CN206161871U - Vehicle control appearance that traveles - Google Patents
Vehicle control appearance that traveles Download PDFInfo
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- CN206161871U CN206161871U CN201621175405.XU CN201621175405U CN206161871U CN 206161871 U CN206161871 U CN 206161871U CN 201621175405 U CN201621175405 U CN 201621175405U CN 206161871 U CN206161871 U CN 206161871U
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Abstract
The utility model discloses a vehicle control appearance that traveles, include: inertial navigation appearance, GNSS navigator, the first signal synthesizer and alarm, the inertial navigation appearance for confirm the first course angle offset that the vehicle travel, the GNSS navigator is used for confirming the second course angle offset that the vehicle travel, the input of the first signal synthesizer links to each other with the output of inertial navigation appearance and the output of GNSS navigator respectively, and the the first signal synthesizer is used for being used for rectifying with definite error valuation, error valuation according to first course angle offset and second course angle offset the course angle offset that the vehicle travel, the alarm for receive the course angle offset that the vehicle after rectifying travel, and judge whether the course angle offset that the vehicle after rectifying travel is greater than the threshold value, if then definite vehicle traveles and does not conform to rule. The utility model discloses be used for reducing dual antenna GNSS's among the prior art consumption and price.
Description
Technical field
The utility model is related to technical field of navigation and positioning, more particularly to a kind of vehicle traveling monitor.
Background technology
In motor vehicle driving license subject three is taken an examination, one is straight-line travelling special project judge project, and content is judge " direction
Control is unstable, it is impossible to keep its straight line to run " (code 40301), need examinee to keep straight-line travelling.In addition, subject three is examined
There is a general judge project to be " continuously changing two or more track " (code 30121) in examination, need in change
The straight-line travelling of certain hour is kept between two tracks.
At present, for the ease of the straight-line travelling of electronic monitoring vehicle, GNSS (Global typically can be set on examination vehicle
Navigation Satellite System, GPS) double antenna group carries out to the travel situations of examination vehicle
Monitoring, as shown in figure 1, two GNSS antennas, one in front and one in back on examination vehicle.Using examination vehicle as a rigid body,
Two GNSS antennas on vehicle along vehicle y direction, using GNSS RTK (Real-time
Kinematic, carrier phase difference technology) carrier phase difference technology can obtain two GNSS be accurately positioned coordinate, root
According to the two elements of a fix, it may be determined that the basic lineal vector of the vehicle, so as to reflect the boat of tested vehicle using basic lineal vector
To angle.
GNSS needs to have double antenna and OEM (Original Equipment Manufacturer, original in such scheme
Beginning equipment manufacturers) board, the cost of this device is more expensive, higher to the monitoring cost of examination vehicle straight-line travelling.
Utility model content
The utility model embodiment provides a kind of vehicle and travels monitor, to reduce prior art in double antenna GNSS
Power consumption and price.
A kind of vehicle traveling monitor that the utility model embodiment is provided, including：Inertial navigator, GNSS navigators,
First signal synthesizer and alarm；
The inertial navigator, for determining the first course angle offset that vehicle is travelled；
The GNSS navigators, for determining the second course angle offset of the vehicle traveling；
The input of first signal synthesizer is led respectively with the output end and the GNSS of the inertial navigator
The output end of boat instrument is connected, and first signal synthesizer is used for according to first course angle offset and second course
To determine error estimator, the error estimator is used to correct the course angle offset of the vehicle traveling angle offset；
The alarm, for receiving the course angle offset of the vehicle traveling after correcting, and judges the correction
Whether the course angle offset of vehicle traveling afterwards is more than threshold value, if, it is determined that the vehicle traveling does not conform to rule.
Optionally, the inertial navigator, for obtaining first course angle and the car of the vehicle at the first moment
The second moment the second course angle, so as to obtain first course angle offset；
The GNSS navigators, exist for obtaining the 3rd course angle and the vehicle of the vehicle at first moment
4th course angle at second moment, so as to obtain second course angle offset.
Optionally, the GNSS navigators include GNSS receiver and GNSS processor；
The GNSS receiver, for receiving satellite-signal and being sent to the GNSS processor；
The GNSS processor, for determining the second course angular variation of the vehicle traveling according to the satellite-signal
Amount.
Optionally, the inertial navigator includes Inertial Measurement Unit and inertial navigation computing unit,
The Inertial Measurement Unit, for measuring the acceleration and angular acceleration of the vehicle；
The inertial navigation computing unit, for according to the acceleration and angular acceleration of the vehicle, determining the institute of the vehicle
State the first course angle offset.
Optionally, the output end of first signal synthesizer respectively with the input of the inertial navigator and described
The input of GNSS navigators is connected, and the error estimator is used to correcting the measurement data of the inertial navigator and described
The measurement data of GNSS navigators.
Optionally, the output end of first signal synthesizer passes through the first Kalman filter, respectively with the inertia
The input of the input of navigator and the GNSS navigators is connected, and first Kalman filter is used for the mistake
Difference valuation denoising.
Optionally, also including secondary signal synthesizer, the input of the secondary signal synthesizer connects respectively described used
Property navigator output end and the output end of first signal synthesizer, the secondary signal synthesizer output end connection
The input of the alarm, the error estimator is used to correct the output result of the inertial navigator.
Optionally, the output end of first signal synthesizer is closed by the first Kalman filter with the secondary signal
The input grown up to be a useful person is connected, and first Kalman filter is used for the error estimator denoising.
Optionally, the input of first signal synthesizer is by the second Kalman filter and the GNSS navigators
Output end be connected, second Kalman filter is used for output result denoising to the GNSS navigators.
Vehicle traveling monitor in the utility model embodiment, including inertial navigator, GNSS navigators, the first signal
Synthesizer and alarm.The monitor is arranged on driving license test vehicle, during vehicle is travelled, inertial navigator is true
Determine the course angle offset of examination vehicle.Inertial navigator certainty of measurement at short notice is higher, due to course angle offset
For the measurement aggregate-value in a period of time, corresponding position error also will accumulate with the time, therefore, rely only on inertial navigator
It is determined that course angle offset, error is larger.In the utility model embodiment, also inertial navigation is corrected using GNSS navigators
The measure error of instrument.Inertial navigator determines the first course angle offset of examination vehicle, and GNSS navigators determine the examination car
The second course angle offset.The output end of inertial navigator is connected with the input of the first signal synthesizer, by car of taking an examination
The first course angle offset send the first signal synthesizer to.GNSS navigators output end is defeated with the first signal synthesizer
Enter end to be connected, send the second course angle offset of same vehicle to first signal synthesizer.First course angular variation and
Two course angular variation synthesize in the first signal synthesizer, and to determine the error estimator of inertial navigator, the error estimator is used for
The course angle offset of correction examination vehicle.The output end of the first signal synthesizer is connected with the input of alarm, will correct
Course angle offset afterwards is sent to alarm.Alarm carries out the course angle offset after correction and threshold value set in advance
Contrast, if the course angle offset after correction is more than threshold value, it is determined that the traveling of examination vehicle does not conform to rule.The utility model is implemented
In example, the course angle offset of examination vehicle is determined using inertial navigator, for whether judging examination vehicle by straight-line travelling,
GNSS navigators are corrected to the measurement result of inertial navigator, it is ensured that the accuracy of measurement result.Due to having used one
Individual inertial navigator and a GNSS navigator, and the cost price of inertial navigator and GNSS navigators is driven far below existing
The scheme of double antenna used in examination plus high-precision GNSS board is sailed, therefore compared to prior art, the utility model
Embodiment reduces price, saves the cost to the monitoring of examination vehicle travel situations.
Description of the drawings
Fig. 1 is a kind of schematic diagram of GNSS double antennas group in prior art；
Fig. 2 travels the structural representation of monitor for a kind of vehicle that the utility model is provided；
Fig. 3 is the structural representation of inertial navigator in the utility model；
Fig. 4 is the structural representation of GNSS navigators in the utility model；
Fig. 5 is the structural representation that a kind of vehicle that embodiment of the present utility model is provided travels monitor；
Fig. 6 is the structural representation that a kind of vehicle that embodiment of the present utility model two is provided travels monitor；
Fig. 7 is that embodiment of the present utility model includes that the vehicle of the second Kalman filter travels the structure of monitor
Schematic diagram；
Fig. 8 is that embodiment of the present utility model two includes that the vehicle of the second Kalman filter travels the structure of monitor
Schematic diagram.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with accompanying drawing to this practicality
It is new to be described in further detail, it is clear that described embodiment is only the utility model some embodiments, rather than
Whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work
Under the premise of all other embodiment for being obtained, belong to the scope of the utility model protection.
The utility model embodiment provides a kind of vehicle and travels monitor, may be mounted on vehicle, is applied in machine
In the examination of motor-car driver's license, the travel situations of examination vehicle are monitored.
Fig. 2 shows that a kind of vehicle that the utility model embodiment is provided travels the structural representation of monitor.Such as Fig. 2 institutes
Show, monitor includes inertial navigator, GNSS navigators, the first signal synthesizer and alarm；
The inertial navigator, for determining the first course angle offset that vehicle is travelled；
The GNSS navigators, for determining the second course angle offset of the vehicle traveling；
The input of first signal synthesizer is led respectively with the output end and the GNSS of the inertial navigator
The output end of boat instrument is connected, and first signal synthesizer is used for according to first course angle offset and second course
To determine error estimator, the error estimator is used to correct the course angle offset of the vehicle traveling angle offset；
The alarm, for receiving the course angle offset of the vehicle traveling after correcting, and judges the correction
Whether the course angle offset of vehicle traveling afterwards is more than threshold value, if, it is determined that the vehicle traveling does not conform to rule.
Inertial navigator in the utility model, for obtain the vehicle the first moment the first course angle with it is described
Vehicle the second moment the second course angle, so as to obtain first course angle offset.
In order to realize above-mentioned functions, inertial navigator includes Inertial Measurement Unit and inertial navigation computing unit, as shown in Figure 3.
Inertial Measurement Unit, for measuring the acceleration and angular acceleration of the vehicle.Specifically, Inertial Measurement Unit is by 3 tops
Spiral shell instrument and 3 accelerometer compositions.Gyroscope is used for measuring the angular speed of examination vehicle, and accelerometer is used for measuring examination vehicle
The acceleration of motion.Inertial navigation computing unit, for according to the acceleration and angular acceleration of the vehicle, determining the of the vehicle
One course angle offset, it is accumulated according to the measurement result of Inertial Measurement Unit to the angular speed and acceleration of examination vehicle
Grade navigation calculation, calculates the course angle of examination vehicle, further calculates the first course angle offset of examination vehicle.
Inertial navigator is to measure the acceleration of examination vehicle using sensors such as gyroscope and accelerometers and angle adds
Speed, the course angle offset of examination vehicle is extrapolated according to the information independence measured.The measurement of inertial navigator is one
Kind by carrier equipment of itself it is independent positioned, do not disturbed by external environment, therefore precision at short notice
It is higher.But because sensor has in itself random drift and random error in inertial navigator, by acceleration and angular acceleration
It is integral operation to extrapolate course angle offset, and the error in measurement also can accumulate over time.
GNSS navigators in the utility model, for obtain the vehicle first moment the 3rd course angle and
The vehicle second moment the 4th course angle, so as to obtain second course angle offset.
In order to realize above-mentioned functions, GNSS navigators include GNSS receiver and GNSS processor, as shown in Figure 4.It is described
GNSS receiver, for receiving satellite-signal and being sent to the GNSS processor；The GNSS processor, for according to described
Satellite-signal determines the second course angle offset of the vehicle traveling.GNSS processor measures GNSS receiver with for the moment
The distance with multi-satellite is carved, and the course angle offset residing for GNSS receiver is solved by resolving.
GNSS navigators have global, round-the-clock, continuous, real-time offer high accuracy three-dimensional position and three-dimensional velocity information
Ability, be the new and high technology for realizing global location.But it is likely to result in places such as city high rise building area, boulevard, tunnels
Blocking for GNSS signal, causes temporary transient interruption and the multipath effect of GNSS signal, so as to cause the Vehicle positioning system cannot
In real time positioning or positioning precision are reduced.
The utility model embodiment corrects inertial navigation system using GNSS, true using GNSS
Determine error estimator, so as to be analyzed to the error of the error of inertial navigation system, course, velocity error and platform stance,
Optimal estimation is drawn, feedback is then corrected to inertial navigation system again.It is absolute that one side inertial navigator can be provided
Positional precision is very high, is not affected by positioning time, reduces multipath effect, and due to the output frequency of inertial navigator it is big
In the output frequency of GNSS navigators, inertial navigator can compensate GNSS navigators signal update frequency is slow and GNSS letters
Precise decreasing or the defect such as cannot position when number being blocked.On the other hand, GNSS navigators can provide boat for inertial navigator
The initial value that position calculates, to inertial navigator the correction of the systematic parameters such as position error is carried out.Navigation system only has GNSS to need tool
There are two or more antennas to have the precision for measuring attitude angle higher.And inertial navigator in a short time have compared with
Good precision, if but the auxiliary without other navigation system, the measure error of its attitude angle can accumulate.Therefore, by inciting somebody to action
The scheme that inertial navigator and GNSS navigators combine, the mistake of inertial navigator is suppressed using the stability of GNSS navigators
Difference-product tires out, and the precision of GNSS navigators is improved using the short-term high accuracy of inertial navigator, so as to the measurement of optimum is obtained
As a result, the accurately course angle offset of measurement examination vehicle and displacement, and carry out prompting report after examination vehicle traveling is unqualified
It is alert, reach the supervisory function bit to examination vehicle.
In embodiment of the present utility model, as shown in figure 5, the output end of first signal synthesizer respectively with it is described
The input of the input of inertial navigator and the GNSS navigators is connected, and the error estimator is used to correct the inertia
The measurement data of the measurement data of navigator and the GNSS navigators.In simple terms, as the first signal synthesizer will be by mistake
Difference valuation is fed back to respectively in inertial navigator and GNSS navigators, directly corrects inertial navigator and GNSS navigators to examination
The measured value of vehicle.
In order to further improve the accuracy to examination vehicle monitoring, the output end of first signal synthesizer is by the
One Kalman filter, is connected respectively with the input of the input of the inertial navigator and the GNSS navigators, institute
The first Kalman filter is stated for the error estimator denoising.Kalman filter utilizes linear system state equation, leads to
Input and output observation data are crossed, optimal value estimation is carried out to error estimator.Noise is contained in due to observing data with interference
Affect, so optimal estimation is also considered as the error estimator of filtering, i.e. Kalman filter to calculating and carries out denoising.
In embodiment of the present utility model two, as shown in fig. 6, also including secondary signal synthesizer, the secondary signal is closed
The input grown up to be a useful person connects respectively the output end of the output end of the inertial navigator and first signal synthesizer, described
The output end of secondary signal synthesizer connects the input of the alarm, and the error estimator is used to correct the inertial navigation
The output result of instrument.
Similar to embodiment one, the output end of first signal synthesizer is by the first Kalman filter and described the
The input of binary signal synthesizer is connected, and first Kalman filter is used for the error estimator denoising.
Further, the utility model embodiment also includes the second Kalman filter, second Kalman filter
For the output result denoising to the GNSS navigators.Is may each comprise in embodiment of the present utility model one and embodiment two
Two Kalman filter, then the input of first signal synthesizer navigated with the GNSS by the second Kalman filter
The output end of instrument is connected, as shown in Figure 7 and Figure 8.
Generally speaking, the vehicle traveling monitor in the utility model embodiment, including inertial navigator, GNSS navigation
Instrument, the first signal synthesizer and alarm.The monitor is arranged on driving license test vehicle, during vehicle is travelled,
Inertial navigator determines the course angle offset of examination vehicle.Inertial navigator certainty of measurement at short notice is higher, due to
Course angle offset is the measurement aggregate-value in a period of time, and corresponding position error also will accumulate with the time, therefore, only according to
By the course angle offset that inertial navigator determines, error is larger.In the utility model embodiment, also using GNSS navigators come
The measure error of correction inertial navigator.Inertial navigator determines the first course angle offset of examination vehicle, GNSS navigators
Determine the second course angle offset of the examination vehicle.The input phase of the output end of inertial navigator and the first signal synthesizer
Even, the first course angle offset of examination vehicle is sent to first signal synthesizer.GNSS navigators output end and the first letter
The input of number synthesizer is connected, and sends the second course angle offset of same vehicle to first signal synthesizer.First boat
Synthesize in the first signal synthesizer to angular variation and the second course angular variation, to determine the error estimator of inertial navigator, should
Error estimator is used to correct the course angle offset of examination vehicle.The output end of the first signal synthesizer and the input of alarm
It is connected, the course angle offset after correction is sent to into alarm.Alarm by the course angle offset after correction with set in advance
Fixed threshold value is contrasted, if the course angle offset after correction is more than threshold value, it is determined that the traveling of examination vehicle does not conform to rule.This
In utility model embodiment, the course angle offset of examination vehicle is determined using inertial navigator, for judging that examination vehicle is
It is no by straight-line travelling, GNSS navigators are corrected to the measurement result of inertial navigator, it is ensured that the accuracy of measurement result.
Due to having used an inertial navigator and a GNSS navigator, and the cost price of inertial navigator and GNSS navigators is remote
Less than the scheme that the double antenna used in existing driving test adds high-precision GNSS board, therefore compared to prior art,
The utility model embodiment reduces price, saves the cost to the monitoring of examination vehicle travel situations.
Although having been described for preferred embodiment of the present utility model, those skilled in the art once know substantially
Creative concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to bag
Include preferred embodiment and fall into having altered and changing for the utility model scope.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this practicality to the utility model
New spirit and scope.So, if it is of the present utility model these modification and modification belong to the utility model claim and
Within the scope of its equivalent technologies, then the utility model is also intended to comprising these changes and modification.
Claims (9)
1. a kind of vehicle travels monitor, it is characterised in that include：Inertial navigator, GNSS navigators, the first signal synthesizer
And alarm；
The inertial navigator, for determining the first course angle offset that vehicle is travelled；
The GNSS navigators, for determining the second course angle offset of the vehicle traveling；
The input of first signal synthesizer respectively with the output end of the inertial navigator and the GNSS navigators
Output end be connected, first signal synthesizer be used for it is inclined according to first course angle offset and second course angle
To determine error estimator, the error estimator is used to correct the course angle offset of the vehicle traveling shifting amount；
The alarm, for receiving the course angle offset of the vehicle traveling after correcting, and judges after the correction
Whether the course angle offset of the vehicle traveling is more than threshold value, if, it is determined that the vehicle traveling does not conform to rule.
2. monitor as claimed in claim 1, it is characterised in that
The inertial navigator, for obtaining first course angle of the vehicle at the first moment with the vehicle at the second moment
The second course angle, so as to obtain first course angle offset；
The GNSS navigators, for obtaining threeth course angle and the vehicle of the vehicle at first moment described
4th course angle at the second moment, so as to obtain second course angle offset.
3. monitor as claimed in claim 1, it is characterised in that the GNSS navigators are included at GNSS receiver and GNSS
Reason device；
The GNSS receiver, for receiving satellite-signal and being sent to the GNSS processor；
The GNSS processor, for determining the second course angle offset of the vehicle traveling according to the satellite-signal.
4. monitor as claimed in claim 1, it is characterised in that the inertial navigator includes Inertial Measurement Unit and inertial navigation
Computing unit,
The Inertial Measurement Unit, for measuring the acceleration and angular acceleration of the vehicle；
The inertial navigation computing unit, for according to the acceleration and angular acceleration of the vehicle, determining described the of the vehicle
One course angle offset.
5. the monitor as described in Claims 1-4 is arbitrary, it is characterised in that the output end of first signal synthesizer point
It is not connected with the input of the input of the inertial navigator and the GNSS navigators, the error estimator is used to correct
The measurement data of the measurement data of the inertial navigator and the GNSS navigators.
6. monitor as claimed in claim 5, it is characterised in that the output end of first signal synthesizer is by the first card
Thalmann filter, is connected respectively with the input of the input of the inertial navigator and the GNSS navigators, and described
One Kalman filter is used for the error estimator denoising.
7. the monitor as described in Claims 1-4 is arbitrary, it is characterised in that also including secondary signal synthesizer, described second
The input of signal synthesizer connects respectively the output of the output end of the inertial navigator and first signal synthesizer
End, the output end of the secondary signal synthesizer connects the input of the alarm, and the error estimator is used to correct described
The output result of inertial navigator.
8. monitor as claimed in claim 7, it is characterised in that the output end of first signal synthesizer is by the first card
Thalmann filter is connected with the input of the secondary signal synthesizer, and first Kalman filter is used for the error
Valuation denoising.
9. the monitor as described in claim 6 or 8, it is characterised in that the input of first signal synthesizer is by the
Two Kalman filter are connected with the output end of the GNSS navigators, and second Kalman filter is used for the GNSS
The output result denoising of navigator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175405.XU CN206161871U (en) | 2016-11-02 | 2016-11-02 | Vehicle control appearance that traveles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175405.XU CN206161871U (en) | 2016-11-02 | 2016-11-02 | Vehicle control appearance that traveles |
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| CN206161871U true CN206161871U (en) | 2017-05-10 |
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| CN201621175405.XU Active CN206161871U (en) | 2016-11-02 | 2016-11-02 | Vehicle control appearance that traveles |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109490932A (en) * | 2018-12-26 | 2019-03-19 | 上海司南卫星导航技术股份有限公司 | Judge method, OEM board, receiver and the storage medium of RTK orientation result reliability |
| CN110146106A (en) * | 2018-11-29 | 2019-08-20 | 腾讯科技（深圳）有限公司 | Inertial navigation set scaling method, device, electronic equipment and storage medium |
| CN110191412A (en) * | 2019-05-22 | 2019-08-30 | 象翌微链科技发展有限公司 | It is a kind of to correct the method for route or travel by vehicle information, a kind of car-mounted terminal |
| CN111986522A (en) * | 2020-07-29 | 2020-11-24 | 广州市新航科技有限公司 | Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof |
| CN113175924A (en) * | 2020-01-24 | 2021-07-27 | 安波福技术有限公司 | Vehicle heading information based on single satellite detection |
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2016
- 2016-11-02 CN CN201621175405.XU patent/CN206161871U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110146106A (en) * | 2018-11-29 | 2019-08-20 | 腾讯科技（深圳）有限公司 | Inertial navigation set scaling method, device, electronic equipment and storage medium |
| CN110146106B (en) * | 2018-11-29 | 2023-02-10 | 腾讯科技（深圳）有限公司 | Inertial navigation equipment calibration method and device, electronic equipment and storage medium |
| CN109490932A (en) * | 2018-12-26 | 2019-03-19 | 上海司南卫星导航技术股份有限公司 | Judge method, OEM board, receiver and the storage medium of RTK orientation result reliability |
| CN109490932B (en) * | 2018-12-26 | 2022-08-23 | 上海司南卫星导航技术股份有限公司 | Method for judging reliability of RTK (real time kinematic) orientation result, OEM (original equipment manufacturer) board card, receiver and storage medium |
| CN110191412A (en) * | 2019-05-22 | 2019-08-30 | 象翌微链科技发展有限公司 | It is a kind of to correct the method for route or travel by vehicle information, a kind of car-mounted terminal |
| CN110191412B (en) * | 2019-05-22 | 2021-01-26 | 象翌微链科技发展有限公司 | Method for correcting vehicle driving route information and vehicle-mounted terminal |
| CN113175924A (en) * | 2020-01-24 | 2021-07-27 | 安波福技术有限公司 | Vehicle heading information based on single satellite detection |
| CN111986522A (en) * | 2020-07-29 | 2020-11-24 | 广州市新航科技有限公司 | Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof |
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Denomination of utility model: Vehicle control appearance that traveles Effective date of registration: 20191230 Granted publication date: 20170510 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Co. Pledgor: SHANGHAI HIGH GAIN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2019310000046 |
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Assignee: Shanghai Lianshi Information Technology Co.,Ltd. Assignor: SHANGHAI HIGH GAIN INFORMATION TECHNOLOGY Co.,Ltd. Contract record no.: X2022440000084 Denomination of utility model: A vehicle driving monitor Granted publication date: 20170510 License type: Common License Record date: 20220823 |