CN206906889U - A kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring - Google Patents
A kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring Download PDFInfo
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Abstract
The utility model provides a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, including intelligent vehicle mounted terminal, in addition to power management module, fault detection analysis module and the cloud platform with intelligent vehicle mounted terminal wireless connection that the central processing unit and central processing unit being located in intelligent vehicle mounted terminal are electrically connected；Power management module, for switching selection automobile external power supply and internal electric source, and automobile external supply voltage is changed to be adapted to the central processing unit；Fault detection analysis module, for gathering motoring condition information and driver's driving behavior information, and transmitted after running condition information and driving behavior information are handled by central processing unit to cloud platform；Cloud platform, for receiving the interactive information with monitoring intelligent car-mounted terminal to external network, and form and remember the wheelpath of automobile.The utility model have wide detection range, simple in construction, stable work in work, it is affected by environment small the advantages of.
Description
Technical field
The utility model belongs to communication technical field, and in particular to a kind of intelligent vehicle-carried diagnosis based on remote platform monitoring
System.
Background technology
Intelligent vehicle mounted terminal, also known as satellite positioning intelligent vehicle-mounted terminal, it has merged satellite positioning tech, mileage positioning skill
Art and automobile black box technology, can be used for the modern management to haulage vehicle, including：Traffic safety monitoring management, operation management,
Service Quality Management, intelligent centralized dispatching management, electronic stop plate control management etc..At present, developing rapidly with information technology
With increasing sharply for vehicle fleet size, various intelligent vehicle mounted terminals are used, and conventional intelligent vehicle mounted terminal is as described above, with GPS
Based on navigation and entertainment applications, such as vehicle-carrying DVD, video display, audio etc., it can not be realized visually for Highway Logistics Transport vehicle
Change management.Outstanding problem existing for the Highway Logistics industry of China now is " small, scattered, unrest, difference ", in the management of vehicle, vehicle
Parameter information is also wherein critically important one.When vehicle in use, some important parameters of vehicle need to read out
Come, to driver it is necessary, timely remind.In Highway Logistics Transport, the safety of vehicle and goods is extremely important, vehicle
Position and traffic route need monitoring in real time, and different types of vehicle needs the parameter monitored and the function of being realized also to have
Institute's difference, this is just needed the positional information of vehicle, running condition information, surrounding enviroment information even driver's oneself state letter
Breath is accurately sent to a platform, and wheelpath is generated on platform, in the hope of that can reach the visualized management of vehicle, is easy to change
The chaotic present situation of kind Highway Logistics industry.On the other hand, along with the increasingly perfect of traffic law, driver is when driving
Driving behavior, which also turns into, weighs the horizontal core standard of Highway Logistics, how to be integrated into the overall visualized management of vehicle
As urgent problem to be solved.To improve the deficiency of above-mentioned present situation and realizing above-mentioned proposed function, there is an urgent need to one kind
Function is more complete, compatibility is higher, the more open intelligent vehicle-carried diagnostic system based on remote platform monitoring of system.
A kind of intelligent vehicle mounted terminal of patent, application number (CN201611176832.4), including regular handset and its component, intelligence
Energy car-mounted terminal component and vehicle-mounted interface, described regular handset component pass through internal data bus and intelligent vehicle mounted terminal component
It is connected, the other end of described intelligent vehicle mounted terminal component is connected by data wire with vehicle-mounted interface, the intelligent vehicle mounted terminal
Component includes communication module, realizes the communication between central platform, the function of short message configuration querying；GPS module, realize and receive
And handle gps data；Serial port module, realize the communication with external equipment；GPIO modules, realize that the alarm triggering of I/O port judges；
Timer module, realize the processing after timer interruption.But the intelligent vehicle mounted terminal function is single, system compatibility is poor, nothing
Method accomplishes that the matching of front-end and back-end is reminded simultaneously, and stability is not good enough.
A kind of intelligent vehicle mounted terminal of patent, application number (CN201620676124.6), including intelligent vehicle mounted terminal main body, control
Molding block, GPS module, wireless communication module, memory module, the outer wall of intelligent vehicle mounted terminal main body are provided with display screen and button
Plate, control module are electrically connected with GPS module, wireless communication module, memory module, display screen and button panel respectively, channel radio
Believe that the smart mobile phone of module and car owner communicate to connect, intelligent vehicle mounted terminal also includes multiple detection terminals being distributed in car body,
Detection terminal includes shell, infrared ray sensor, and single-chip microcomputer, Zigbee wireless transmitter modules are provided with shell, intelligent vehicle-carried
Be provided with terminal body with control module be electrically connected with Zigbee wireless receiving modules, Zigbee wireless transmitter modules with
Zigbee wireless receiving modules communicate to connect；Rotating device, the top of rotating device are provided with the top of intelligent vehicle mounted terminal main body
Portion is provided with the camera being electrically connected with control module.But the terminal launches wireless signal by Zigbee, and cost is higher, and
Communication distance is limited, and can not accomplish the monitoring of remote platform.
Therefore be badly in need of wanting a kind of detection range it is wide, simple in construction, compatible it is strong, monitoring accuracy is high, affected by environment small
Intelligent vehicle-carried diagnostic system based on remote platform monitoring.
Utility model content
The purpose of this utility model is to provide a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, existing to solve
Have technology for detection scope is single, complicated, stability is not good enough, can not remote platformization monitoring, it is affected by environment big the problem of.
The utility model provides following technical scheme：
A kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, including intelligent vehicle mounted terminal, in addition to it is located at institute
State the central processing unit in intelligent vehicle mounted terminal, the power management module being electrically connected with the central processing unit, failure
Test and analyze module and the cloud platform with the intelligent vehicle mounted terminal wireless connection；The power management module, for switching
Automobile external power supply and internal electric source, and conversion automobile external supply voltage is selected to be adapted to the central processing unit；It is described
Fault detection analysis module, for gathering motoring condition information and driver's driving behavior information, and by the row
Sail after status information and the driving behavior information are handled by the central processing unit and transmit to the cloud platform；The cloud is put down
Platform, for receiving and monitoring interactive information of the intelligent vehicle mounted terminal to external network, and form and remember the driving of automobile
Track.
Preferably, the fault detection analysis module includes gyro sensor, and the gyro sensor is used to detect
The acceleration of vehicle urgency, anxious deceleration and zig zag information.
Preferably, the fault detection analysis module also includes diagnostic system communication module, the diagnostic system communication mould
Block includes a CAN transceiver chip, and the diagnostic system communication module passes through the CAN transceiver chip and the central processing
Device communicates, and obtains motoring condition information in real time.
Preferably, the fault detection analysis module also includes a tire pressure data reception module, the tire pressure data receiver
Module is used to receive vehicle tire pressure rf data and transmit to the central processing unit.
Preferably, the tire pressure data reception module include respectively with the fault detection analysis module be electrically connected with
Put formula tyre pressure sensor and external tyre pressure sensor.
Preferably, the central processing unit is also electrically connected with a wireless communication module, and the wireless communication module is used for
Text information is converted to by voice messaging by TTS parsings and reported.
Preferably, the wireless communication module is also wirelessly connected with human health information harvester by bluetooth.
Preferably, the power management module is also electrically connected with the standby electricity of lithium battery.
Preferably, the intelligent vehicle mounted terminal is additionally provided with locating module.
Preferably, the cloud platform is also wirelessly connected with user terminal.
The beneficial effects of the utility model are：
1st, using diagnostic system communication module, much information state, such as car speed, rotating speed, mileage, oil can be diagnosed
Consumption and engine temperature etc., also automobile fault code can be read by OBD interfaces, be easy to driver to exclude potential potential safety hazard, it is overall
It is full-featured, it is stable；
2nd, coordinate central processing unit using six axle gyroscopes, accelerate, suddenly slow down and take a sudden turn by the way that internal algorithm detection is anxious
Deng bad steering behavior, so as to remind specification driver driving, goods and the safety of driver are ensured, and oil consumption can be reduced；
3rd, user terminal is coordinated using cloud platform, is advantageous to remote platform real-time monitored information of vehicles, is run by vehicle
Environment influences small；
4th, the system general safety is stable, and small volume is simple in construction, and detection function is comprehensive, and compatibility is strong, easy to spread.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is Tthe utility model system structural representation；
Fig. 2 is first voltage regulation circuit；
Fig. 3 is second voltage regulation circuit；
Fig. 4 is gyro sensor internal code algorithm flow chart.
In figure：1. central processing unit, 2. power management modules, 3. diagnostic system communication modules, 4. tire pressure data receptions
Block, 5. gyro sensors, the standby electricity of 6. lithium batteries, 7. locating modules, 8. human health information harvesters, 9. radio communication molds
Block, 10. fault detection analysis modules, 11. cloud platforms, 12. user terminals, 13. temp probes.
Embodiment
Embodiment one
As shown in Figure 1 to Figure 3, a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, including intelligent vehicle-carried end
End, in addition to the power management that the central processing unit 1 and central processing unit 1 being located in intelligent vehicle mounted terminal are electrically connected
Module 2, fault detection analysis module 10 and the cloud platform 11 with intelligent vehicle mounted terminal wireless connection；Power management module 2, use
In switching selection automobile external power supply and internal electric source, and automobile external supply voltage is changed to be adapted to central processing unit 1；Therefore
Barrier detection and analysis module 10, for gathering motoring condition information and driver's driving behavior information, and will travel shape
State information and driving behavior information are transmitted to cloud platform 11 after being handled by central processing unit 1；Cloud platform 11, for receiving and supervising
Interactive information of the intelligent vehicle mounted terminal to external network is controlled, and forms and remember the wheelpath of automobile.Fault detection analysis mould
Block 10 includes gyro sensor 5, and gyro sensor 5 is used to detect vehicle suddenly acceleration, anxious deceleration and zig zag information.Failure
Detection and analysis module 10 also includes diagnostic system communication module 3, and diagnostic system communication module 3 includes a CAN transceiver chip, examined
Disconnected system communication module 3 is communicated by CAN transceiver chip with central processing unit 1, and obtains motoring condition information in real time.
Fault detection analysis module 10 also includes a tire pressure data reception module 4, and tire pressure data reception module 4 is used to receive vehicle tire pressure
Rf data is simultaneously transmitted to central processing unit 1.Tire pressure data reception module 4 includes electrical with fault detection analysis module 10 respectively
Built-in tyre pressure sensor and the external tyre pressure sensor of connection.Central processing unit 1 is also electrically connected with a radio communication mold
Block 9, wireless communication module 9 are used to text information is converted into voice messaging by TTS parsings and reported.Wireless communication module 9
Human health information harvester 8 is also wirelessly connected with by bluetooth.Power management module 2 is also electrically connected with the standby electricity of lithium battery
6.Intelligent vehicle mounted terminal is additionally provided with locating module 7.Cloud platform 11 is also wirelessly connected with user terminal 12.
Specifically, in use, the perfect in shape and function of power management module 2, as shown in Figures 2 and 3, based on long-range flat
When the intelligent vehicle-carried diagnostic system of platform monitoring is started working, car engine, the power supply selecting module in power management module 2 opens
It is dynamic, vehicular power-bottle is waken up, vehicular power-bottle adjusts circuit by first voltage as shown in Figure 2 and switchs to 5V voltages from 24V voltages, gives
Total system is powered, and now the analog-digital converter of central processing unit 1 is by collection voltages parameter, and the second voltage shown in Fig. 3 is adjusted
5V voltage conversions are the grade chip power supply of central processing unit 1 into 3.3V voltages by economize on electricity road；After automobile flameout, central processing unit 1
Detecting the voltage of power management module 2 reduces, and it entered resting state, if now tearing open by pre-set programs after 5 minutes
Except intelligent vehicle mounted terminal, then power management module 2 will select the standby electricity 6 of lithium battery to power, and send status information to cloud platform 11.
In driving procedure, diagnostic system communication module 3 and the connection communication of central processing unit 1, and can be with the OBD on automobile
Interface is connected, and obtains the status information of automobile in real time；Automobile wirelessly connects entirely through wireless communication module 9 and cloud platform 11
Connect, carry out information exchange, make user terminal real-time monitored vehicle-state；When automobile uses the tire of different model, matching makes
With built-in tyre pressure sensor or external tyre pressure sensor, it sends tire pressure rf data to tire pressure data reception module 4, entered
One step feeds back to central processing unit 1, is uploaded to cloud platform 11, so that staff records and observed tire pressure condition, it is ensured that automobile
Safety travel.On the whole, should can be from diagnosis by central processing unit 1 based on the intelligent vehicle-carried diagnostic system that remote platform monitors
The information of vehicles of communication module 3 of uniting acquisition, the positional information of the acquisition of locating module 7, the human body of the bluetooth connection of wireless communication module 9
The tire pressure data and six axle gyros that the driver physical state of the acquisition of healthiness information collection device 8, tire pressure data reception module 4 obtain
The driving behavior information that instrument obtains is sent to cloud platform 11；When the information that cloud platform 11 finds to obtain has abnormal, can pass through
Wireless communication module 9 sends voice real-time reminding driver and carries out necessary inspection and operation, realizes background monitoring and driver front end
Integration is reminded, makes system safer reliable.
Embodiment two
As shown in Figure 1 and Figure 4, gyro sensor 5 uses six axle gyroscopes, six axle gyroscopes by three axis accelerometer and
Three-axis gyroscope is complementary to be used, and its performance is merged, and in vehicle traveling process, the acceleration magnitude of all directions is calculated in it,
So as to judge anxious acceleration, urgency is slowed down and this three groups of bad steering behaviors of taking a sudden turn, and specifically includes：
1) it is anxious to accelerate to judge：When car normally travel, an acceleration can be produced along the direction of advance of car, if before at the uniform velocity
Enter, acceleration magnitude is also to tend to a relatively stable value between about 60-200mg.When car accelerates, acceleration magnitude can be gradual
Increase.What anxious acceleration described is exactly the scope of acceleration change, if in the range intervals normally accelerated.This process, in speed
Rise, engine speed change also can be obvious.When acceleration magnitude exceedes normal range (NR), gyro sensor 5 can combine speed
Analyzed jointly with the variable quantity of engine speed, whether driver generates anxious acceleration behavior.
2) anxious slow down judges：Anxious acceleration judges similar that, when car slows down, acceleration magnitude can be gradually reduced together, then in the past
The opposite direction entered produces the acceleration gradually increased.What anxious deceleration described is exactly the model of this acceleration change, if is met
The driving behavior suddenly slowed down.This process, speed decline, and rotating speed declines can be obvious.When acceleration magnitude exceedes normal range (NR), top
Spiral shell instrument sensor 5 can combine speed and the variable quantity of rotating speed is analyzed jointly, judge whether driver generates anxious deceleration behavior.
3) zig zag judges：When vehicle travels when turning, vehicle body can with the direction of advance shape before turning in an angle, and
And lasting change is greatly, while an acceleration can be formed in the opposite direction that car is turned.Angle is calculated with acceleration magnitude by relation, can
To judge whether in the reasonable scope to turn.If unreasonable, can using automobile angle and the vehicle speed that locating module 7 obtains as
Auxiliary confirmation, judges whether driver produces zig zag behavior.
Accelerate as shown in figure 4, the three axis accelerometer substitutes into three axles by picking rate value and the difference of acceleration magnitude
Spend calculating method formula：Q (t)=q (t-1)-μ △ f (q, a)/| | △ f (q, a) | | in, while three-axis gyroscope gathered data substitutes into
Gyroscope algorithmic formula：In q (t)=q (t-1)+q` △ Tq`=0.5*q (t) θ w, then by 3-axis acceleration calculating method and gyro
Instrument algorithm fusion, the quaternary number q (w, t) calculated by gyroscope and the quaternary number q (a, t) calculated by accelerometer carry out mutual
Fusion is mended, draws result of calculation：Q (est, t)=q (est, t-1)+q (est, t) `* △ T；With solve gyroscope detection dynamic property it is good but drift seriously,
Accelerometer static properties is good but postpones the problem of big, more accurately monitors vehicle running state.
Embodiment three
In the intelligent vehicle-carried diagnostic system monitored based on remote platform, diagnostic system communication module 3 passes through CAN transceiver
Chip and its interface access vehicle data Internet, direct monitored data message, pass through system needed for filter extraction
Bus data, data content and algorithm representated by data are parsed by communication rule as defined in vehicle.If necessary to read
Or a certain function of vehicle is set, then message is sent by way of instruction request, after the ECU control units reception of vehicle self-carrying,
Parsed according to communication rule, can then require to provide information of vehicles or control vehicle parameter according to instruction after verifying successfully.Each vehicle
Communication rule it is different, therefore the communication module of equipment can carry out communication link switching according to information of vehicles, reach and vehicle number
Data interaction can be just carried out according to same form is kept.
Example IV
As shown in Figures 1 to 4, a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, including intelligent vehicle-carried end
End, in addition to the power management that the central processing unit 1 and central processing unit 1 being located in intelligent vehicle mounted terminal are electrically connected
Module 2, fault detection analysis module 10 and the cloud platform 11 with intelligent vehicle mounted terminal wireless connection；Power management module 2, use
In switching selection automobile external power supply and internal electric source, and automobile external supply voltage is changed to be adapted to central processing unit 1；Therefore
Barrier detection and analysis module 10, for gathering motoring condition information and driver's driving behavior information, and will travel shape
State information and driving behavior information are transmitted to cloud platform 11 after being handled by central processing unit 1；Cloud platform 11, for receiving and supervising
Interactive information of the intelligent vehicle mounted terminal to external network is controlled, and forms and remember the wheelpath of automobile.The also electricity of central processing unit 1
Property be connected with temp probe 13, temp probe 13 is connected by RS485 transceivers with central processing unit 1, with monitoring and transmission vehicle
Interior temperature data, therefore, the intelligent vehicle-carried diagnostic system based on remote platform monitoring can be applicable to the transport of cold chain car, slag-soil truck pipe
The field such as reason and harmful influence vehicle supervision, has wide range of applications.
Embodiment five
As shown in figure 1, a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, its central processing unit 1 can also fit
With laser range finder and serial line interface, the serial line interface includes RS-232 or RS-485, and the central processing unit 1 can pass through institute
State serial line interface matching on-board air conditioner, vehicle carried video and automotive seat so that should be based on the intelligent vehicle-carried of remote platform monitoring
Diagnostic system can be in remote monitoring vehicle travel process inner case, system is overall more open, can be in driver fatigue
Receive driver's state of health data, then the equipment via the remote control vehicle interior of cloud platform 11, such as control vehicle carried video work
Make, such as control superior automobile seat opens the functions such as massage, heating, realizes that backstage is fed back simultaneously with driver, further ensures
The traffic safety of driver.Using laser range finder, the intelligent vehicle-carried diagnostic system based on remote platform monitoring can be matched nothing
People drives a car, and expands the use range of system, realizes the excellent compatible and open of system.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, although ginseng
The utility model is described in detail according to previous embodiment, for those skilled in the art, it still can be with
Technical scheme described in foregoing embodiments is modified, or equivalent substitution is carried out to which part technical characteristic.It is all
Within the spirit and principles of the utility model, any modification, equivalent substitution and improvements made etc., this practicality should be included in
Within new protection domain.
Claims (10)
1. a kind of intelligent vehicle-carried diagnostic system based on remote platform monitoring, including intelligent vehicle mounted terminal, it is characterised in that also wrap
Include the central processing unit in the intelligent vehicle mounted terminal, the power management mould being electrically connected with the central processing unit
Block, fault detection analysis module and the cloud platform with the intelligent vehicle mounted terminal wireless connection；
The power management module, for switching selection automobile external power supply and internal electric source, and conversion automobile external power supply
Voltage is to be adapted to the central processing unit；
The fault detection analysis module, for gathering motoring condition information and driver's driving behavior information, and
Transmitted after the running condition information and the driving behavior information are handled by the central processing unit to the cloud platform；
The cloud platform, for receiving and monitoring interactive information of the intelligent vehicle mounted terminal to external network, and formed and remembered
Recall the wheelpath of automobile.
A kind of 2. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 1, it is characterised in that institute
Stating fault detection analysis module includes gyro sensor, and the gyro sensor uses six axle gyro sensors, described
Gyro sensor is used to detect vehicle suddenly acceleration, anxious deceleration and zig zag information.
A kind of 3. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 2, it is characterised in that institute
Stating fault detection analysis module also includes diagnostic system communication module, and the diagnostic system communication module includes a CAN transceiver
Chip, the diagnostic system communication module is communicated by the CAN transceiver chip with the central processing unit, and is obtained in real time
Motoring condition information.
A kind of 4. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 3, it is characterised in that institute
Stating fault detection analysis module also includes a tire pressure data reception module, and the tire pressure data reception module is used to receive doughnut
Pressure rf data is simultaneously transmitted to the central processing unit.
A kind of 5. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 4, it is characterised in that institute
State tire pressure data reception module include respectively with the fault detection analysis module be electrically connected with built-in tyre pressure sensor and
External tyre pressure sensor.
A kind of 6. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 1, it is characterised in that institute
State central processing unit and be also electrically connected with a wireless communication module, the wireless communication module is used to parse word by TTS
Information is converted to voice messaging and reported.
A kind of 7. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 5, it is characterised in that institute
State wireless communication module and human health information harvester is also wirelessly connected with by bluetooth.
A kind of 8. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 1, it is characterised in that institute
State power management module and be also electrically connected with the standby electricity of lithium battery.
A kind of 9. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 1, it is characterised in that institute
State intelligent vehicle mounted terminal and be additionally provided with locating module.
A kind of 10. intelligent vehicle-carried diagnostic system based on remote platform monitoring according to claim 1, it is characterised in that
The cloud platform is also wirelessly connected with user terminal.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168301A (en) * | 2017-07-19 | 2017-09-15 | 江苏柠檬网络科技有限公司 | A kind of intelligent vehicle-carried diagnostic system monitored based on remote platform |
| CN108760337A (en) * | 2018-05-31 | 2018-11-06 | 武汉理工大学 | A kind of motorcycle remote supervision system |
| CN108845506A (en) * | 2018-08-31 | 2018-11-20 | 深圳市路畅科技股份有限公司 | A kind of diagnostic method of vehicle failure, device and equipment |
| CN111427349A (en) * | 2020-03-27 | 2020-07-17 | 齐鲁工业大学 | Vehicle navigation obstacle avoidance method and system based on laser and vision |
| CN111474566A (en) * | 2020-05-20 | 2020-07-31 | 上海评驾科技有限公司 | Method for judging installation condition of road transport vehicle satellite positioning system terminal |
| CN113285998A (en) * | 2021-05-20 | 2021-08-20 | 江西北斗应用科技有限公司 | Driver management terminal and unmanned aerial vehicle supervisory systems |
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2017
- 2017-07-19 CN CN201720878713.7U patent/CN206906889U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168301A (en) * | 2017-07-19 | 2017-09-15 | 江苏柠檬网络科技有限公司 | A kind of intelligent vehicle-carried diagnostic system monitored based on remote platform |
| CN108760337A (en) * | 2018-05-31 | 2018-11-06 | 武汉理工大学 | A kind of motorcycle remote supervision system |
| CN108845506A (en) * | 2018-08-31 | 2018-11-20 | 深圳市路畅科技股份有限公司 | A kind of diagnostic method of vehicle failure, device and equipment |
| CN111427349A (en) * | 2020-03-27 | 2020-07-17 | 齐鲁工业大学 | Vehicle navigation obstacle avoidance method and system based on laser and vision |
| CN111474566A (en) * | 2020-05-20 | 2020-07-31 | 上海评驾科技有限公司 | Method for judging installation condition of road transport vehicle satellite positioning system terminal |
| CN113285998A (en) * | 2021-05-20 | 2021-08-20 | 江西北斗应用科技有限公司 | Driver management terminal and unmanned aerial vehicle supervisory systems |
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