CN207931706U - A kind of vehicle redundant braking system - Google Patents
A kind of vehicle redundant braking system Download PDFInfo
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- CN207931706U CN207931706U CN201820257286.5U CN201820257286U CN207931706U CN 207931706 U CN207931706 U CN 207931706U CN 201820257286 U CN201820257286 U CN 201820257286U CN 207931706 U CN207931706 U CN 207931706U
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- brake unit
- braking system
- main brake
- connection
- wheel speed
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Abstract
The utility model discloses a kind of vehicle redundant braking systems, including：Main brake unit, the main brake unit are connect with automobile bus, control instruction are received and resolved from automobile bus, and implementing result exports；It from brake unit, should be connect from brake unit with automobile bus, and control instruction be received and resolved from automobile bus, and the status signal based on main brake unit decided whether that implementing result exports.The utility model realizes the redundancy of braking function, disclosure satisfy that the safety requirements of driving.
Description
Technical field
The utility model belongs to automotive electronics braking technology field, and in particular to a kind of vehicle redundant braking system.
Background technology
With the continuous development of automatic Pilot technology, in the case where no driver monitors, Vehicular automatic driving traveling
It is required that safety guarantee in the process becomes.Wherein, the safety and reliability of braking system becomes the most important thing.
As shown in figure 11, existing braking system includes that power CAN lines, central controller, power supply, brake unit and wheel speed pass
Sensor, the wheel speed sensors are connect with brake unit, and the power supply is connect with central controller and brake unit respectively, in being
It entreats controller and brake unit power supply, brake unit to be connect with central controller by power CAN lines, receives central controller institute
The control instruction sent out, and corresponding operating is executed based on the control instruction.The structure of existing braking system is simple, does not have system
Grade redundancy feature, during automatic Pilot, the failure if braking system breaks down, automatic driving vehicle will lose braking work
Can, great loss of personal property can be caused.
Therefore, it is necessary to develop a kind of vehicle redundant braking system.
Utility model content
The purpose of this utility model is to provide a kind of vehicle redundant braking system, can realize the redundancy of braking system, meets
The safety requirements of vehicle drive.
Vehicle redundant braking system described in the utility model, including：
Main brake unit, the main brake unit connect with automobile bus, are received from automobile bus and resolve control instruction
（Such as：Target deceleration signal and desired deceleration useful signal）, and implementing result exports；
From brake unit, it should be connect from brake unit with automobile bus, control instruction is received and resolved from automobile bus,
And the status signal based on main brake unit decides whether that implementing result exports.
Further, further include central controller, the central controller is by automobile bus and main brake unit and from braking
Unit connects.
Further include safety governor, which connect with main brake unit and from brake unit respectively；Realize
The redundancy of controller, when central controller fails, safety governor take over central controller, to ensure that system can be normal
Operation.
Further, further include power supply unit, the power supply unit respectively with central controller, safety governor, main brake list
Member and from brake unit be electrically connected.
The power supply unit includes：
First power supply, first power supply are connect with central controller and main brake unit respectively；
Second source, the second source are connect with safety governor and from brake unit respectively；This system is set with redundancy
Two independent current sources of meter, and one of power supply is powered for a brake unit, another power supply is powered for another brake unit,
But when one of power supply failure failure, another power supply also ensures vehicle normal operation, improves entire braking system
The stability and reliability of system.
The automobile bus includes：
Master vehicle bus, the central controller, safety governor, main brake unit and from brake unit and master vehicle
Bus connects；
Redundancy automobile bus, the central controller, safety governor, main brake unit and from brake unit and redundancy
Automobile bus connects；This system is communicated using two-way automobile bus, and passes through two-way vapour with the relevant data of braking system
Vehicle bus synchronous is transmitted, when wherein automobile bus failure failure all the way, since another way automobile bus can also continue to
Work, therefore can ensure braking system normal operation, therefore improve reliability and the safety of braking system.
The main brake unit and from also being connected by one or two privately owned communication line between brake unit, is used for main system
Moving cell and from the data interaction between brake unit（Including the information such as the health status of itself and result of calculation）；Two systems
It is indicated whether to monitor the status signal of other side to break down by the data transmitted in privately owned communication line between moving cell,
And the result of calculation of both sides is verified, if finding, the status signal of one of brake unit is expressed as breaking down
When failure, another brake unit can adapter system within the very short time, further ensure the response speed of system
Fast and smooth-going；In addition, when using two privately owned communication lines, i.e., privately owned communication line redundancy is subjected to, when a privately owned communication
When line failure failure, another privately owned communication line can also ensure that the data interaction between two brake units.
The main brake unit include conventional braking system, electronic stability program control system, assisted deceleration control system,
Electronics parking brake control system, automatic emergency brake system and active brake auxiliary system；
It is described from brake unit include conventional braking system, anti-blocking brake system and assisted deceleration control system；Or packet
Include conventional braking system, anti-blocking brake system, automatic emergency brake system and assisted deceleration control system.
Further include：
First wheel speed sensors, first wheel speed sensors are connect with main brake unit；
Second wheel speed sensors, second wheel speed sensors are connect with from brake unit；This system is by wheel speed sensors
Redundancy Design is carried out, when one of wheel speed sensors, which break down, to fail, another wheel speed sensors also can ensure that vehicle
Safety traffic.
The beneficial effects of the utility model：This system has two sets of brake units of Redundancy Design, when wherein a set of braking
Unit break down failure when, another set of brake unit can adapter system so that driver is had to ensure vehicle normal operation and fill
Foot reaction time come take over vehicle, to improve the stability and reliability of motor vehicle braking system.
Description of the drawings
Fig. 1 is one of the principles of the present invention block diagram；
Main brake unit and the control flow chart from brake unit in this utility model of Fig. 2；
Fig. 3 is the two of the principles of the present invention block diagram；
Fig. 4 is the control logic figure of central controller in the utility model；
Fig. 5 is the control logic figure of safety governor in the utility model；
Fig. 6 is the three of the principles of the present invention block diagram；
Fig. 7 is the control flow chart of the first power supply and second source in the utility model；
Fig. 8 is the functional block diagram of main brake unit in the utility model；
Fig. 9 is a kind of functional block diagram of embodiment from brake unit in the utility model；
Figure 10 is the functional block diagram of another embodiment from brake unit in the utility model；
Figure 11 is the functional block diagram of the prior art；
In figure：1, master vehicle bus, 2, redundancy automobile bus, 3, from brake unit, 4, main brake unit, 5, center control
Device, 6, power supply unit, 6a, the first power supply, 6b, second source, 7, safety governor, 8, privately owned communication line, the 9, first wheel speed passes
Sensor, the 10, second wheel speed sensors.
Specific implementation mode
Hereinafter, based on Fig. 1 to Figure 10 to embodiment one~reality of the automatic driving vehicle braking system of the utility model
Mode eight is applied to be described in detail.
Embodiment one
As shown in Figure 1, the automatic driving vehicle braking system, including main brake unit 4, from brake unit 3 and in
Entreat controller 5.
Central controller 5 is used to send out control instruction, such as：Target deceleration signal and desired deceleration useful signal.
Main brake unit 4 is for receiving and resolving the control instruction that central controller 5 is sent out, and implementing result exports.
It is used to receive and resolve the control instruction that central controller 5 is sent out from brake unit 3, and is based on main brake unit 4
Status signal decide whether implementing result export.
Wherein：It the main brake unit 4 and is indicated whether out from the status signal for mutually monitoring other side between brake unit 3
Existing failure（Whether healthy mode is divided into passive monitoring and actively monitors monitoring other side, and passive monitoring refers to passive reception other side's
Fault message, actively monitoring refer to the fault message of active obtaining other side）.In response to the main brake unit 4 and from brake unit 3
It when normal, is exported by 4 implementing result of main brake unit, at this point, implementing result does not export from brake unit 3.In response to
The status signal for monitoring the main brake unit 4 is expressed as failure of breaking down（Malfunction and failure only refers in current light-off period
Interior occurred expendable failure does not include recoverable failure）When, it is exported from 3 implementing result of brake unit by described.
In response to monitor it is described be expressed as breaking down failure from the status signal of brake unit 3 when, knot is executed by main brake unit 4
Fruit exports.
Embodiment two
As shown in Fig. 1, Fig. 3 and Fig. 6, in order to provide the safety of system, this system has also carried out redundancy to automobile bus.
In the present embodiment, automatic driving vehicle braking system further includes master vehicle bus 1 and redundancy automobile bus 2.
Master vehicle bus 1 is used for transmission control instruction and the feedback of status signal.
Redundancy automobile bus 2 is used for and control instruction and the feedback of status signal described in 1 synchronous transfer of master vehicle bus.
In the present embodiment, the main brake unit 4 is connect with master vehicle bus 1 and redundancy automobile bus 2 respectively, main brake
Unit 4 receives from master vehicle bus 1 and redundancy automobile bus 2 and resolves the control instruction, and by itself and/or from system
The status signal of moving cell 3 is sent in master vehicle bus 1 and redundancy automobile bus 2.
It is described to be connect respectively with master vehicle bus 1 and redundancy automobile bus 2 from brake unit 3, from brake unit 3 from main vapour
Receive and resolve the control instruction in vehicle bus 1 and redundancy automobile bus 2, and by the shape of itself and/or main brake unit 4
State signal is sent in master vehicle bus 1 and redundancy automobile bus 2.
This system is communicated using two-way automobile bus, and passes through two-way automobile bus with the relevant data of braking system
Synchronous transfer, when wherein automobile bus failure failure all the way, since another way automobile bus can also continue to work, therefore
It can ensure braking system normal operation, therefore improve reliability and the safety of braking system.
Rest part is identical as embodiment one.
Embodiment three
As shown in Figure 3 and Figure 6, in order to improve the safety of system, automatic driving vehicle braking control system is in addition to center
Outside controller 5, safety governor 7 is also had additional, that is, realizes the redundancy of controller.
Central controller 5 is additionally operable to monitoring main brake unit 4 and from brake unit 3 in addition to being used to send out control instruction
Working condition, and the control instruction is respectively sent in master vehicle bus 1 and redundancy automobile bus 2, which divides
It is not connect with master vehicle bus 1 and redundancy automobile bus 2.Control instruction is passed through two-way bus simultaneous transmission by central controller 5
To main brake unit 4 and from brake unit 3, when wherein automobile bus occurs abnormal all the way, in addition automobile bus can all the way
Ensure braking system normal operation in the given time.
Safety governor 7 is connect with master vehicle bus 1 and redundancy automobile bus 2 respectively；Safety governor 7 is for sending out
Control instruction and monitoring main brake unit and the status signal from brake unit, and the control instruction is respectively sent to main vapour
In vehicle bus 1 and redundancy automobile bus 2.
In the present embodiment, since control instruction is sent to main brake by safety governor 7 simultaneously by two-way automobile bus
Unit 4 and from brake unit 3, when central controller 5, which breaks down, to fail, at this time since safety governor 7 is in normal work
Make state, therefore can ensure that entire braking system being capable of normal operation.
Rest part is identical as embodiment two.
Example IV
As shown in figures 1 and 3, the automatic driving vehicle braking system further includes：Power supply unit 6, the power supply unit
6 be a power supply, for powering for main brake unit 4, from brake unit 3, central controller 5 and safety governor 7.
Rest part is identical as embodiment three.
Embodiment five
In order to improve the safety of system, automatic driving vehicle braking control system has also carried out the redundancy of power supply.Such as Fig. 6
Shown, automatic driving vehicle braking control system further includes：Power supply unit 6, the power supply unit 6 include two independent power supplys,
That is the first power supply 6a and second source 6b.
First power supply 6a is used to power for central controller 5 and main brake unit 4, and first power supply 6a is controlled with center respectively
Device 5 and main brake unit 4 connection processed.
Second source 6b be used for for safety governor 7 and from brake unit 3 power, second source 6b respectively with safety control
Device 7 processed and from brake unit 3 connect.
As shown in fig. 7, when the first power supply 6a breaks down failure, i.e., the network power-off where main brake unit 4, at this time
By from 3 adapter system of brake unit, keeping brake control function, while the first power failure signal will be sent out to central controller
5 and safety governor 7.
As shown in fig. 7, second source 6b breaks down when failure, i.e., from the network power-off where brake unit 3, main brake
Unit 4 continues to keep brake control function, while will send out second source fault-signal to central controller 5 and safety governor
7。
Rest part is identical as embodiment three.
Embodiment six
As shown in fig. 6, automatic driving vehicle braking control system further includes：Lead to by main brake unit 4 and from brake unit 3
It crosses privately owned communication line 8 to connect, for main brake unit 4 and from the data interaction between brake unit 3, wherein the two is logical
It crosses the data that privately owned communication line is interacted and is indicated whether as failure to monitor the status signal of other side（Include the health of itself
The information such as state and result of calculation）If one of brake unit breaks down when failure, another brake unit can and
Shi Faxian failures and adapter system, improve the stability and reliability of entire braking system.
Rest part is identical as embodiment five.
Embodiment seven
As shown in Fig. 1, Fig. 3 and Fig. 6, automatic driving vehicle braking control system further includes：By main brake unit 4 and from system
Moving cell 3 passes through two privately owned communication lines 8（Such as：Privately owned CAN）Connection.For main brake unit 4 and between brake unit 3
Data interaction, wherein the two by data that privately owned communication line is interacted monitor the status signal of other side indicate whether for
It breaks down（Including the information such as the health status of itself and result of calculation）If the status signal table of one of brake unit
When being shown as failure failure, another brake unit can find failure and adapter system in time, improve entire braking system
The stability and reliability of system.The present embodiment has also carried out redundancy to privately owned communication line 8, when a privately owned communication line breaks down
When failure, another privately owned communication line can also ensure that braking system normal operation.
Rest part is identical as embodiment five.
Embodiment eight
As shown in Fig. 1, Fig. 3 and Fig. 6, automatic driving vehicle braking control system further includes the first wheel speed sensors 9 and
Two wheel speed sensors 10, the first wheel speed sensors 9 are connect with main brake unit 4, the second wheel speed sensors 10 with from brake unit 3
Connection.I.e. wheel speed sensors are also carried out Redundancy Design by automatic driving vehicle braking control system, when one of wheel speed senses
When device failure failure, another wheel speed sensors also can ensure that braking system drives safely in preset time.
When the first wheel speed sensors 9, which break down, to fail, at this time by from 3 adapter system of brake unit, keeping braking control
Function processed, while the first wheel speed sensor failure signals will be sent out to central controller 5 and safety governor 7.
When the second wheel speed sensors 10, which break down, to fail, main brake unit 4 continues to keep brake control function, simultaneously
The second wheel speed sensor fault signal will be sent out to central controller 5 and safety governor 7.
Rest part is identical as embodiment eight.
In one~embodiment of embodiment eight, as shown in figure 8, the main brake unit 4 include conventional braking system,
Electronic stability program control system（That is ESP）, assisted deceleration control system（That is CDD）, electronics parking brake control system (i.e. EPB),
Automatic emergency brake system（That is AEB）With active brake auxiliary system (i.e. BAS).
In one~embodiment of embodiment eight, as shown in figure 9, it is described from brake unit 3 by conventional braking system, system
Dynamic anti-lock braking system, automatic emergency brake system and assisted deceleration control system（CDD）.As shown in Figure 10, described single from braking
Member 3 also can be by conventional braking system, anti-blocking brake system（ABS）It is formed with assisted deceleration control system.Because from brake unit 3
For Redundancy Design, therefore it need to only meet brake riggings requirement.
In one~embodiment of embodiment eight, the master vehicle bus 1 and redundancy automobile bus 2 are CAN bus,
Also Flexray buses can be used.
In one~embodiment of embodiment eight, the expendable failure includes：Pressure failure, sensor are built in braking
Signal interruption（I.e.：One section of long period no signal frame of definition）With system cut-off etc.；Recoverable failure include control instruction,
Sensing data frame losing, short time data check mistake etc. once in a while.
Claims (10)
1. a kind of vehicle redundant braking system, which is characterized in that including：
Main brake unit（4）, the main brake unit（4）It is connect with automobile bus, is received from automobile bus and resolve control and refer to
It enables, and implementing result exports；
From brake unit（3）, should be from brake unit（3）It is connect with automobile bus, is received from automobile bus and resolve control and refer to
It enables, and the status signal based on main brake unit decides whether that implementing result exports.
2. according to the vehicle redundant braking system described in claim 1, it is characterised in that：It further include central controller（5）, should
Central controller（5）Pass through automobile bus and main brake unit（4）With from brake unit（3）Connection.
3. vehicle redundant braking system according to claim 2, it is characterised in that：It further include safety governor（7）, the peace
Full controller（7）Respectively with main brake unit（4）With from brake unit（3）Connection.
4. vehicle redundant braking system according to claim 3, it is characterised in that：Further include power supply unit, the power supply list
Member respectively with central controller（5）, safety governor（7）, main brake unit（4）With from brake unit（3）Electrical connection.
5. vehicle redundant braking system according to claim 4, it is characterised in that：The power supply unit includes：
First power supply（6a）, first power supply（6a）Respectively with central controller（5）With main brake unit（4）Connection；
Second source（6b）, the second source（6b）Respectively with safety governor（7）With from brake unit（3）Connection.
6. vehicle redundant braking system according to claim 5, it is characterised in that：The automobile bus includes：
Master vehicle bus（1）, the central controller（5）, safety governor（7）, main brake unit（4）With from brake unit
（3）With master vehicle bus（1）Connection；
Redundancy automobile bus（2）, the central controller（5）, safety governor（7）, main brake unit（4）With from brake unit
（3）With redundancy automobile bus（2）Connection.
7. vehicle redundant braking system according to any one of claims 1 to 6, it is characterised in that：The main brake unit（4）
With from brake unit（3）Between also pass through one or two privately owned communication lines（8）Connection.
8. vehicle redundant braking system according to any one of claims 1 to 6, it is characterised in that：The main brake unit
（4）Including conventional braking system, electronic stability program control system, assisted deceleration control system, electronics parking brake control system, from
Dynamic emergency braking system and active brake auxiliary system；
It is described from brake unit（3）Including conventional braking system, anti-blocking brake system and assisted deceleration control system；Or including
Conventional braking system, anti-blocking brake system, automatic emergency brake system and assisted deceleration control system.
9. vehicle redundant braking system according to any one of claims 1 to 6, it is characterised in that：Further include：
First wheel speed sensors（9）, first wheel speed sensors（9）With main brake unit（4）Connection；
Second wheel speed sensors（10）, second wheel speed sensors（10）With from brake unit（3）Connection.
10. vehicle redundant braking system according to claim 7, it is characterised in that：Further include：
First wheel speed sensors（9）, first wheel speed sensors（9）With main brake unit（4）Connection；
Second wheel speed sensors（10）, second wheel speed sensors（10）With from brake unit（3）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257286.5U CN207931706U (en) | 2018-02-13 | 2018-02-13 | A kind of vehicle redundant braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257286.5U CN207931706U (en) | 2018-02-13 | 2018-02-13 | A kind of vehicle redundant braking system |
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| Publication Number | Publication Date |
|---|---|
| CN207931706U true CN207931706U (en) | 2018-10-02 |
Family
ID=63652749
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| CN201820257286.5U Active CN207931706U (en) | 2018-02-13 | 2018-02-13 | A kind of vehicle redundant braking system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664868A (en) * | 2019-01-21 | 2019-04-23 | 北京理工大学 | The believable network control braking system and control method of electric car |
| CN109969176A (en) * | 2019-04-15 | 2019-07-05 | 济南浪潮高新科技投资发展有限公司 | A kind of method and system of autonomous driving vehicle emergency braking control |
| CN111252017A (en) * | 2018-11-30 | 2020-06-09 | 上海汽车集团股份有限公司 | Low-speed unmanned driving system and method |
| CN111516657A (en) * | 2019-02-02 | 2020-08-11 | 上海汽车集团股份有限公司 | Braking system and braking method |
| CN111717184A (en) * | 2020-06-24 | 2020-09-29 | 中国第一汽车股份有限公司 | Vehicle redundant braking system, method, vehicle and storage medium |
| CN112744202A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744203A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744201A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN113110238A (en) * | 2021-05-12 | 2021-07-13 | 中国第一汽车股份有限公司 | EMB redundancy control system and method |
| CN113306534A (en) * | 2021-06-30 | 2021-08-27 | 东风商用车有限公司 | Unmanned hub redundancy brake control system and method |
| CN113459832A (en) * | 2021-08-13 | 2021-10-01 | 爱思盟汽车科技(重庆)有限公司 | Circuit system of vehicle power chassis |
| CN114889577A (en) * | 2022-05-07 | 2022-08-12 | 瀚德万安(上海)电控制动系统有限公司 | Vehicle brake system |
| CN115042761A (en) * | 2022-07-08 | 2022-09-13 | 东风越野车有限公司 | Failure backup system for automobile braking |
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2018
- 2018-02-13 CN CN201820257286.5U patent/CN207931706U/en active Active
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252017A (en) * | 2018-11-30 | 2020-06-09 | 上海汽车集团股份有限公司 | Low-speed unmanned driving system and method |
| CN111252017B (en) * | 2018-11-30 | 2022-03-22 | 上海汽车集团股份有限公司 | Low-speed unmanned driving system and method |
| CN109664868A (en) * | 2019-01-21 | 2019-04-23 | 北京理工大学 | The believable network control braking system and control method of electric car |
| CN111516657A (en) * | 2019-02-02 | 2020-08-11 | 上海汽车集团股份有限公司 | Braking system and braking method |
| CN111516657B (en) * | 2019-02-02 | 2021-05-25 | 上海汽车集团股份有限公司 | Braking system and braking method |
| CN109969176A (en) * | 2019-04-15 | 2019-07-05 | 济南浪潮高新科技投资发展有限公司 | A kind of method and system of autonomous driving vehicle emergency braking control |
| CN112744201B (en) * | 2019-10-31 | 2022-03-18 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744202A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744203A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744201A (en) * | 2019-10-31 | 2021-05-04 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN112744203B (en) * | 2019-10-31 | 2022-05-13 | 比亚迪股份有限公司 | Electro-hydraulic brake system, method applied to electro-hydraulic brake system and vehicle |
| CN111717184A (en) * | 2020-06-24 | 2020-09-29 | 中国第一汽车股份有限公司 | Vehicle redundant braking system, method, vehicle and storage medium |
| CN113110238A (en) * | 2021-05-12 | 2021-07-13 | 中国第一汽车股份有限公司 | EMB redundancy control system and method |
| CN113306534B (en) * | 2021-06-30 | 2022-02-18 | 东风商用车有限公司 | Unmanned hub redundancy brake control system and method |
| CN113306534A (en) * | 2021-06-30 | 2021-08-27 | 东风商用车有限公司 | Unmanned hub redundancy brake control system and method |
| CN113459832A (en) * | 2021-08-13 | 2021-10-01 | 爱思盟汽车科技(重庆)有限公司 | Circuit system of vehicle power chassis |
| CN114889577A (en) * | 2022-05-07 | 2022-08-12 | 瀚德万安(上海)电控制动系统有限公司 | Vehicle brake system |
| CN115042761A (en) * | 2022-07-08 | 2022-09-13 | 东风越野车有限公司 | Failure backup system for automobile braking |
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Effective date of registration: 20230921 Address after: 401120 No.107 dataguzhong Road, Xiantao street, Yubei District, Chongqing Patentee after: Chongqing Changan Automobile Software Technology Co.,Ltd. Address before: 400023, No. 260, Jianxin East Road, Jiangbei District, Chongqing Patentee before: Chongqing Changan Automobile Co.,Ltd. |