KR20160132753A - Driving checking system of moving object - Google Patents

Driving checking system of moving object Download PDF

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Publication number
KR20160132753A
KR20160132753A KR1020150167328A KR20150167328A KR20160132753A KR 20160132753 A KR20160132753 A KR 20160132753A KR 1020150167328 A KR1020150167328 A KR 1020150167328A KR 20150167328 A KR20150167328 A KR 20150167328A KR 20160132753 A KR20160132753 A KR 20160132753A
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South Korea
Prior art keywords
moving object
function
unmanned
lane
aerial vehicle
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KR1020150167328A
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Korean (ko)
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KR101765633B1 (en
Inventor
박상규
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현대자동차주식회사
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Priority to US14/961,482 priority Critical patent/US9740206B2/en
Priority to CN201610065600.5A priority patent/CN106153349A/en
Publication of KR20160132753A publication Critical patent/KR20160132753A/en
Application granted granted Critical
Publication of KR101765633B1 publication Critical patent/KR101765633B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/28—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

According to an embodiment of the present invention, a system to test a movement of a moving object comprises: an unmanned aerial vehicle which is set to fly be separated from a moving object moved along a set route in a set area by a set distance, having a vision sensor to sense a movement of the moving object on one side; and a control part which controls the flying of the unmanned aerial vehicle to allow the unmanned aerial vehicle to follow the moving object, transmitting and receiving the features of the movement of the moving object sensed by the vision sensor. As such, the present invention improves an accuracy of the test, and reduces labor costs.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a moving object running inspection system for detecting a motion characteristic of a moving object such as a vehicle running along a predetermined route and determining the function and running state of the moving object accordingly.

Generally, the unmanned driving test vehicle is a vehicle for continuously driving the vehicle in order to evaluate the driving ability of the vehicle to obtain the desired test result. The unmanned driving test vehicle is a driving vehicle such as a Belgian road in which a severe road surface is formed, .

Accordingly, since the unmanned driving test vehicle does not directly drive the vehicle, the reliability and risk of the driver can be solved, and the reliability of the test result is improved. Accordingly, And a technique and a control method for automatically controlling a driving method are continuously being researched / developed / reviewed.

In the case of the above-described unmanned driving test vehicle, conventionally, a method has been used in which a vision sensor section provided in front of a test vehicle recognizes a lane on a road, and detects an approaching object to control the running of the vehicle on its own.

That is, the running of the vehicle is controlled in accordance with a radio control signal of an antenna installed in an unmanned driving test vehicle and a control tower inputted through a radio transmission / reception unit, and at the same time, an object to be sensed using various sensors, According to the signal, the driving control unit can automatically control the running of the vehicle through the suspension control unit.

However, when conducting a driving test of a vehicle, personal and subjective judgment of a driver can be made, driving accuracy may be lowered, and labor costs may increase.

SUMMARY OF THE INVENTION An object of the present invention is to provide a moving object traveling inspection system capable of increasing the accuracy of a function inspection of a moving object such as a vehicle and reducing the labor cost for the human resources.

As described above, according to the moving object running inspection system according to the embodiment of the present invention, the moving object is set to fly at a predetermined distance from the moving object arranged to travel along the set route of the set section, And a control unit for controlling the flight of the unmanned flight device so as to follow the moving object and transmitting and receiving the motion characteristics of the moving object detected by the vision sensor.

The unmanned aerial vehicle controls the moving object to perform a driving function including an advanced driver assistance system (ADAS), and the driver auxiliary function includes an emergency automatic brake function (AEB), a lane departure warning LAND DEPARTURE WARMING SYSTEM (LDWS), LANE KEEPING ASSISTANCE SYSTEM (LKAS), BLIND SPOT DETECTION (BSD), or SMART CRUISE CONTROL (SCC) And the vision sensor can sense a lane on which the moving object travels while the traveling function is performed, and an obstacle around the traveling lane.

The moving object may include a sensing unit which is controlled by the unmanned aerial vehicle and senses the periphery of the moving object.

The sensing unit senses a lane and surrounding obstacles and senses a distance to the obstacle.

The moving object may be controlled by the unmanned aerial vehicle and may have an unattended operating function to automatically control the steering device, the accelerator, and the braking device.

A landing point and a take-off point of the unmanned airplane device are set respectively, a conveyor arranged to move the unmanned flight device from the landing spot to the take-off spot, an landing marker formed at one side of the landing spot, A proximity sensor disposed on the other side of the landing point to detect the unmanned flight device, and a photosensor disposed on one side of the take-off point to sense the unmanned flight device.

The control unit may determine the information, the speed, and the travel distance of the moving object according to the information sensed by the vision sensor.

The controller may sense a motion characteristic of the moving object according to the driver assist function.

The control unit may control the traveling function of the moving object and the unmanned aerial vehicle through the wireless transmitting / receiving unit and the antenna.

A method for inspecting a moving object running according to an embodiment of the present invention includes moving a moving object into a predetermined route and running, flying the unmanned flying device along the moving object, Detecting a movement characteristic of the moving object through the sensor, and determining a traveling state of the moving object.

Further comprising controlling the unmanned aerial vehicle to perform a driving function including an advanced driver assistance system (ADAS) of the moving object, wherein the driver assist function includes an emergency automatic brake function, a lane departure warning function , Lane keeping support function, blind spot detection function, or smart cruise control function.

And sensing the periphery of the moving object through the sensing unit.

The sensing unit may sense a lane, an obstacle surrounding the object, and a distance to an object ahead of the object.

And performing an unmanned operation function for automatically controlling the steering device, the accelerator, and the brake device.

In order to achieve the above object, according to the present invention, inspection of a moving object such as an unmanned vehicle or a general vehicle using an unmanned aerial vehicle can be performed to improve the accuracy of inspection and reduce labor costs.

1 is a schematic block diagram of a moving object running inspection system according to an embodiment of the present invention.
2 is a table showing functions performed by a moving object according to an embodiment of the present invention.
3 is a schematic plan view of a conveyor in which a unmanned aerial vehicle is taken off and landing in a moving object traveling inspection system according to an embodiment of the present invention.
4 is a schematic plan view showing a moving path of a moving object in a moving object running inspection system according to an embodiment of the present invention.
5 is a flowchart showing a moving object traveling inspection method according to an embodiment of the present invention.
FIG. 6 is a flow chart showing a process of landing and taking-off of an unmanned aerial vehicle in a moving object traveling inspection method according to an embodiment of the present invention.
7 is a table showing functions of a vision sensor and a moving object in a moving object running inspection system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic block diagram of a moving object running inspection system according to an embodiment of the present invention.

1, a moving object traveling inspection system includes an unmanned aerial vehicle 100, a vision sensor 110, a moving object 120, a sensing unit 140, an antenna 150, a wireless transceiver 160, And a control unit 130.

The moving object 120 including the unmanned vehicle or the general vehicle is set to run along the route 400 set by the driver or unattended.

The UAV 100 is controlled by the controller 130 to be unmanned so that the UAV 100 moves to move along the moving object with a predetermined distance from the upper side of the moving object 120, do. For example, the moving object 120 can be controlled by the unmanned aerial vehicle 100.

The vision sensor 110 disposed in the UAV 100 senses the movement of the moving object 120 and confirms the information of the moving object. The vision sensor 110 can sense lanes and obstacles that the moving object travels, and can sense the distance between the moving object and the obstacle.

In addition, the sensing unit 140 installed on the moving object 120 senses the lane 420 and the obstacle 410 around the moving object, and detects the distance to the obstacle 410.

The controller 130 may be implemented by one or more microprocessors operating according to a set program, and the set program may include a series of instructions for performing a method according to an embodiment of the present invention to be described later.

2 is a table showing functions performed by a moving object according to an embodiment of the present invention.

Referring to FIG. 2, the moving object 120 may perform a driving function including a driver assistance function. For example, the UAV 100 may control the moving object 120 to perform the traveling function.

The advanced driver assistance system (ADAS) includes an emergency automation brake function (AEB), a lane departure warning function (LDWS), a lane keeping assistance function (LKAS: LANE KEEPING ASSISTANCE SYSTEM, BLIND SPOT DETECTION (BSD), or SMART CRUISE CONTROL (SCC).

The description of the driver assistance function refers to known technologies, and a detailed description thereof will be omitted.

3 is a schematic plan view of a conveyor in which a unmanned aerial vehicle is taken off and landing in a moving object traveling inspection system according to an embodiment of the present invention.

Referring to FIG. 3, a conveyor 300 is disposed along a set route, and landing markers 310 are disposed on both sides of one end of the conveyor 300. In addition, a first proximity sensor 312 is disposed between the landing markers 310.

A photosensor 316 is disposed at the other end of the conveyor 300 at a predetermined distance in the moving direction of the conveyor 300 and the second proximity sensor 314 is disposed therebetween.

The UAV 100 senses the landing marker 310 through the vision sensor 110 and lands there between. The first proximity sensor 312 senses the UAV 100.

When the UAV 100 is detected through the first proximity sensor 312, the conveyor 300 is operated to move the UAV 100.

When the unmanned flight device 100 is positioned between the photosensors 316 and the second proximity sensor 314 senses the UAV 100, the conveyor 300 stops operating, The device 100 is ready for takeoff.

4 is a schematic plan view showing a moving path of a moving object in a moving object running inspection system according to an embodiment of the present invention.

4, the moving object 120 is set to move along the set path 400, a lane 420 is formed on both sides of the moving object 120, and an obstacle 410 is placed at a set position do. The moving object 120 can be controlled by the driver and can be controlled to be unmanned.

5 is a flowchart showing a moving object traveling inspection method according to an embodiment of the present invention.

Referring to FIG. 5, control starts in S500, and the moving object 120 and the unmanned aerial vehicle 100 such as an unmanned vehicle or a general vehicle wait in S510 and S520.

The moving object 120 enters the path 400 by the controller 130 or the driver in step S530 and the controller 130 causes the unmanned flight control apparatus 100 to fly in accordance with the movement of the moving object do.

In S550, the moving object 120 performs the function running. The function driving includes an advanced driver assistance system (ADAS), and the driver assistance function includes an emergency automation brake function (AEB), a lane departure warning function (LDWS) LANE KEEPING ASSISTANCE SYSTEM (LKAS), BLIND SPOT DETECTION (BSD), or SMART CRUISE CONTROL (SCC).

That is, in S550, the driver or the controller 130 selectively controls the operation of the moving object 120 by operating the driver assistant function, and controls the operation of the moving object 120 through the UAV 100 in S560. The motion characteristic is detected, and the running test is terminated in S570.

Then, in S580, the moving object 120 moves out of the traveling route, and the flight of the UAV 100 is terminated in S590.

The movement characteristics of the moving object sensed by the vision sensor 110 of the UAV 100 may be transmitted to the controller 130 through the antenna 150 and the wireless transceiver 160. [ ), And the controller 130 can determine the traveling state of the moving object based on the received information.

FIG. 6 is a flow chart showing a process of landing and taking-off of an unmanned aerial vehicle in a moving object traveling inspection method according to an embodiment of the present invention.

Referring to FIG. 6, in step S600, the UAV 100 lands at a landing point of the conveyor 300. FIG. Here, the vision sensor 110 of the UAV 100 senses the landing marker 310 and lands at the corresponding position.

In step S610, the first proximity sensor 312 senses the UAV 100, and if it is determined in step S620 that the UAV 100 has been detected, the first proximity sensor 312 operates the conveyor 300 to operate the UAV 100).

In step S630, the unmanned flight control apparatus 100 detects that the unmanned flight control apparatus 100 has reached the set take-off point using the photo sensor 316 or the proximity sensor, and stops the conveyor 300 in step S640. Then, the unmanned airplane device 160 starts flying by the taken-off signal.

7 is a table showing functions of a vision sensor and a moving object in a moving object running inspection system according to an embodiment of the present invention.

Referring to FIG. 7, the vision sensor 110 checks the information of a moving object such as an unmanned vehicle or a general vehicle, detects the speed of the moving object 120, and determines a traveling distance of the moving object 120 And transmits the result to the controller 130.

The moving object 120 carries out an unmanned travel by the control signal of the control unit 130 or performs each function. Here, the moving object 120 can automatically operate the acceleration pedal, the brake pedal, and the steering wheel by a predetermined algorithm.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And all changes to the scope that are deemed to be valid.

100: unmanned flight device 110: vision sensor
120: vehicle 130:
140: sensing unit 150: antenna
160: Wireless transceiver 300: Conveyor
310: landing marker 312: first proximity sensor
316: photo sensor 314: second proximity sensor
400: Route 410: Obstacle
420: lane

Claims (14)

An unmanned flight device, which is set so as to fly at a predetermined distance from a moving object arranged to travel along a set route of a predetermined section and in which a vision sensor is disposed on one side so as to detect the movement of the moving object; And
A control unit for controlling the flight of the unmanned aerial vehicle to follow the moving object and transmitting and receiving the motion characteristics of the moving object sensed by the vision sensor;
And a control unit for controlling the movement of the moving object. The method of claim 1,
Wherein the unmanned aerial vehicle controls the moving object to perform a driving function including an advanced driver assistance system (ADAS), the driver assist function including an emergency automatic brake function (AEB); A lane departure warning function (LDWS: LANE DEPARTURE WARING SYSTEM); Lane Keeping Assistance System (LKAS); Blind Spot Detection (BSD); Or SMART CRUISE CONTROL (SCC); / RTI >
Wherein the vision sensor senses a lane on which the moving object travels while the traveling function is being performed, and an obstacle around the traveling lane. 3. The method of claim 2,
Wherein the moving object includes a sensing unit that is controlled by the unmanned aerial vehicle and senses a periphery of the moving object. 4. The method of claim 3,
Wherein the sensing unit senses a lane and surrounding obstacles and senses a distance to the obstacle. The method of claim 1,
Wherein the moving object is controlled by the unmanned aerial vehicle and has an unmanned driving function for automatically controlling the steering device, the accelerator, and the braking device. The method of claim 1,
A landing point and a take-off point of the unmanned flight device are respectively set, and a conveyor arranged to move the unmanned flight device from the landing point to the take-off point;
An landing marker formed on one side of the landing point;
A proximity sensor disposed on the other side of the landing point to detect the unmanned flight device; And
A photo sensor disposed on one side of the take-off point to detect the unmanned flight device; Further comprising a controller for controlling the moving object traveling inspection system. The method of claim 1,
Wherein the control unit determines information, speed, and travel distance of the moving object according to information sensed by the vision sensor. 3. The method of claim 2,
Wherein the controller detects movement characteristics of the moving object according to the driver assist function. The method of claim 1,
Further comprising a wireless transceiver and an antenna,
Wherein the control unit controls the traveling function of the moving object and the unmanned aerial vehicle through the wireless transmitting / receiving unit and the antenna. Entering and moving a moving object into a predetermined route;
Flying the unmanned aerial vehicle along the moving object; And
Sensing a movement characteristic of the moving object through a vision sensor mounted on the unmanned flying device and determining a traveling state of the moving object;
And a vehicle speed sensor for detecting the vehicle speed. 11. The method of claim 10,
Controlling the unmanned aerial vehicle to perform a driving function including an advanced driver assistance system (ADAS) of the moving object; Further comprising:
The driver assistance function
An emergency automatic brake function, a lane departure warning function, a lane keeping support function, a blind zone detection function, or a smart cruise control function. 11. The method of claim 10,
Sensing a periphery of the moving object through a sensing unit; Further comprising the steps of: The method of claim 12,
Wherein the sensing unit senses a distance between the lane and surrounding obstacles and an object ahead of the lane. The method of claim 12,
Performing an unmanned operation function for automatically controlling the steering device, the accelerator, and the brake device; Further comprising the steps of:
KR1020150167328A 2015-05-11 2015-11-27 Driving checking system of moving object KR101765633B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/961,482 US9740206B2 (en) 2015-05-11 2015-12-07 Driving test system for a moving object
CN201610065600.5A CN106153349A (en) 2015-05-11 2016-01-29 Traveling for mobile object tests system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020150065570 2015-05-11
KR20150065570 2015-05-11

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552092A (en) * 2017-07-04 2018-01-10 Daimler Ag Inspection system and method for automatic visual inspection of a motor vehicle
KR20190077704A (en) * 2017-12-26 2019-07-04 세종대학교산학협력단 System and method for autonomous landing of rotor type unmanned areial vehicle
KR102011664B1 (en) * 2018-06-07 2019-08-19 계명대학교 산학협력단 Test evaluation apparatus for autonomous emergency braking system and control method thereof
CN110877505A (en) * 2018-09-05 2020-03-13 迪尔公司 Control of work machines based on rubber built-in tire/track sensors

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2552092A (en) * 2017-07-04 2018-01-10 Daimler Ag Inspection system and method for automatic visual inspection of a motor vehicle
KR20190077704A (en) * 2017-12-26 2019-07-04 세종대학교산학협력단 System and method for autonomous landing of rotor type unmanned areial vehicle
KR102011664B1 (en) * 2018-06-07 2019-08-19 계명대학교 산학협력단 Test evaluation apparatus for autonomous emergency braking system and control method thereof
CN110877505A (en) * 2018-09-05 2020-03-13 迪尔公司 Control of work machines based on rubber built-in tire/track sensors
CN110877505B (en) * 2018-09-05 2023-01-31 迪尔公司 Control of work machines based on rubber built-in tire/track sensors

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