CN206564616U - The Intellectualized electric vehicle platform architectures of Internet - Google Patents
The Intellectualized electric vehicle platform architectures of Internet Download PDFInfo
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- CN206564616U CN206564616U CN201720101079.6U CN201720101079U CN206564616U CN 206564616 U CN206564616 U CN 206564616U CN 201720101079 U CN201720101079 U CN 201720101079U CN 206564616 U CN206564616 U CN 206564616U
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Abstract
The utility model is directed towards the Intellectualized electric vehicle platform architectures of internet；CAN LANs are connected composition CAN LANs with multimedia system module, body accessories system module, air-conditioning system module, power drive control module, electrical power storage control module, manipulation/braking anti-lock control module, electric powered steering module, vehicle status sensor and Context awareness module respectively, and full-vehicle control ECU18 is connected by CAN LANs with above-mentioned each module；The Intellectualized electric vehicle platform architectures of Internet of the present utility model, using full-digital control, each node is by network connection, using modular implementation, and each module can carry out personalized customization according to user.Each module interface is connected internet outside in-car CAN LANs, car, car networking by gateway, realizes the integration of three networks, and realizes by the supports of high in the clouds data the intelligentized control method of electric automobile.
Description
Technical field
The utility model is related to a kind of electric automobile platform architecture, more particularly to a kind of intelligent electric of Internet
Electrical automobile platform architecture, specifically one kind possess networking, modularization, digitlization, personalization, intelligentized electric automobile platform
Framework.
Technical background
Intellectuality, the networking of electric automobile are the developing direction of following electric automobile, are increasingly valued by people,
China, the U.S., Europe, Japan etc. have all formulated corresponding development plan, and have carried out multiple research projects.It is electronic in order to realize
The intellectuality of automobile, is typically increase vehicle-mounted camera, trailer-mounted radar, positioning system on the basis of existing vehicle platform architectures
The Context awareness modules such as system, and vehicle is controlled after being handled using full-vehicle control ECU the data of collection.Networking
It is then by the basis of existing vehicle platform framework, increasing network connecting module, realizing the communication with car outer network.It can see
Arrive, it is to increase corresponding mould according to demand on original platform that electrical vehicle network and intelligentized mode are realized at present
Degrees of fusion is relatively low between block, each functional module network of this scheme, the data interaction inconvenience between each functional module, it is difficult to right
All modules of vehicle carry out coordination control.Because the intelligent electric electrical automobile of following Internet has multiple function moulds
Block, a variety of Internets, traditional platform architecture for networking, intelligent Application to each functional module and procotol it
Between reasonably planned, it is difficult to meet the demand of intelligent electric electrical automobile.
Utility model content
Main purpose of the present utility model is the Intellectualized electric vehicle platform architectures there is provided a kind of Internet,
The platform architecture can preferably realize the multiple networks fusion of electric automobile, modular layout, Digital Control, personalized fixed
System, intelligent driving.
The utility model purpose is achieved through the following technical solutions：
A kind of Intellectualized electric vehicle platform architectures of Internet：Including full-vehicle control ECU, CAN LAN, net
Pass, the control of multimedia system module, body accessories system module, air-conditioning system module, power drive control module, electrical power storage
Module, manipulation/braking anti-lock control module, electric powered steering module, vehicle status sensor and Context awareness module；CAN innings
Domain net respectively with multimedia system module, body accessories system module, air-conditioning system module, power drive control module, electric energy
Store control module, manipulation/braking anti-lock control module, electric powered steering module, vehicle status sensor and Context awareness mould
Block connection composition CAN LANs, full-vehicle control ECU18 is connected by CAN LANs with above-mentioned each module；
Gateway is by CAN interface, COBBAIF, 4G/5G interfaces, blue tooth interface, WIFI interface, DSRC interfaces, bio-identification
Interface, MOST interfaces, LIN interfaces, NFC interface 45 are integrated to form；Protocol conversion is carried out between gateway and each interface, communication connects
Connect；
Context awareness module respectively with temperature sensor, in-car outside d GPS locating module, vehicle-mounted camera, trailer-mounted radar, car
Temperature sensor is connected；
4G/5G interfaces are connected with internet；Internet and car tube hub, traffic control center, vehicle factory, APP developer and Che
Primary user connects.
Further to realize the utility model purpose, it is preferable that the gateway is built by MPC5668G chip platforms,
MPC5668G chip platforms are equipped with IEEE802.3 interfaces, DSPI interfaces, eSCI interfaces, CAN interface, MLB interfaces, LIN interfaces
And I2C interface.
Preferably, the IEEE802.3 interfaces connection wireless router；DSPI interfaces connect Bluetooth adapter and NFC is suitable
Orchestration；ESCI interfaces connect 4G/5G modules；The in-car CAN of CAN interface connection；MLB interfaces connect in-car MOST buses, LIN
Interface connects in-car LIN buses；I2C interface connects DSRC modules and fingerprint identification module.
Preferably, the LAN is divided into low speed CAN by the different requirements of data transmission bauds and high-speed CAN is total
Line；Vehicle status sensor；, electric powered steering control module, behaviour it is steady/braking anti-lock control module, electrical power storage control module,
Power drive control module is connected to high-speed CAN bus；Air-conditioning system, body accessories system, multimedia system are connected to low speed
CAN.
Preferably, the Context awareness module provides two CAN interfaces, GPS receiving modules, vehicle-mounted camera, vehicle-mounted thunder
Data up to collection by the high-speed interface of Context awareness module are connected to high-speed CAN bus；The outer temperature sensor of car and in-car
Temperature sensor is connected to high-speed CAN bus by the low-speed interface of Context awareness module.
Preferably, the multimedia system module, body accessories system module, air-conditioning system module, power drive control
Module, electrical power storage control module, manipulation/braking anti-lock control module and electric powered steering module respectively with multimedia, Che Sheng
Annex, electric air-conditioning, power drive system, electric energy storage system, electro-hydraulic brake system and electric power steering connection.
Preferably, the bio-identification interface is connected with DSRC transceiver modules；DSRC transceiver modules and other vehicles and road
Face information connection.
The Intellectualized electric vehicle platform architectures of Internet involved by the utility model, in-car CAN LANs, car
Outer internet, car networking are changed by gateway, realize the fusion of Multi net voting；In-car gateway, multimedia system module, vehicle body
Accessory system module, air-conditioning system module, power drive control module, electrical power storage control module, manipulation/braking anti-lock control
Molding block, electric powered steering module, vehicle status sensor, Context awareness module composition CAN LANs, full-vehicle control ECU pass through
CAN LANs are controlled to each module.The Intellectualized electric vehicle platform frame of Internet involved by the utility model
The module of difference in functionality is carried out classification networking by structure, and is carried out by gateway integrated, and heterogeneous networks are carried out from platform architecture
Fusion, it is possible to according to demand neatly each functional module is managed and customized.
It is the utility model integrated form gateway, multimedia system module, body accessories system module, air-conditioning system module, dynamic
Power drive control module, electrical power storage control module, manipulation/braking anti-lock control module, electric powered steering module, vehicle-state
Sensor, Context awareness module are attached by CAN LANs, are carried out data transmission between modules, full-vehicle control ECU
Each module is controlled by CAN LANs.
The integrated CAN interface of the utility model integrated form gateway, COBBAIF, 4G/5G interfaces, blue tooth interface, WIFI interface,
Special short range communication (DSRC) interface, bio-identification interface, system transmission (MOST) interface towards media, local interconnect network
(LIN) interface, close range wireless communication (NFC) interface, change to the agreement between each interface, realize different bus agreement
Between communication.
The utility model 4G/5G interfaces pass through the 4G/ by internet outside 4G/5G network connections to car, electric automobile
5G interfaces and be connected to the cloud server of internet, vehicle Integrated manufacture business, APP developer, car owner user, traffic control center,
Car tube hub constant pitch clicks through row information transmission.
The utility model multimedia system module is managed by multimedia system ECU, and is connected by MOST interfaces
To gateway；Body accessories system module is managed by body accessories system ECU, and is connected to gateway by LIN interfaces；It is empty
Adjusting system module is controlled by air-conditioning system ECU, and is connected to CAN LANs by CAN network；Power drive control mould
Block is controlled by PCU (power drive control unit), and is connected to CAN LANs by CAN network；Electrical power storage is controlled
Module is controlled by ESSCU (energy storage system control unit), and is connected to CAN LANs by CAN network；Behaviour
Vertical/braking anti-lock control module controls ECU to be controlled by manipulation/braking anti-lock, and is connected to by CAN network
CAN LANs；Electric powered steering module is controlled by ESCU (electric powered steering control unit), and is connected to by CAN network
CAN LANs；The car status information collected is transferred to CAN network by vehicle status sensor；Context awareness module is integrated
D GPS locating module, vehicle-mounted camera, vehicle body radar, car outer temperature sensor, vehicle interior temperature sensor, and by the ring collected
Environment information is sent to CAN network.
Gateway is in CAN protocol, audio protocols, 4G/5G agreements, Bluetooth protocol, WIFI agreements, special short range communication (DSRC)
Agreement, bio-identification agreement, towards media system transmission (MOST) agreement, local interconnect network (LIN) agreement, closely without
Protocol conversion is carried out between line communication (NFC) agreement, the fusion between heterogeneous networks is realized；
Described in-car each functional part is by module composition, and each module is independently constituted between subsystem, each module by CAN innings
Domain net connection, and coordination control is carried out by vehicle ECU；
It is attached, full detail interaction is completed by digitlization agreement, is realized flat by CAN network between in-car each module
The full-digital control of platform；
The Context awareness module can recognize vehicle-periphery information, pass through full-vehicle control ECU and cloud server
To the analyzing and processing of data, path planning, automatic Pilot are carried out to electric automobile, intelligentized control method is realized；
The car owner user is connected to internet before the electric automobile manufacturing by the network equipment, integrated to vehicle
Functional module needed for manufacturer's customization, vehicle Integrated manufacture business optimizes to electric automobile and matches and manufacture according to demand；
During vehicle use, vehicle Integrated manufacture business issues software upgrading file by 4G/5G interfaces, the control to electric automobile
Software carries out upgrading optimization.
Relative to prior art, the utility model has following features：
(1) multiple networks fusion.Gateway is in CAN protocol, audio protocols, 4G/5G agreements, Bluetooth protocol, WIFI agreements, special
Short range communication (DSRC) agreement, bio-identification agreement, system transmission (MOST) agreement, local interconnect network towards media
(LIN) protocol conversion is carried out between agreement, close range wireless communication (NFC) agreement, realizes the fusion between heterogeneous networks.
(2) function modoularization is realized.In-car each functional part is by module composition, and each module independently constitutes subsystem, each mould
Block is formulated to be connected between standard interface, each module by CAN LANs, and carries out coordination control by vehicle ECU.Vehicle platform by
Different standard modules is constituted, and support is provided for electric automobile personalized customization.
(3) intelligentized control method.Full-vehicle control ECU is from Context awareness module collection vehicle ambient condition information, and from DSRC
Network and the planning of internet acquisition approach, traffic control, road conditions, nearby vehicle driving information data are right by Data Analysis Services
Electric automobile carries out path planning, automatic Pilot, realizes intelligentized control method.
(4) the Internet, applications service.The Intellectualized electric vehicle platform architectures of Internet provide each functional part
Open interface, APP developer can using open interface exploitation APP programs for vehicle provide news consulting, travel information,
Amusement, service for life, Meteorological Services.
(5) personalized customization.Car owner user is connected to internet before the electric automobile manufacturing by the network equipment,
Functional module to needed for the vehicle Integrated manufacture system of deciding through consultation, vehicle Integrated manufacture business optimizes to electric automobile according to demand
Match somebody with somebody and manufacture；During vehicle use, vehicle Integrated manufacture business issues software upgrading file by 4G/5G interfaces, to electronic
The control software of automobile carries out upgrading optimization.
Brief description of the drawings
Fig. 1 is the structure principle chart of the utility model embodiment 1.
Fig. 2 is the gateway architecture schematic diagram of the utility model embodiment 1.
Fig. 3 is the utility model embodiment 1CAN local area network structure schematic diagrams.
Fig. 4 is the gateway architecture schematic diagram of the utility model embodiment 2.
Embodiment
To more fully understand the utility model, the utility model is made further with reference to the accompanying drawings and examples
It is bright, but embodiment not limited to this of the present utility model.
Embodiment 1
As shown in figure 1, the Intellectualized electric vehicle platform architectures of Internet, including ECU18, CAN innings of full-vehicle control
Domain net 28, gateway 49, multimedia system module 33, body accessories system module 31, air-conditioning system module 29, power drive control
Module 26, electrical power storage control module 24, manipulation/braking anti-lock control module 22, electric powered steering module 20, vehicle-state are passed
Sensor 19, Context awareness module 17, CAN interface 42, COBBAIF 38,4G/5G interfaces 40, blue tooth interface 41, WIFI interface 43,
Special short range communication (DSRC) interface 44, bio-identification interface 46, towards media system transmission (MOST) interface 37, local it is mutual
Networking network (LIN) interface 39, close range wireless communication (NFC) interface 45.
Wherein, gateway 49 is integrated with CAN interface 42, COBBAIF 38,4G/5G interfaces 40, blue tooth interface 41, WIFI interface
43rd, special short range communication (DSRC) interface 44, bio-identification interface 46, system transmission (MOST) interface 37 towards media, office
Domain internet (LIN) interface 39, close range wireless communication (NFC) interface 45.Gateway 49 carries out agreement between each interface and turned
Change, to meet the communication between different agreement interface.
Gateway 49 is by its CAN interface 42, with multimedia system module 33, body accessories system module 31, air-conditioning system
Module 29, power drive control module 26, electrical power storage control module 24, manipulation/braking anti-lock control module 22, electric rotating
To module 20, vehicle status sensor 19, the connection composition CAN LANs of Context awareness module 17, full-vehicle control ECU18 passes through
CAN LANs are controlled to each module.
Context awareness module 17 is passed with temperature outside d GPS locating module 12, vehicle-mounted camera 13, trailer-mounted radar 14, car respectively
Sensor 15, vehicle interior temperature sensor 16 are connected, by temperature outside d GPS locating module 12, vehicle-mounted camera 13, trailer-mounted radar 14, car
The environmental information data that sensor 15, vehicle interior temperature sensor 16 are collected are sent to CAN LANs 28 to use.
The structure of gateway 49 is as shown in Fig. 2 using company of Infineon for automobile gateway application and development in Fig. 1
MPC5668G chip platforms are built, MPC5668G equipped with IEEE802.3 interfaces, DSPI interfaces, eSCI interfaces, CAN interface,
MLB interfaces, LIN interfaces, I2C interface.IEEE802.3 interfaces connect wireless router, and WIFI network is provided for vehicle；DSPI connects
There is provided bluetooth connection and NFC connections for mouth connection Bluetooth adapter and NFC adapters；ESCI interfaces connect 4G/5G modules, and mutual
Combined network communication；The in-car CAN of CAN interface connection；MLB interfaces connect in-car MOST buses, and LIN interfaces connection in-car LIN is total
Line；I2C interface connects DSRC modules and fingerprint identification module.Each difference is assisted by writing software-driven MPC5668G chips
View is mutually changed, and different networks is merged.
In-car local area network structure is as shown in figure 3, vehicle LAN is divided into low speed CAN by the different requirements of data transmission bauds
Bus and high-speed CAN bus.Vehicle status sensor 18, electric powered steering control module 20, behaviour is steady/braking anti-lock control module
22nd, electrical power storage control module 24, power drive control module 26 are connected to high-speed CAN bus, to meet real-time demand for control.
The air-conditioning system 29 not high to requirement of real-time, body accessories system 31, multimedia system 33 are connected to low speed CAN.Ring
Border identification module 17 provides two CAN interfaces, and the data that GPS receiving modules 12, vehicle-mounted camera 13, trailer-mounted radar 14 are gathered are led to
The high-speed interface for crossing Context awareness module 17 is connected to high-speed CAN bus；Car outer temperature sensor 15, vehicle interior temperature sensor 16
The data of collection are connected to high-speed CAN bus by the low-speed interface of Context awareness module 17.Full-vehicle control ECU1 provides two-way
CAN interface, is configured to low speed CAN interface all the way, and high-speed CAN interface is configured to all the way, speed is transmitted accordingly by software design patterns
Rate and Interrupt Priority Level.
Multimedia system module 33, body accessories system module 31, air-conditioning system module 29, power drive control module
26th, electrical power storage control module 24, manipulation/braking anti-lock control module 22 and electric powered steering module 20 respectively with multimedia
34th, car sound annex 32, electric air-conditioning 30, power drive system 27, electric energy storage system 25, electro-hydraulic brake system 23 and electric powered steering
Bear 21 connects.
Mode of operation of the present utility model is as follows：
As shown in figure 1, vehicle platform uses modularized design, by multimedia system module 33, body accessories system module
31st, air-conditioning system module 29, power drive control module 26, electrical power storage control module 24, manipulation/braking anti-lock control mould
Block 22, electric powered steering module 20, vehicle status sensor 19, Context awareness module 17 are constituted.Types of functionality module and vehicle are set
In respect of the communication of standard, machinery, electric interfaces, the congenerous module of different technologies parameter can be replaced freely.
Early stage is manufactured in electric automobile, the utilization of car owner user 1 can connect the network equipment 2 of internet to the integrated system of vehicle
Make business 7 and send demand information, propose the technical parameter requirement to the performance, function, outward appearance of vehicle.Vehicle Integrated manufacture business 7 receives
It is supplied to vehicle Integrated manufacture business 7 after car owner user 1, confirmation to be produced there is provided solution after to demand information.Vehicle collection
Into manufacturer 7 according to demand, select suitable functional module to carry out vehicle quick assembling to produce, deliver car owner user 1.
Vehicle user 35 in use, confirms legal identity by fingerprint identification module 47 and begins to use automobile,
Control instruction can be assigned by vehicle operation button or microphone 36.In vehicle operation, full-vehicle control ECU17 passes through
CAN LANs 28 and each functional module carry out information exchange, and vehicle is controlled.Vehicle is connected by 4G/5G interfaces 40
To internet 3, and from being connected similarly to the cloud database 4 of internet 3, car tube hub 5, traffic control center 6, vehicle Integrated manufacture
Business 7, the acquisition of APP developer 8 include the information on services such as path planning, real-time road, weather information, entertainment.DSRC is received and dispatched
Module obtains the driving information and information of road surface 10 of annex vehicle 9, enters driving and arrives car, the interaction on Che Dao roads.Full-vehicle control ECU17
Comprehensive analysis is carried out to the data obtained from internet 3, DSRC transceiver modules 48 and other in-car modules, and sends instruction to car
It is controlled.
With the increase of use time, historical data that vehicle Integrated manufacture business 7 travels according to vehicle and vehicle user
Driving habit, is optimized to wagon control software, while being repaired to the system vulnerability of presence, and passes through 4G/5G interfaces
Push upgrade file and update Vehicular system software.
Satellite 11 is connected with CAN LANs 28.
The state sensor 19 of vehicle, Context awareness module 17, MOST interfaces 37, blue tooth interface 41, WIFI interface 43, life
Thing identification interface 46, DSRC interfaces 44, audio input interface 38, air-conditioning system module 29, the interface data of multimedia system 33
Opening, APP developer 8 can read and use related data, and development and application software is that vehicle user 35 provides personalization
Service support.
Embodiment 2
Gateway 49 in Fig. 1 can also be designed according to Fig. 4 structure, as shown in figure 4, microphone 13, bluetooth are adapted to
Device 6, wireless router 5, special short range communication (DSRC) module 3, fingerprint identification module 4, MOST buses 10, LIN buses 11,
NFC adapters 9 are connected to CAN 7 after being changed respectively by CAN interface module 13.For data safety, 4G/5G modules are led to
Cross after fire wall 2 and be connected to CAN 7 by CAN interface module 13 again.CAN 7 is connected to entire car controller EUC8's
CAN interface, and low speed CAN interface, high-speed CAN interface are separate.This programme requires that entire car controller ECU8 has 3 roads independent
CAN port.
Compared with embodiment 1, each procotol is directly converted to CAN associations by the gateway of embodiment 2 by CAN interface module
View, is transmitted by CAN, and this scheme conveniently can be extended to procotol later, to add new interface,
It need to only be converted into after CAN protocol and be connected to CAN.
Specific operation principle is substantially the same manner as Example 1, does not repeat herein.
Claims (7)
1. the Intellectualized electric vehicle platform architectures of Internet, it is characterised in that including full-vehicle control ECU, CAN local
Net, gateway, multimedia system module, body accessories system module, air-conditioning system module, power drive control module, electric energy storage
Deposit control module, manipulation/braking anti-lock control module, electric powered steering module, vehicle status sensor and Context awareness module；
CAN LANs respectively with multimedia system module, body accessories system module, air-conditioning system module, power drive control module,
Electrical power storage control module, manipulation/braking anti-lock control module, electric powered steering module, vehicle status sensor and environment are known
Other module connection composition CAN LANs, full-vehicle control ECU18 is connected by CAN LANs with above-mentioned each module；
Gateway by CAN interface, COBBAIF, 4G/5G interfaces, blue tooth interface, WIFI interface, DSRC interfaces, bio-identification interface,
MOST interfaces, LIN interfaces, NFC interface 45 are integrated to form；Protocol conversion, communication connection are carried out between gateway and each interface；
Context awareness module respectively with temperature sensor, vehicle interior temperature outside d GPS locating module, vehicle-mounted camera, trailer-mounted radar, car
Sensor is connected；
4G/5G interfaces are connected with internet；Used with car tube hub, traffic control center, vehicle factory, APP developer and car owner internet
Family is connected.
2. the Intellectualized electric vehicle platform architectures of Internet according to claim 1, it is characterised in that the net
Pass is built by MPC5668G chip platforms, and MPC5668G chip platforms connect equipped with IEEE802.3 interfaces, DSPI interfaces, eSCI
Mouth, CAN interface, MLB interfaces, LIN interfaces and I2C interface.
3. the Intellectualized electric vehicle platform architectures of Internet according to claim 2, it is characterised in that described
IEEE802.3 interfaces connect wireless router；DSPI interfaces connect Bluetooth adapter and NFC adapters；ESCI interfaces connect 4G/
5G modules；The in-car CAN of CAN interface connection；MLB interfaces connect in-car MOST buses, LIN interfaces connection in-car LIN buses；
I2C interface connects DSRC modules and fingerprint identification module.
4. the Intellectualized electric vehicle platform architectures of Internet according to claim 1, it is characterised in that the office
Domain net is divided into low speed CAN and high-speed CAN bus by the different requirements of data transmission bauds；Vehicle status sensor；, it is electronic
Course changing control module, behaviour is steady/and braking anti-lock control module, electrical power storage control module, power drive control module be connected to
High-speed CAN bus；Air-conditioning system, body accessories system, multimedia system are connected to low speed CAN.
5. the Intellectualized electric vehicle platform architectures of Internet according to claim 1, it is characterised in that the ring
Border identification module provides two CAN interfaces, and GPS receiving modules, vehicle-mounted camera, the data of trailer-mounted radar collection are known by environment
The high-speed interface of other module is connected to high-speed CAN bus；The outer temperature sensor of car and vehicle interior temperature sensor pass through Context awareness
The low-speed interface of module is connected to high-speed CAN bus.
6. the Intellectualized electric vehicle platform architectures of Internet according to claim 1, it is characterised in that described many
Media system module, body accessories system module, air-conditioning system module, power drive control module, electrical power storage control module,
Manipulation/braking anti-lock control module and electric powered steering module respectively with multimedia, car sound annex, electric air-conditioning, electric drive trains
System, electric energy storage system, electro-hydraulic brake system and electric power steering connection.
7. the Intellectualized electric vehicle platform architectures of Internet according to claim 1, it is characterised in that the life
Thing identification interface is connected with DSRC transceiver modules；DSRC transceiver modules are connected with other vehicles and information of road surface.
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| CN201720101079.6U CN206564616U (en) | 2017-01-24 | 2017-01-24 | The Intellectualized electric vehicle platform architectures of Internet |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106850799A (en) * | 2017-01-24 | 2017-06-13 | 华南理工大学 | A kind of Intellectualized electric vehicle platform architectures of Internet |
| CN110456767A (en) * | 2019-08-02 | 2019-11-15 | 上海哲奥实业有限公司 | A kind of vehicle operating system framework based on ecological chain and industrial chain |
| TWI706238B (en) * | 2018-12-18 | 2020-10-01 | 大陸商北京航跡科技有限公司 | Systems and methods for autonomous driving |
| US10955853B2 (en) | 2018-12-18 | 2021-03-23 | Beijing Voyager Technology Co., Ltd. | Systems and methods for autonomous driving |
-
2017
- 2017-01-24 CN CN201720101079.6U patent/CN206564616U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106850799A (en) * | 2017-01-24 | 2017-06-13 | 华南理工大学 | A kind of Intellectualized electric vehicle platform architectures of Internet |
| TWI706238B (en) * | 2018-12-18 | 2020-10-01 | 大陸商北京航跡科技有限公司 | Systems and methods for autonomous driving |
| US10955853B2 (en) | 2018-12-18 | 2021-03-23 | Beijing Voyager Technology Co., Ltd. | Systems and methods for autonomous driving |
| US11669097B2 (en) | 2018-12-18 | 2023-06-06 | Beijing Voyager Technology Co., Ltd. | Systems and methods for autonomous driving |
| CN110456767A (en) * | 2019-08-02 | 2019-11-15 | 上海哲奥实业有限公司 | A kind of vehicle operating system framework based on ecological chain and industrial chain |
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