CN205615510U - Car automatic pilot actuating mechanism - Google Patents
Car automatic pilot actuating mechanism Download PDFInfo
- Publication number
- CN205615510U CN205615510U CN201620394820.8U CN201620394820U CN205615510U CN 205615510 U CN205615510 U CN 205615510U CN 201620394820 U CN201620394820 U CN 201620394820U CN 205615510 U CN205615510 U CN 205615510U
- Authority
- CN
- China
- Prior art keywords
- fixed
- steer
- braking
- driving
- motor
- 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.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a car automatic pilot actuating mechanism, including turning to part, braking part, communication module, turn to the part including fixed platform, driving -steering device, electromagnetic clutch device, turn to the part and constitute plane four -bar linkage with the revolute pair with fixed platform including fixed platform, driving -steering device, electromagnetic clutch device, driving -steering device, turn to the electromagnetic clutch device and fix on the driving -steering device. Braking part is including braking drive arrangement, and turns to the similar electromagnetic clutch device of part. The utility model discloses can replace the driver independently reliably to accomplish the driving task, and drive the in -process can and the driver between realize that the driving task switches over, make the vehicle realize autopilot, can also adapt to the different grade type, the vehicle of different models, on the basis of not going on transforming to the vehicle, with regard to the mountable on the vehicle, and can not influence air bag's normal use.
Description
Technical field
The utility model relates to a kind of device that driver can be replaced independently to complete driving task, is specifically related to
A kind of car autopilot executing agency, belongs to automatic driving device field.
Background technology
Since two thousand eight China's automobile pollution rapid increase, vehicle traffic accident also steeply rises, to people
The security of the lives and property cause significant damage.Aobvious according to the United Nations's " road safety whole world status report 2015 "
Showing, road traffic death toll tends towards stability at present, is 1,250,000 people when 2013；Cause traffic accident
Main cause is the improper driving behavior such as exceed the speed limit, drive when intoxicated.Therefore in " made in China 2025 " clearly
Vehicle intellectualized requirement is proposed.It is thus desirable to car autopilot replaces people to complete driving task,
To guarantee driving safety, economy can be improved with energy-saving and emission-reduction in addition.
Domestic application publication number is CN 102393308 A, entitled " for the drive robot of automobile test "
Patent.It includes throttle pedipulator, brakes pedipulator, clutch mechanism leg and gear shifting manipulator, its energy
Enough complete the automatic Pilot of vehicle.But its structure is complicated, energy consumption is big, and maintenance trouble and volume occupy more greatly
The position of driver, and driving procedure cannot realize the switching between drive robot and driver.
Domestic application publication number is CN 102637058A, the patent of entitled " automatic robot driver ".
Its body part divide include the horizontal sliding platform that can move forward and backward, for the manipulator that turns to and for braking,
The pedipulator accelerating.It can adapt to the vehicle of the steering wheel of differing heights and size.But its structure is complicated,
Volume is big, and reliability is low, it is impossible to realize the task switching between drive robot and driver.
Content of the invention
For the deficiencies in the prior art, the purpose of this utility model is to provide a kind of car autopilot and performs
Mechanism, it can replace driver to be independently reliably completed driving task, and can be with driver in driving procedure
Between realize that driving task switches, make vehicle realize automatic Pilot, additionally it is possible to adapt to dissimilar, different shaped
Number vehicle, on the basis of not transforming vehicle, so that it may be arranged on vehicle, and do not interfere with peace
The normal use of full air bag.
The technical solution of the utility model is as follows, in conjunction with accompanying drawing:
A kind of car autopilot executing agency, including knuckle section, brake portion, communication module, institute
State knuckle section and include fixed platform, steer-drive, electromagnetic clutch device；Described knuckle section includes
Fixed platform, steer-drive, electromagnetic clutch device, steer-drive is with revolute pair and fixed platform
Composition lanar four rod mechanism, turns to electromagnetic clutch device to be fixed on steer-drive；Described turning to is driven
Dynamic device includes that the 10th, steer motor fixed mount 11 and reducer integrated steer motor turn to driving gear
12nd, turning to driving reset gear spring the 13rd, gear ring 1, steer motor 10 is fixed on steer motor fixed mount 11
On, turn to driving gear 12 to be socketed in the drive shaft of steer motor 10, turn to driving reset gear spring
13 are pressed on and turn on driving gear 12, and gear ring 1 is fixing on the steering wheel and nibble with turning to driving gear 12
Close.
Further, described fixed platform includes No. two connecting rods the 4th, support the 8th, No. three connecting rods the 7th, No.
Connecting rod the 6th, screw shell 5, No. three connecting rod the 7th, support the 8th, connecting rods 6 are hinged successively, No. two companies
Bar 4 is connected by screw shell 5 with No. three connecting rods 7, and a support 8 is fixed on Vehicle Control Panel,
No. two connecting rods 4 and a connecting rod 6 all rotate with described steer-drive and are connected.
Further, described electromagnetic clutch device is turned to include an electromagnet the 19th, shift fork the 17th, No.
Shift fork back-moving spring the 18th a, shifting fork pin 16, an electromagnet 19 is fixed on steer motor fixed mount 11,
Between a number shift fork 17 and an electromagnet 19, coupling part has chute, shift fork back-moving spring 18
Between steer motor fixed mount 11 and a shift fork 17, shift fork 17 bottom by revolute pair with described
The driving gear 12 that turns to of steer-drive connects, and a shifting fork pin 16 is rotatably connected on a shift fork 17
On, a shift fork 17 can be around shifting fork pin 16 fixed-axis rotation.
Further, described steer-drive also includes angular-rate sensor 9, and angular-rate sensor 9 connects
In steer motor 10 front end.
Further, described brake portion includes brake and braking electromagnetic clutch device, braking electricity
Magnetic arrangement of clutch is fixed in brake；Described brake include with reducer integrated
Braking motor the 30th, braking motor fixed mount the 22nd, jaw clutch the 26th, wire wheel the 24th, wire wheel reset bullet
Spring 23, braking motor fixed mount 22 is fixed on the chassis under driver's cabin, and braking motor 30 is fixed on braking
On motor fixing frame 22, jaw clutch 26 is fixed in the drive shaft of braking motor 30, wire wheel 24
Engaging with jaw clutch 26 and empty set being in the drive shaft of braking motor 30, wire wheel back-moving spring 23 is tight
It is pressed on wire wheel 24.
Further, described braking electromagnetic clutch device includes No. two electromagnet the 29th, No. two shift fork back-moving springs
28th, No. two shift fork the 27th, No. two shifting fork pin 25, No. two electromagnet 29 are fixed on braking motor fixed mount 22,
Between No. two shift forks 27 and No. two electromagnet 29, coupling part has chute, and No. two shift fork 27 bottoms are by turning
The wire wheel 24 moving secondary and described brake is connected, and No. two shift fork back-moving springs 28 are positioned at braking electricity
Between machine fixed mount 22 and No. two shift forks 27, No. two shifting fork pin 25 are rotatably connected on No. two shift forks 27,
No. two shift forks can be around No. two shifting fork pin 25 fixed-axis rotations.
Further, described communication module includes that controller, controller signals generator, controller signals connect
Receive device, knuckle section signal generator, knuckle section signal receiver, brake portion signal generator, system
Dynamic part signal receiver, controller communicates with controller signals generator and controller signals receiver respectively
Connecting, controller signals generator leads to knuckle section signal receiver and brake portion signal receiver simultaneously
Letter connect, knuckle section signal generator and brake portion signal generator respectively with controller signals receiver
Communication connection.
The utility model provides a kind of car autopilot simultaneously, including environment sensing unit, path planning
Unit, path trace unit, control unit and executing agency, described executing agency include knuckle section,
Brake portion, communication module；Automobile external environment i.e. traffic is informed path planning unit by environment sensing；
Path planning unit calculates running car optimal path and running car optimal path is informed control unit；Control
Unit processed, according to automobile self parameter such as speed and position and attitude, send control to the control unit distribution of executing agency
System instruction；To car autopilot, path trace unit realizes that feedback is controlled according to the actual driving path of automobile
System.
The utility model is reached to provide the benefit that: driver can be replaced independently to complete driving task, and
And can realize in driving procedure that the driving task between driver switches, more drive manner is provided
Select.Performance element knuckle section uses communication module to couple with brake portion and controller, is ensureing data
In the case of transmission speed and precision, it is simple to arrangement on vehicle for the automatic pilot executing agency, Neng Goushi
Should be dissimilar, the vehicle of different model, there is higher adaptability, and former vehicle is not transformed,
Do not affect the normal use of air bag.And the utility model simple in construction, it is simple to control, volume is little.Separately
Outer the utility model uses FEEDBACK CONTROL, can reduce systematic error, makes vehicle travel according to desired trajectory.
Brief description
Fig. 1 is the front view of knuckle section
Fig. 2 is the front view of steer motor assembly
Fig. 3 is the front view of brake portion
Fig. 4 is communication module block diagram
Wherein: 1-gear ring, number motor geometrical clamp of 2-, No. bis-motor geometrical clamps of 3-, No. bis-connecting rods of 4-, 5-spiral shell
Line sleeve, number connecting rod of 6-, No. tri-connecting rods of 7-, number support of 8-, 9-angular-rate sensor, 10-steer motor,
11-steer motor fixed mount, 12-turns to driving gear, and 13-turns to driving reset gear spring, number bullet of 14-
Spring abutment, number sleeve of 15-, number shifting fork pin of 16-, number shift fork of 17-, number shift fork back-moving spring of 18-, 19
A number electromagnet, No. bis-sleeves of 20-, No. bis-spring bases of 21-, 22-braking motor fixed mount, 23-wire wheel is multiple
Position spring, 24-wire wheel, No. bis-shifting fork pin of 25-, 26-jaw clutch, No. bis-shift forks of 27-, 28-bis-dials
Fork back-moving spring, No. bis-electromagnet of 29-, 30-braking motor, 31-base, 32-linear movement pick-up
Detailed description of the invention
Below with reference to accompanying drawing, a kind of car autopilot embodiment that the utility model proposes is carried out in detail
Describe.
A kind of car autopilot executing agency, including knuckle section, brake portion, communication module.
Seeing the steer motor assembly shown in Fig. 1, Fig. 2, knuckle section includes fixed platform, turns to driving dress
Putting, turning to electromagnetic clutch device, the 7th, fixed platform includes No. two connecting rods the 4th, support the 8th, No. three connecting rods
Number connecting rod the 6th, screw shell the 5th, motor geometrical clamp the 2nd, a No. two motor geometrical clamp 3, turns to driving dress
Put and include that the 12nd, the 10th, steer motor fixed mount 11 and reducer integrated steer motor turn to driving gear
Turn to driving reset gear spring the 13rd a, spring base the 14th, gear ring the 1st, angular-rate sensor the 9th a, set
Cylinder 15, turns to electromagnetic clutch device to include an electromagnet the 19th, shift fork the 17th, a shift fork back-moving spring
18th, a shifting fork pin 16.
No. three connecting rod the 7th, support the 8th, connecting rods 6 are hinged successively, and a support 8 is fixing in the car
On control panel, No. two connecting rods 4 are connected by screw shell 5 with No. three connecting rods 7, a motor geometrical clamp 2
Rotating with No. two connecting rods 4 and being connected, No. two motor geometrical clamps 3 rotate with a connecting rod 6 and are connected.Turn to driving
Device is flat with described fixed platform composition with revolute pair by a motor geometrical clamp the 2nd, No. two motor geometrical clamps 3
Face quadric chain, can carry out position adjustment to steer-drive, and screw shell 5 can drive to turning to
Dynamic device attitude is finely adjusted, and makes knuckle section can adapt to the vehicle of different model, specification.Turn to electromagnetism
Arrangement of clutch is fixed on the steer motor fixed mount 11 of steer-drive.Steer motor 10 is fixed on and turns
On motor fixing frame 11, angular-rate sensor 9 is connected to steer motor 10 front end, turns to driving gear
In 12 drive shafts being socketed in steer motor 10, driving reset gear spring 13 one end is turned to be supported on No. one
On spring base 14, the other end is pressed on and turns on driving gear 12, gear ring 1 fixing on the steering wheel and with
Driving gear 12 is turned to engage.A number electromagnet 19 is fixed on steer motor fixed mount 11, a shift fork
17 bottoms are by revolute pair and turn to driving gear 12 to connect, and a shift fork back-moving spring 18 is positioned at and turns to electricity
Between machine fixed mount 11 and a shift fork 17, a shifting fork pin 16 is rotatably connected on a shift fork 17.
Between a number shift fork 17 and an electromagnet 19, coupling part has chute, and a shift fork can a relative electricity
Magnet horizontal movement and up and down motion；A number shift fork 17 is connected by revolute pair with turning to driving gear 12,
A number shift fork 17 can be around shifting fork pin 16 fixed-axis rotation.Driving reset gear spring 18 is turned to be fitted in one
On number spring base, driving reset gear spring 18 is turned to make to turn to driving gear 12 to compress a shift fork all the time
17.During number electromagnet 19 power-off, turn to driving gear 12 turn to driving reset gear spring 18 and
It is in poised state under the effect of a number shift fork 17, keep the engagement with gear ring 1.A number electromagnet 19
During energising, under the effect of electromagnetic force, driving gear 12 is turned to be disengaged from gear ring 1.
Participating in Fig. 3, brake portion includes brake and similar with knuckle section electromagnetic clutch device
Braking electromagnetic clutch device.Brake includes with reducer integrated braking motor the 30th, braking electricity
Machine fixed mount the 22nd, jaw clutch the 26th, wire wheel the 24th, wire wheel back-moving spring the 23rd, No. two spring bases are the 21st,
No. two sleeves the 20th, linear movement pick-up the 32nd, base 31.Braking electromagnetic clutch device includes No. two electromagnet
29th, No. two shift fork back-moving spring the 28th, No. two shift fork the 27th, No. two shifting fork pin 25.Braking electromagnetic clutch device is solid
It is scheduled in brake.
Braking motor fixed mount 22 is fixed on the chassis under driver's cabin, and braking motor 30 is fixed on braking electricity
On machine fixed mount 22, jaw clutch 26 is fixed in the drive shaft of braking motor 30, wire wheel 24 with
Jaw clutch 26 engages and empty set is in the drive shaft of braking motor 30, wire wheel back-moving spring 23 one end
Being supported on No. two spring bases 21, the other end is pressed on wire wheel 24.No. two electromagnet 29 are fixed on system
On dynamic motor fixing frame 22, No. two shift forks 27 are connected by revolute pair and wire wheel 24, and No. two shift forks reset
Spring 28 is positioned between braking motor fixed mount 22 and No. two shift forks 27, and No. two shifting fork pin 25 rotate and connect
On No. two shift forks 27.Between No. two shift forks 27 and No. two electromagnet 29, coupling part has chute, No. two
Shift fork can relative No. two electromagnet horizontal movements and up and down motion；No. two shift forks 27 pass through to turn with wire wheel 24
Dynamic pair connects, and No. two shift forks can be around No. two shifting fork pin 25 fixed-axis rotations.Wire wheel back-moving spring 23 is fitted in
On No. two spring bases 21, wire wheel back-moving spring 23 makes wire wheel 24 compress No. two shift forks 27 all the time.No. two
During electromagnet 29 power-off, wire wheel 24 is under the effect of wire wheel back-moving spring 23 and No. two shift forks 27
It is in poised state, keep the engagement with jaw clutch 26.When No. two electromagnet 29 are energized,
Under the effect of electromagnetic force, wire wheel 24 is disengaged from jaw clutch 26.
Communication module flow chart shown in Figure 4, communication module includes that controller, controller signals occur
Device, controller signals receiver, knuckle section signal generator, knuckle section signal receiver, braking parts
Sub-signal generator, brake portion signal receiver, controller respectively with controller signals generator and control
Device signal receiver communicates to connect, with knuckle section signal receiver and braking while controller signals generator
Part signal receiver communicate to connect, knuckle section signal generator and brake portion signal generator respectively with
Controller signals receiver communicates to connect.Communication module is for knuckle section, brake portion and control unit
Two-way communication and signal transmission.Communication module is reserved with wireless communication port, and it is for server or high in the clouds
Transmitting and receiving data.
A kind of car autopilot, including environment sensing unit, path planning unit, path trace unit,
Control unit and executing agency, environment sensing unit includes radar, images first-class sensor.It is by automobile
External environment condition i.e. traffic informs path planning unit.Path planning unit calculates running car optimal path
And running car optimal path is informed control unit.Control unit is according to automobile self speed and position appearance
The parameters such as state, send control instruction to the controller of executing agency.Path trace unit can be real according to automobile
The driving path on border realizes FEEDBACK CONTROL to car autopilot.The knuckle section of executing agency includes turning to
Motor angular velocity sensor, brake portion also includes linear movement pick-up, by actual steering wheel corner, braking
Pressure feedback is to controller, and then carries out FEEDBACK CONTROL to car autopilot executing agency.
Introduce operation principle of the present utility model briefly below:
When path planning unit goes out optimal path according to the data schema of environment sensing unit and to be sent to control single
During unit, controller is transported according to the control instruction of control unit, control steer motor 10 and braking motor 30
Dynamic.When steer motor 10 rotates under the control of the controller, slowed down by decelerator, make to turn to driving tooth
Wheel 12 rotation, now turns to and drives gear 12 to be in engagement with fixing gear ring 1 on the steering wheel,
And then drive steering wheel to rotate.The angular-rate sensor 9 being fixed in steer motor 10 is by steer motor 10
Actual angular speed feeds back to controller, and then carries out FEEDBACK CONTROL to knuckle section, make steering wheel accurately by
Control instruction motion according to control unit.After driver connects the switch of electromagnetic clutch, an electromagnet
19 energisings, make a shift fork 17 overcome a shift fork back-moving spring 18 and turn to driving reset gear spring 13
Spring force, make to turn to driving gear 12 to be disengaged from gear ring 1 around shifting fork pin 16 fixed-axis rotation.
And then can manual control turn to.
When the control instruction of control unit received by controller, braking motor 30 rotates under the control of the controller,
After carrying decelerator deceleration, drive jaw clutch 26 to rotate, and then drive is nibbled with jaw clutch 26
The wire wheel 24 closing rotates, and pulls brake pedal to move and then complete by the steel wire being wrapped on wire wheel 24
Become braking maneuver.After driver connects electromagnetic switching clutch, No. two electromagnet 29 are energized, in electromagnetic force
Effect under, make No. two shift forks 27 overcome the bullet of No. two shift fork back-moving springs 28 and wire wheel back-moving spring 23
Spring force, thus around No. two shifting fork pin 25 fixed-axis rotations.Promote wire wheel 24 to depart from jaw clutch 26 to nibble
Close.Thus artificially brake.
Claims (8)
1. a car autopilot executing agency, it is characterised in that include knuckle section, brake portion,
Communication module, described knuckle section includes fixed platform, steer-drive, electromagnetic clutch device；Described
Knuckle section includes fixed platform, steer-drive, electromagnetic clutch device, and steer-drive is to rotate
Secondary and fixed platform forms lanar four rod mechanism, turns to electromagnetic clutch device to be fixed on steer-drive；
Described steer-drive include steer motor fixed mount (11) and reducer integrated steer motor (10),
Turn to driving gear (12), turn to driving reset gear spring (13), gear ring (1), steer motor (10)
It is fixed on steer motor fixed mount (11), turn to driving gear (12) to be socketed in steer motor (10)
Drive shaft on, turn to driving reset gear spring (13) to be pressed on and turn in driving gear (12), tooth
Circle (1) is fixed on the steering wheel and engages with turning to driving gear (12).
2. a kind of car autopilot executing agency as claimed in claim 1, it is characterised in that described
Fixed platform include No. two connecting rods (4), support (8), No. three connecting rods (7), connecting rod (6),
Screw shell (5), No. three connecting rods (7), support (8), connecting rods (6) are hinged successively, No. two
Connecting rod (4) is connected by screw shell (5) with No. three connecting rods (7), and a support (8) is fixed on vapour
On car central control panel, No. two connecting rods (4) and a connecting rod (6) all rotate even with described steer-drive
Connect.
3. a kind of car autopilot executing agency as claimed in claim 1, it is characterised in that described
Electromagnetic clutch device is turned to include an electromagnet (19), shift fork (17), a shift fork back-moving spring
(18) a, shifting fork pin (16), an electromagnet (19) is fixed on steer motor fixed mount (11),
Between a number shift fork (17) and an electromagnet (19), coupling part has chute, a shift fork reset bullet
Spring (18) is positioned between steer motor fixed mount (11) and a shift fork (17), a shift fork (17)
Bottom is connected with driving gear (12) that turns to of described steer-drive by revolute pair, a shifting fork pin
(16) being rotatably connected on a shift fork (17), a shift fork (17) can be around a shifting fork pin (16)
Fixed-axis rotation.
4. a kind of car autopilot executing agency as claimed in claim 1, it is characterised in that described
Steer-drive also includes angular-rate sensor (9), and angular-rate sensor (9) is connected to steer motor (10)
Front end.
5. a kind of car autopilot executing agency as claimed in claim 1, it is characterised in that described
Brake portion includes brake and braking electromagnetic clutch device, and braking electromagnetic clutch device is fixed on system
In dynamic driving means；Described brake includes and reducer integrated braking motor (30), braking
Motor fixing frame (22), jaw clutch (26), wire wheel (24), wire wheel back-moving spring (23),
Braking motor fixed mount (22) is fixed on the chassis under driver's cabin, and braking motor (30) is fixed on braking
On motor fixing frame (22), jaw clutch (26) is fixed in the drive shaft of braking motor (30),
Wire wheel (24) engages with jaw clutch (26) and empty set is in the drive shaft of braking motor (30),
Wire wheel back-moving spring (23) is pressed on wire wheel (24).
6. a kind of car autopilot executing agency as claimed in claim 5, it is characterised in that described
Braking electromagnetic clutch device includes No. two electromagnet (29), No. two shift fork back-moving springs (28), No. two shift forks
(27), No. two shifting fork pin (25), No. two electromagnet (29) are fixed on braking motor fixed mount (22),
Between No. two shift forks (27) and No. two electromagnet (29), coupling part has chute, No. two shift forks (27)
Bottom is connected with the wire wheel (24) of described brake by revolute pair, No. two shift fork back-moving springs
(28) it is positioned between braking motor fixed mount (22) and No. two shift forks (27), No. two shifting fork pin (25)
Being rotatably connected on No. two shift forks (27), No. two shift forks can be around No. two shifting fork pin (25) fixed-axis rotations.
7. a kind of car autopilot executing agency as claimed in claim 1, it is characterised in that described
Communication module includes controller, controller signals generator, controller signals receiver, knuckle section signal
Generator, knuckle section signal receiver, brake portion signal generator, brake portion signal receiver,
Controller communicates to connect with controller signals generator and controller signals receiver respectively, and controller signals is sent out
Raw device communicates to connect with knuckle section signal receiver and brake portion signal receiver simultaneously, and knuckle section is believed
Number generator and brake portion signal generator respectively with the communication connection of controller signals receiver.
8. a car autopilot, it is characterised in that include environment sensing unit, path planning unit,
Path trace unit, control unit and executing agency, described executing agency includes knuckle section, braking parts
Point, communication module；Automobile external environment i.e. traffic is informed path planning unit by environment sensing；Path
Planning unit calculates running car optimal path and running car optimal path is informed control unit；Control is single
Unit, according to automobile self speed and position and attitude parameter, send control instruction to the control unit distribution of executing agency；
Path trace unit realizes FEEDBACK CONTROL according to the actual driving path of automobile to car autopilot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620394820.8U CN205615510U (en) | 2016-05-04 | 2016-05-04 | Car automatic pilot actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620394820.8U CN205615510U (en) | 2016-05-04 | 2016-05-04 | Car automatic pilot actuating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205615510U true CN205615510U (en) | 2016-10-05 |
Family
ID=57025049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620394820.8U Withdrawn - After Issue CN205615510U (en) | 2016-05-04 | 2016-05-04 | Car automatic pilot actuating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205615510U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752078A (en) * | 2016-05-04 | 2016-07-13 | 吉林大学 | Execution mechanism for automatic automobile driver |
| CN108572576A (en) * | 2018-07-10 | 2018-09-25 | 吉林大学 | It is man-machine drive altogether and unmanned technology and test vehicle-mounted external drive robot |
| CN110905326A (en) * | 2019-11-17 | 2020-03-24 | 方得(北京)物联科技有限公司 | Automatic window power device |
-
2016
- 2016-05-04 CN CN201620394820.8U patent/CN205615510U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752078A (en) * | 2016-05-04 | 2016-07-13 | 吉林大学 | Execution mechanism for automatic automobile driver |
| CN108572576A (en) * | 2018-07-10 | 2018-09-25 | 吉林大学 | It is man-machine drive altogether and unmanned technology and test vehicle-mounted external drive robot |
| CN108572576B (en) * | 2018-07-10 | 2023-08-18 | 吉林大学 | Man-machine co-driving and unmanned technology and vehicle-mounted external driving robot for testing |
| CN110905326A (en) * | 2019-11-17 | 2020-03-24 | 方得(北京)物联科技有限公司 | Automatic window power device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205615510U (en) | Car automatic pilot actuating mechanism | |
| CN108572576B (en) | Man-machine co-driving and unmanned technology and vehicle-mounted external driving robot for testing | |
| CN110979450A (en) | Formula of driverless car steering mechanism that can freely switch | |
| CN105752078B (en) | A kind of car autopilot executing agency | |
| CN110455553A (en) | A kind of drive robot that achievable driver intervenes at any time | |
| CN110667535A (en) | Universal drive-by-wire brake control device and brake method for automatic driving vehicle suitable for man-machine driving | |
| CN106015549A (en) | Shifting operation device, control device, electronic shifting system and control method | |
| CN103569197A (en) | Four-wheel steering system and control method thereof | |
| CN108343001A (en) | A kind of hydraulic (lift) linkage of deceleration strip and stop rod | |
| CN111016868A (en) | Brake control system and method for port automatic driving hub | |
| CN211205764U (en) | Driving robot capable of being controlled by driver at any time | |
| CN103016700A (en) | Automotive speed changing hydraulic operating device with pneumatic assisted power | |
| CN203581090U (en) | Four-wheel steering system | |
| CN203318484U (en) | Double-steering-wheel steering transmission device of coach passenger car | |
| CN104011420B (en) | PWTN for motor vehicles | |
| CN201350841Y (en) | Automatic control device of automobile clutch | |
| CN110307273B (en) | Brake device of electric checking vehicle and control method | |
| CN103423437B (en) | The electric gear change system of vehicle mechanical gearbox | |
| CN202098457U (en) | Electrical control hydraulic four-wheel steering system | |
| CN210284181U (en) | Formula of driverless car brake mechanism that can freely switch | |
| CN208602560U (en) | A kind of vehicle chassis | |
| CN202806737U (en) | Electronic parking brake control system | |
| CN207319068U (en) | A kind of intelligent carriage of omnibearing movable | |
| CN203391898U (en) | Balancing system for two-wheeled motorcycle | |
| CN206551981U (en) | A kind of unmanned mine vehicle remote control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161005 Effective date of abandoning: 20181102 |