit can accomplish multiple task through the software system that inside carried on, include: the method comprises the steps of positioning navigation, safe storage of vehicle information, anti-disassembly detection, reading of a driver card, a payment card and a two-in-one card, downloading of road charging rules and rates, downloading of road inspection rules, congestion charging, self-inspection, traffic information collection, traffic flow collection and the like.
The practical application of the invention is illustrated as an example.
When entering an area needing charging, a vehicle with an OBU provided with a DR module (positioning, subdivision and calculation module) firstly passes through a charging judgment area, the division of the charging judgment area is determined by depending on longitude and latitude information, and the boundary of the area is formed by a plurality of points with specific longitude and latitude information. The width standard of The charging judgment area is +/-15 meters of The charging point along The road direction (namely The distances from The point B to The point A and The point C are respectively 15 meters in fig. 4), and The parameter can be changed in an OTA (over The air) mode through a background service system. When the vehicle enters a charging judgment area, a positioning subdivision calculation system in the OBU carries out conversion calculation on Beidou/GPS positioning information (including longitude, latitude, speed and course) received by the OBU, calculates absolute positioning information (including longitude, latitude, speed and course obtained after calculation) of the vehicle at the current moment by using a Kalman filter according to triaxial acceleration, triaxial angular velocity and correction parameters recorded by an accelerometer and a gyroscope of the OBU, and outputs the calculated positioning information outwards. The frequency of calculation and output is once every 100 milliseconds, so that the output frequency of the positioning information and the positioning precision of the vehicle can be greatly improved, when a specific charging point (point B in figure 4) in the charging judgment area is passed, the background service system can accurately judge and calculate the charge and deduct the charge, and the phenomenon of charge leakage caused by untimely positioning information output by the OBU is avoided. In addition, because the Beidou/GPS positioning information in the OBU is received and output at each time of a whole second, when the vehicle passes through a charging point (point B in figure 4), if the vehicle passes through the charging point at the time of the whole second, the Beidou/GPS positioning information can be directly output, or the absolute positioning information can be calculated by the positioning subdivision calculation module, and the absolute positioning information can be output at the time of non-whole second.
The device of the present invention is not limited to the specific embodiments described in the embodiments, and those skilled in the art can obtain other embodiments according to the technical solution of the present invention, which also belongs to the technical innovation scope of the present invention.
Claims (7)
1. The utility model provides an on-vehicle unit, includes main control chip, with DSRC module, mobile communication module, the orientation module that main control chip connected which characterized in that: the DR module is a positioning subdivision calculation module and comprises an accelerometer, a gyroscope and an inertial navigation position calculation module, wherein the accelerometer and the gyroscope are used for providing sensing data; the sensing data are triaxial acceleration and triaxial angular velocity.
2. The on-board unit of claim 1, wherein: the mobile communication module is a WWAN module, is connected with the main control chip through a USB and supports the security authentication and authorization protocols of TDS/TDL, WCDMA and CDMA2K as well as voice and digital communication.
3. The on-board unit of claim 1, wherein: the positioning module is a Beidou/GPS positioning module and is connected with the main control chip through a UART interface.
4. The on-board unit of claim 3, wherein: and the DR module is connected with the main control chip through an I2C interface.
5. The on-board unit of claim 4, wherein: the inertial navigation position calculation module comprises:
the first receiving unit is connected with the Beidou/GPS positioning module and is used for receiving first positioning information output by the Beidou/GPS positioning module at every whole second moment, and the first positioning information is absolute positioning information of vehicles at every whole second moment;
the second receiving unit is connected with the accelerometer and the gyroscope and used for receiving the sensing data cached in the accelerometer and the gyroscope within a specific time range at regular intervals;
the calculating unit is connected with the first receiving unit and the second receiving unit and used for calculating the relative position information of the vehicle according to the received first positioning information and the sensing data cached in the accelerometer and the gyroscope;
the correction unit is connected with the calculation unit and used for correcting and obtaining second positioning information according to the first positioning information and the relative position information, and the second positioning information is absolute positioning information of the vehicle at the current moment;
and the output unit is connected with the correction unit and used for outputting the absolute positioning information of the vehicle at the current moment, the absolute positioning information of the vehicle at the current moment output at the whole second moment is the first positioning information or the second positioning information after correction, and the absolute positioning information of the vehicle at the current moment output at the non-whole second moment is the second positioning information after correction.
6. The on-board unit of claim 5, wherein:
the fixed time interval is 100 milliseconds, and the specific time range is 100 milliseconds.
7. The on-board unit of claim 1, wherein: the intelligent control system also comprises a ZigBee module, an IC/RFID/ESAM module, a Camera module and an automobile computer control system CAN interface module which are connected with the main control chip module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142306.0U CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
| PCT/CN2015/094476 WO2016145886A1 (en) | 2015-03-13 | 2015-11-12 | On board unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142306.0U CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
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| CN204535717U true CN204535717U (en) | 2015-08-05 |
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| CN201520142306.0U Active CN204535717U (en) | 2015-03-13 | 2015-03-13 | A kind of board units |
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| WO (1) | WO2016145886A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105355071A (en) * | 2015-11-16 | 2016-02-24 | 北京握奇智能科技有限公司 | Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method |
| CN105405180A (en) * | 2015-12-16 | 2016-03-16 | 北京握奇智能科技有限公司 | Vehicle-mounted unit |
| CN105447697A (en) * | 2015-12-30 | 2016-03-30 | 航天科技控股集团股份有限公司 | Vehicle-mounted highway fast electronic charging system and method |
| WO2016145886A1 (en) * | 2015-03-13 | 2016-09-22 | 北京握奇智能科技有限公司 | On board unit |
| CN106570942A (en) * | 2016-07-25 | 2017-04-19 | 深圳成谷科技有限公司 | On-board unit of electronic no-parking charging system and anti-dismounting method of on-board unit |
| CN106710204A (en) * | 2017-01-13 | 2017-05-24 | 浙江大学 | Public transport vehicle cross location device and method |
| CN109410353A (en) * | 2018-11-01 | 2019-03-01 | 深圳市智载科技有限责任公司 | A kind of ETC electronics antiwithdrawal device and detection method |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
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| KR100842519B1 (en) * | 2002-11-02 | 2008-07-01 | 엘지전자 주식회사 | Telematics system for DSRC peristaltic |
| JP4652097B2 (en) * | 2005-03-28 | 2011-03-16 | クラリオン株式会社 | Altitude calculation device and navigation device |
| CN201196801Y (en) * | 2008-04-28 | 2009-02-18 | 交通部公路科学研究所 | Vehicle-mounted equipment based on satellite positioning road charging |
| CN102645665A (en) * | 2011-02-17 | 2012-08-22 | 上海航鼎电子科技发展有限公司 | BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device |
| CN103454660B (en) * | 2012-12-28 | 2015-11-04 | 北京握奇数据系统有限公司 | A kind of vehicle positioning method and device |
| CN104360366B (en) * | 2014-11-05 | 2017-02-08 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN204535717U (en) * | 2015-03-13 | 2015-08-05 | 北京握奇智能科技有限公司 | A kind of board units |
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- 2015-03-13 CN CN201520142306.0U patent/CN204535717U/en active Active
- 2015-11-12 WO PCT/CN2015/094476 patent/WO2016145886A1/en active Application Filing
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016145886A1 (en) * | 2015-03-13 | 2016-09-22 | 北京握奇智能科技有限公司 | On board unit |
| CN105355071A (en) * | 2015-11-16 | 2016-02-24 | 北京握奇智能科技有限公司 | Vehicle-mounted terminal real road dynamic positioning precision automatic assessment system and method |
| CN105405180A (en) * | 2015-12-16 | 2016-03-16 | 北京握奇智能科技有限公司 | Vehicle-mounted unit |
| CN105447697A (en) * | 2015-12-30 | 2016-03-30 | 航天科技控股集团股份有限公司 | Vehicle-mounted highway fast electronic charging system and method |
| CN106570942A (en) * | 2016-07-25 | 2017-04-19 | 深圳成谷科技有限公司 | On-board unit of electronic no-parking charging system and anti-dismounting method of on-board unit |
| CN106570942B (en) * | 2016-07-25 | 2019-04-09 | 深圳成谷科技有限公司 | The on board unit and its tamper method of electronic toll collection |
| CN106710204A (en) * | 2017-01-13 | 2017-05-24 | 浙江大学 | Public transport vehicle cross location device and method |
| CN106710204B (en) * | 2017-01-13 | 2019-12-17 | 浙江大学 | Cross positioning device and method for public transport vehicle |
| CN109410353A (en) * | 2018-11-01 | 2019-03-01 | 深圳市智载科技有限责任公司 | A kind of ETC electronics antiwithdrawal device and detection method |
| CN109855648A (en) * | 2019-01-21 | 2019-06-07 | 武汉小安科技有限公司 | Shared bicycle localization method, device, equipment and storage medium |
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