WO2015060805A1 - Système permettant de traiter des données obtenues à partir de boîtes noires - Google Patents

Système permettant de traiter des données obtenues à partir de boîtes noires Download PDF

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Publication number
WO2015060805A1
WO2015060805A1 PCT/TR2014/000447 TR2014000447W WO2015060805A1 WO 2015060805 A1 WO2015060805 A1 WO 2015060805A1 TR 2014000447 W TR2014000447 W TR 2014000447W WO 2015060805 A1 WO2015060805 A1 WO 2015060805A1
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WIPO (PCT)
Prior art keywords
accident
black box
vehicle
data
processing module
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PCT/TR2014/000447
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English (en)
Inventor
Ali Serim AKURGAL
Inan Savas OZBAKIR
Original Assignee
Ant Bilisim Elektronik Ve Enerji Teknolojileri Sanayi Ve Ticaret Anonim Sirketi
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Publication of WO2015060805A1 publication Critical patent/WO2015060805A1/fr

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station

Definitions

  • This invention relates to a system that realizes obtaining data from black boxes placed on motor vehicles, instantaneously or periodically on accidents or like faced by motor vehicles, road conditions and such; and further gathering, interpreting, filtering, processing information for many purposes such as providing information and report to external systems related to the received data and in some cases carrying out necessary actions.
  • the need is obvious for a central platform which can provide automatic accident analysis or correctly and efficiently processing of related parts of data that is obtained from black boxes of motor vehicles in order to provide information about traffic and road conditions, for notification of related units upon these analysis and for issuing reports even depending on the stored data about the situation.
  • GPS is insufficient to detect variation of direction of the vehicle in case of an accident which is in the order of a few degrees. Inaccuracies in the order of meters are common due to difference of reflective/ direct reception of satellite signals especially in narrow streets makes the determination of location and direction by GPS insufficient for accident detection.
  • TR2003/01391 utility model discloses an automobile black box.
  • Mentioned black box is mounted to front panel of automobile and comprises; camera that records sounds and images in the field of vision of driver, MPEG encoder that encodes recordings of camera, hard drive storage that stores images received from MPEG encoder, control and power unit that provides velocity, motor heat and oil level warnings when vehicle is in move and supplies power that black box requires and a monitor that transmits recorded sound and images to outside, meaning that let them be listened to and watched.
  • the purpose of this invention is to realize a system that enables receiving data either instantaneously or periodically transmitted from black boxes installed in motor vehicles such as automobile, truck, bus; and to interpret, filter, process, store, evaluate the received data and/or notifying external systems and/or reporting based on the data; sending commands to black box when necessary.
  • Figure 1 is schematic diagram of the inventive system.
  • Inventive system (1) comprises:
  • black box interface (2) which receives and converts data sent from black boxes (K) through a network via cellular and/or wired or near field communication (NFC) techniques,
  • At least one combined data processing module (3) which includes sub modules that enable processing and management of data sent by black boxes (K) and received from black box interfaces (2) according to data type and which directs data to the appropriate sub module,
  • At least one accident detection module (31) which includes flows that enable processing of the data to determine an accident and which generates accident report based on the accident data that is sent by black boxes (K) and received from black box interfaces (2) is accident data (accident message) and which serves as a sub module within combined data processing module (3),
  • At least one accident report database (32) in which accident reports provided by the accident detection module (31 ) are stored together with accident data that is used to generate these reports,
  • periodical data processing module (33) which includes flows that enable processing of data and carrying out appropriate actions based on results of processing in the case of that data sent by black boxes (K) and received from black box interfaces (2) is periodical data (periodical notification message) and which serves as a sub module within combined data processing module (3),
  • periodical notification message database (34) in which periodical notification messages sent by black boxes (K) and received from black box interfaces (2) is stored
  • reporting module (35) which can generate reports by receiving data from accident report database (32) or periodical notification message database (34) and which serves as a sub module within combined data processing module (3),
  • each reporting module (35) is transmitted to each reporting module (35) according to a schedule
  • At least one external system interface (4) which enables processing results of data within combined data processing module (3) and generated reports to be configured for being issued to external systems (D) and which communicates with external systems (D) through a web service.
  • Black box interface (2) within inventive system (1) is the unit that receives data sent from black boxes (K) preferably through TCP/IP (Transmission Control Protocol/Internet Protocol) based networks via cellular and/or wired or near field communication (NFC) techniques and that converts and transmits mentioned data to combined data processing module (3).
  • Type of data received from black box interface (2) can be accident message (accident data) or periodical notification message (periodical data).
  • Black box interface (2) is capable of establishing two way communication with black boxes (2).
  • Black box interface (2) is the unit that can realize connection with black box (K) through terrestrial cellular communication systems such as NMT (Nordic Mobile Telephone), AMPS (Advanced Mobile Phone Service), GSM (Global System for Mobile Communications), D-AMPS (Digital AMPS), 2.5G, 3G, LTE (Long Term Evolution), 4G or satellite cellular communication systems such as Iridium, Thuraya.
  • Black box interface (2) is the unit that can realize connection with black box (K) through hand terminals and near field communication (NFC, for example WiFi and derivatives, Bluetooth, RFID (Radio-Frequency Identification) in North American or European standards, ZigBee, Industrial Unlicensed Band Communications or the like) systems.
  • NFC near field communication
  • RFID Radio-Frequency Identification
  • Black box interface (2) is the unit whose communication with black box (K) can be established via taking motor vehicle to a maintenance or observation center or realizing contact through wired, fiber optic or wireless communication networks at specific checkpoints and establishing near field communication there.
  • Black box interface (2) is the unit that can realize wired communication with black box (K) through Ethernet, RS232, RS485, ModBus, STDBus and the like standard and protocols.
  • periodical notification message among aforementioned data types includes time stamp that indicates the time that message is sent, singular identity information that is unique to message, unique identity information of black box (K) that is source of data, engine chassis number that belongs, to motor vehicle of black box (K), motor vehicle location data that is obtained via cellular communication network and/or via location determination system with help of a valid satellite bearing such as Global Positioning System, data array of ODB (On Board Diagnostic System), three dimensional [X, Y, Z] velocity vector array (the vehicles trace) that is stored cumulatively, photos that are taken periodically and consecutively with inside and outside cameras mounted on motor vehicle.
  • accident message among aforementioned data types includes time stamp that indicates the time that message is sent, singular identity information that is unique to message, unique identity information of black box (K) that is source of data, engine chassis number that belongs to motor vehicle of black box (K), motor vehicle location data that is obtained via cellular communication network and/or via Global Positioning System, data array of ODB (On Board Diagnostic System) that is arranged as before accident, during accident and after accident, three dimensional before accident [X, Y, Z] velocity vector (trace) array that is stored cumulatively, three dimensional during accident [X, Y, Z] velocity vector (trace) array that is stored cumulatively, three dimensional after accident [X, Y, Z] velocity vector (trace) array that is stored cumulatively, photos that are taken periodically and consecutively with inside and outside cameras mounted on motor vehicle.
  • ODB On Board Diagnostic System
  • Data received from black box interface (2) can be messages that are sent by black box (K) instantaneously, in case of an accident, or periodically. Periodical notification messages are not an accident situation but periodical messages. Periodical notification messages can either be sent periodically by black box (K) or be sent upon request of combined data processing module (3).
  • Data that black box interface (2) has gathered from black boxes (K) are packets with size of 128 or 256 bits in various applications of the present invention.
  • Black box interface (2) firstly receives data packets and analyzes the packet by using encryption algorithm and encryption key that is unique to motor vehicle of black box (K) during the operation of gathering data from black box (2), converting and transmitting the data to combined data processing module (3). Afterwards, it authenticates and verifies black box (K), which sent data via security algorithms.
  • Black box interface (2) provides asynchronous transmission of converted data to the combined data processing module (3).
  • Black box interface (2) also enables photos that are sent from black boxes (K) to be stored to accident report database (32) by ⁇ relating them to engine chassis number and time stamps.
  • Combined data processing module (3) within inventive system (1) is the unit that includes accident detection module (31) which provides processing and management of data that is sent from black boxes (K), received and sent by black box interfaces (2) according to data type, periodical data processing module (33), reporting module (35), data manager (37) sub modules and that directs data to either accident detection module (31) or periodical data processing module (33) based on data type.
  • accident detection module (31) which provides processing and management of data that is sent from black boxes (K), received and sent by black box interfaces (2) according to data type
  • aforementioned data is transmitted to accident detection module (31) with all of its contents in the case that data transmitted by black box interface (2) to combined data processing module (3) is an instantaneous accident message that is sent after an accident.
  • Combined data processing module (3) is a central server in preferred embodiments of the present invention.
  • Accident detection module (31) within inventive system (1) is the unit which provides flows that enables processing of the data and which generates accident report based on the accident data in the case of that data sent by black boxes (K) and received from black box interfaces (2) is accident data (accident message) and which serves as a sub module within combined data processing module (3).
  • Accident detection module (31) mainly realizes operations at three phases with flows it has. These operations are generation of vehicle damage report on motor vehicle basis, determination of involved motor vehicles and generation of accident report of the accident.
  • Accident detection module (31) determines the trace of the movement that motor vehicle performs both before and during the accident, the approximate severity of damage it experienced, how the accident occurred, collision intensity, other motor vehicles that are involved, faulty motor vehicle that has caused the accident by using data on accident message while motor vehicle damage report and accident report is being generated with the help of flows within accident detection module (31). Cumulative three dimensional velocity vector (trace) arrays are evaluated with consecutive algorithms by accident detection module (31) in order to accomplish aforementioned determinations.
  • Accident detection module (31) is the unit that stores unprocessed photos that are taken periodically and consecutively by inside and outside cameras of motor vehicles that has involved in the accident. This enables an organization or an expert to examine these photos when necessary.
  • Motor vehicle movements and accident occurrence scenarios that are determined by accident detection module (31) are as follows in different applications of the present invention:
  • Skidding Comparing the Y axis velocity vector that is obtained before and during the accident with the cumulative location (trace) of motor vehicle, it is determined whether the motor vehicle is skidding and is out of control or not. According to this, magnitude of difference of left or right vector from the trace provides the deviation angle (yaw) and the (+) or (-) values indicate whether the deviation is to the left or right.
  • Slipping is determined by comparing X axis velocity vector that is obtained before and during the accident and velocity of car wheel. If wheel velocity is bigger than vector, spinning is determined and otherwise, drifting with locked wheels is determined.
  • Accident in park It is determined by taking resultant of X, Y and Z axis velocity vectors that are obtained before and during the accident. According to this, if X, Y and Z axis vectors are "0" before the accident and X vector is different than "0" during the accident; car is hit from front if the X vector is (-) and car is hit from behind if the X vector is (+). Likewise, if Y vector value during the accident is different from zero; car is hit from left if Y vector is (-) and car is hit from right if Y vector is (+). If Z vector value during the accident is different from zero; car is hit from top or an object has fallen on top of the vehicle if Z vector is (-) and car is lifted up, for example by a tow car, if Z vector is (+).
  • Losing Steering Control Whether vehicle is out of control or not and driver has lost steering control or not can be determined with resultant of Y and X axis velocity vectors obtained before and during the accident. According to this, if the direction determined by aligning geographic location of front of the vehicle that is determined from vehicle's positioning information consecutively with time matches with X-Y resultant vector, it is determined that vehicle is under control (steer control). Deviations in velocity vector of geographic direction of front of the vehicle in time would indicate that vehicle is out of control (loss of steering control). If deviation in time differs from each other about direction ((+)/ (-)), vehicle is said to be zigzagging. If the deviation is in only one way, vehicle is said to be rotating around itself (spinning). Rotation direction can be determined with the direction of deviation.
  • Trace of the vehicle can be determined from the resultant of Y and X axis velocity vectors obtained before, during and after the accident.
  • resultant X and Y vector values if X value is decreasing and Y value is approximately approaching to X value, vehicle is said to be moving sideward.
  • resultant X and Y vector values if X value is reversely increasing and Y value is decreasing just after X value is decreasing and Y value is approximately approaching to X value; vehicle is said to be turned 180 degrees and moving backwards. According to this; if discontinuous variations in X vector values are negative, vehicle is said to be crashed with another vehicle in its own direction or backwardly drifting after having turned 180 degrees or hit to a standing object.
  • Simultaneous discontinuous variations in X and Y vectors indicate that vehicle is hit from neither front/behind nor a side.
  • Ratio of discontinuous decrease in X and Y vectors indicates the angle of hit from the corner of the vehicle.
  • Vehicle damage report that accident detection module (31) generates in the step of generating vehicle damage report on motor vehicle basis while generating accident reports includes accident message specific singular identity, engine chassis number and damage severity in preferred embodiments of the present invention.
  • Accident detection module (31) can be utilized to generate plurality of damage reports for a single motor vehicle.
  • Accident detection module (31) is the unit that in the case of detection of an accident, categorizes collisions according to 5 main accident types, determines the vehicles involved, determines faulty vehicle that has caused the accident and includes these data to accident report.
  • Aforementioned 5 main accident types are; collision of two vehicles moving in same direction, collision of two vehicles moving in opposite directions, hit of one vehicle to another with an angle from sides, hit to a standing vehicle by another vehicle or an object, hit of a vehicle to another standing vehicle, an object or a pedestrian.
  • accident detection module (31) can be utilized to detect various accident scenarios that can be listed with one or more of abovementioned accident types with the help of flows that are explained below.
  • Accident messages can be processed for operations of determination of accident type, vehicles that are involved and faulty vehicle that has caused the accident by accident detection module (31) in an embodiment of the present invention according to this flow:
  • Accident detection module (31) can operate compatibly with these applications meaning that it can realize operations of processing accident messages related to an accident that has received from a black box (K) in a time that is different than accident instant and relating accident report of the accident with recently received accident data through specific singular identity of accident message that is used to generate initial accident report and therefore compiling related accident report again.
  • Accident report database (32) in the inventive system (1) is the database that stores generated accident reports, which are related to accident data that are used to generate these reports.
  • Accident data in the accident report database (32) is transmitted by black box interface (2) and list of motor vehicles that are involved in the accident, processed accident data related to the accident and accident reports are issued by accident detection module (31).
  • Data that is stored in accident report database (32) is indexed and classified according to certain parameters.
  • Accident data within accident report database (32) are instant and urgent accident messages that black box (K) sends to combined data processing module (3) via black box interface (2) when motor vehicle becomes standing in a location after an accident incident.
  • Accident detection module (31) is able to notify accident to fire station, ambulance, police through external system interface (4) based on interpretations about severity of damage that motor vehicle experienced by processing aforementioned type of accident messages (by considering the magnitude of discontinuity of velocity vector (trace) array within message).
  • Accident detection module (31) calculates motor vehicle location which is included in accident message with coordinates as distance to avenue / street / highway / intersection in map and notifies to external systems (D). Moreover, distance to road and altitude difference are also determined by accident detection module (31) and notified to external systems (D) in case the motor vehicle has resulted off the road due to the accident.
  • Accident notifications issued to related external systems (D) may also have contain number of photographs that belong to both before and after the accident and received via black box (K) from cameras inside and outside of motor vehicle.
  • external system (D) who is responsible from immediate aid can notice situations where special equipment may be needed such as cutting tools to free stuck passengers or winching the vehicle.
  • number of people sitting in seats which is included in accident message, received from black box (K) and measured by OBD (On Board Diagnostic System) can be present in accident notification that is issued to external systems (D). Therefore, external systems that are going to respond to accident will know how many injuries they will confront.
  • Periodical data processing module (33) within inventive system (1) is the unit which handles flows that enable processing of data and carrying out appropriate actions based on results of processing in the case of that data sent by black boxes (K) and received from black box interfaces (2) is periodical data (periodical notification message) and which serves as a sub module within combined data processing module (3)
  • periodical data processing module (33) also includes flows that enable processing of periodical notification messages received from black box ( ) of motor vehicle and fulfilling required actions based on process result upon request of combined data processing module (3).
  • Periodical data processing module (33) is the unit that processes periodical notification messages whose frequency varies with purpose of use.
  • This frequency can be a value which can be notified to black box (K) by combined data processing module (3) or can be determined in accordance to distance that motor vehicle has taken (for example every 200 meters) or according to time (for example every 5 seconds) or when vehicle is running (ignition switch is on).
  • black box (K) of the vehicle sends a periodical notification message to the combined data processing module (3) in a predetermined period (for example once per 24 hours) to notify that it is operating even if there is nothing to be reported.
  • periodical notification messages whose frequency varies with different purposes of use are as follows in different applications of the present invention:
  • Periodical notification messages that are requested by the combined data processing module (3) from black boxes (K) of motor vehicles at a predetermined time and that includes data about a rule violation, if exists, in last 24 hours that is to be reported, and that indicates whether black box (K) of motor vehicles is operating
  • Periodical data processing module (33) is capable of notifying external systems (D) with a search warrant for the vehicle by processing these periodical notification messages and detecting black box (K) is not operating as result of many trials and with arrest warrant for the vehicle by detecting that black box (K) is still not operating after more trials.
  • - Periodical notification messages that are sent to the combined data processing module (3) with a certain frequency based on elapsed time from black boxes of vehicles in motion, in order to determine traffic intensity - Periodical notification messages that are sent to the combined data processing module (3) based on elapsed distance by black box (K) of vehicles in motion
  • Periodical data processing module (33) fulfills, in an exemplary embodiment of the present invention, determination of whether motor vehicle has exceeded speed limit by utilizing motor vehicle location and speed limit of road that motor vehicle is driving on and notifies an external system (D) through external system interface (4) about violation of speed limit if motor vehicle has exceeded the limit.
  • Flow that is present in periodical data processing module for that purpose has steps of: - receiving periodical notification messages sent from black boxes (K) and received from black box interfaces (2),
  • periodical data processing module (33) is the unit that notifies external system (D) dealing with traffic tickets of motor vehicles.
  • black box (K) sends a message indicating that motor vehicle has violated a lane rule to the combined data processing module (3) .
  • the violation is determined with the help of vehicle's outside camera footage and/or lane tracker of the motor vehicle, if present.
  • Lane rule violation covers usage of emergency lane, occupation of more than one lanes by centering two lanes, frequent lane changes etc.
  • periodical data processing module (33) is the unit that notifies external system (D) dealing with traffic tickets of motor vehicles.
  • the black box (K) sends a message indicating that motor vehicle has violated parking rules to the combined data processing module (3)
  • Parking violation covers the cases that the motor vehicle is stationary for a time longer than legally permitted for drop off- pick up- and loading in a location where parking is forbidden or in road segments or highway segments where stopping is forbidden.
  • periodical data processing module (33) does not instantaneously notify external systems (D) for these kinds of messages. Instead, it firstly controls from periodical notification message database (34) that whether similar message for many vehicles in same location is received.
  • Periodical data processing module (33) does not notify related external system (D) for any vehicle about parking violation.
  • Periodical data processing module (33) is a module that can be arranged and updated to operate any flow which can provide processing of periodical notification messages and having a result and which is based on data in periodical notification message data base (34).
  • Periodical notification message database (34) in the inventive system (1) is a database where periodical notification messages sent by black boxes (K) arrive from black box interfaces (2). Periodical notification messages in the periodical notification message database (34) are sent to this database by black box interface (2) without any process or modification. Data stored in periodical notification message database (34) are indexed and classified based on pre-determined parameters. In an embodiment of the present invention, on periodical notification message database (34) some queries to list motor vehicles at a certain location and/or in a certain time period and/or vehicles that have violated a certain rule can be run. In another embodiment of the present invention, a query on periodical notification message database (34), which can determine whether a motor vehicle is present in a certain location in a certain time period, can be operated.
  • a query can be run on the periodical notification message database (34) to determine whether a motor vehicle has caused an accident at its current location due to its motion (sudden no cause braking or disturbing other vehicles without getting involved in an accident) with the help of the three dimensional velocity vector (trace) array of motor vehicle.
  • Reporting module (35) within the inventive system (1) is the unit which generates reports by receiving data from accident report database (32) and/or periodical notification message database (34) and which serves as a sub module within the combined data processing module (3).
  • Reporting module (35) is capable of generating various reports by using different data on accident report database (32) and/or periodical notification message database (34) and arranging different reports diversely and automatically to be issued to an external system (D) or external systems (D) or to be automatically sent to an external system (D) or external systems (D) via external interfaces (4).
  • reporting module (35) is the module which calculates and reports statistics of various rule violations, accident data and accident reports in a certain area/areas or according to certain rule violations and accident statistics daily or in a certain part of the day.
  • reporting module (35) is the module, which generates traffic intensity report by analyzing data received from periodical notification message database (34) and indicates velocities of motor vehicles in a certain location.
  • Reporting module (35) in the inventive system (1) is a unit that is structured to be updated, removed or added to system (1) without interrupting or shutting down the system (1).
  • Report database (36) within the inventive system (1) is a database that stores reports which reporting module (35) creates. Report database (36) is such flexible that all different type of reports generated by various reporting module (35) can be stored therein.
  • Data manager (37) within inventive system (1) is the unit which operates each reporting module (35) according to a time schedule. Schedules that data manager (35) uses for operating reporting modules (35) can be arranged yearly, monthly, weekly, daily, hourly, minutely, secondly. Therefore, a reporting module (35) may be operated by the data manager (37) to generate reports, for example in each 30 seconds and one other may be operated by data manager (37) to generate reports daily on a certain time.
  • External system interface (4) within the inventive system (1) is the unit which enables processing results of data within the combined data processing module (3) and generates reports to be issued to external systems (D) and which communicates with external systems (D) through a web service.
  • External system interface (4) is also operates as a bridge between external system (D) and the combined data processing module (3) via appropriate communication and data transfer channels; when any external system (D) requests a data from a black box (2), or a report; it mediates the combined data processing module (3), sends request to report database (36), inquires on periodical notification message database (34) or accident report database (32), requests access to data in accident report database (32) within its authority.
  • the combined data processing module (3) in the inventive system is the unit that manages data queries that external systems (D) request via external system interfaces (4). Mentioned query can be executed towards any motor vehicle in motion in a certain road segment or a region or is stationary, parked.
  • query that external systems (D) request and is managed by combined data processing module (3) is the query which enables live footage from cameras on a motor vehicle in a certain region and transmitting this footage to the combined data processing module (3) by black box (2) and to external system (D) therefrom.
  • the combined data processing module (3) lists motor vehicles in a location as given by the external system (D) and sends photographs of one, more or all of these vehicles based on request of external system (D) via external system interface (4).
  • Combined data processing module (3) firstly sends photograph request to black boxes (K) of all vehicles which are known to be at that location based on periodical messages that is generated for different reasons and purposes, sent by individual black boxes (K) and stored in periodical notification message database (34), and lists vehicles in desired location that can send footage.
  • black boxes (K) of vehicles in the list are queried by the combined data processing module (3) and vehicles that are identified to have left that region are deleted from the list.
  • the combined data processing module (3) also determines and adds to the list, new vehicles that enter the region based on periodical messages sent to itself and stored in periodical notification message database (34). It is possible to develop various embodiments of the inventive system (1), it cannot be limited to examples disclosed herein and it is essentially according to claims.

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Abstract

La présente invention concerne un système (1) permettant : d'obtenir instantanément ou périodiquement des données qui sont issues de boîtes noires situées dans des véhicules à moteur, et qui sont relatives à divers événements impliquant les véhicules à moteur, par exemple des accidents, des infractions ou autres, des conditions de circulation ; et de recueillir, d'interpréter, de filtrer et de traiter ces informations à différentes fins, telles que la transmission, à des systèmes externes, d'informations et de rapports en lien avec les données reçues et grâce à la réalisation d'actions nécessaires.
PCT/TR2014/000447 2013-10-22 2014-10-22 Système permettant de traiter des données obtenues à partir de boîtes noires WO2015060805A1 (fr)

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CN106864409A (zh) * 2017-02-23 2017-06-20 中国矿业大学 一种基于信息融合与无线传感网络的汽车防盗系统
US11514482B2 (en) * 2019-09-06 2022-11-29 Honda Motor Co., Ltd. Systems and methods for estimating a remaining value
CN117236704A (zh) * 2023-11-16 2023-12-15 中钢集团武汉安全环保研究院有限公司 一种钢铁生产线区域动态安全风险评估量化方法和装置

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