CN112937552A - Remote assistance system, road surface control system, corresponding method and medium - Google Patents
Remote assistance system, road surface control system, corresponding method and medium Download PDFInfo
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- CN112937552A CN112937552A CN201911268901.8A CN201911268901A CN112937552A CN 112937552 A CN112937552 A CN 112937552A CN 201911268901 A CN201911268901 A CN 201911268901A CN 112937552 A CN112937552 A CN 112937552A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
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- 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
- B60W30/045—Improving turning performance
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a remote assistance system, a road surface control system, a corresponding method and a medium. The remote assistance system includes: an information acquisition unit configured to acquire vehicle data and road data in real time; a calculation unit configured to calculate a target tilt angle based on the real-time data; and a signal transmitting unit configured to transmit the target tilt angle-related signal. By using the scheme of the invention, the sideslip risk of the vehicle can be reduced, and the driving safety can be improved.
Description
Technical Field
The present invention relates to the field of road technology, and more particularly, to a remote assistance system, a road surface control system, corresponding methods and media.
Background
If the vehicle sideslips on the road surface, the vehicle threatens the safe driving greatly, and often causes serious traffic accidents such as collision, rollover and the like. The sideslip is caused by oil stain, ice or the like on the road, so that the road surface is wet and slippery. In this case, the adhesion coefficient between the vehicle and the road surface is reduced, the left side and the right side are asymmetric, the adhesion between the wheel load and the road surface is reduced, and the wheel sideslip can be caused by slight action of a transverse external force; when braking, the four wheels are subjected to unbalanced resistance, such as unequal braking force of the left wheel and the right wheel, unequal adhesion coefficient of each wheel, deviation of the gravity center of a loaded vehicle to one side and the like, and the wheels are easy to sideslip; when the vehicle runs on a curve, the vehicle is not steered properly, such as fast running speed, sudden steering or improper braking during quick turning, too high gravity center of the vehicle and the like, so that the inertial centrifugal force is increased, and the side slip of the wheel is easily caused.
Therefore, there is a need in the art for a solution that enables a vehicle to determine in advance whether a road inclination angle needs to be changed and to adjust the road accordingly before entering a curve, so as to ensure that the vehicle can safely pass through the curve section.
Disclosure of Invention
In order to solve the technical problems, the invention provides a scheme for assisting a vehicle to safely pass through a curve road section, and aims to reduce the sideslip risk of the vehicle and improve the driving safety.
Specifically, according to a first aspect of the present invention, there is provided a remote assistance system, wherein the system comprises:
an information acquisition unit configured to acquire vehicle data and road data in real time;
a calculation unit configured to calculate a target tilt angle based on the real-time data; and
a signal transmitting unit configured to transmit the target tilt angle-related signal.
According to a second aspect of the present invention there is provided a road surface control system comprising one or more road surface components, wherein each road surface component comprises:
an upper pavement member and a lower pavement member;
the lifting pieces are arranged between the upper layer pavement member and the lower layer pavement member and at least two lifting pieces are arranged in the width direction of the road;
a signal receiving unit configured to receive a target tilt angle-related signal; and
a control unit configured to control the lifting of the lifting member to lift or lower the upper-layer road member in response to the signal receiving unit receiving a target inclination angle-related signal, thereby adjusting the current inclination angle of the road surface to the target inclination angle.
According to a third aspect of the invention, there is provided a remote assistance method, wherein the method comprises:
acquiring vehicle data and road data in real time;
calculating a target tilt angle based on the real-time data; and
and sending the target inclination angle related signal.
According to a fourth aspect of the present invention, there is provided a road surface control method, wherein the method comprises:
receiving a target inclination angle related signal; and
and controlling the lifting of at least two lifting pieces arranged between the upper layer road surface component and the lower layer road surface component in the road width direction to lift or lower the upper layer road surface component in response to the received target inclination angle related signal, so as to adjust the current inclination angle of the road surface to the target inclination angle.
According to a fifth aspect of the present invention, there is provided a driving assist method, wherein the method includes:
acquiring vehicle data and road data in real time;
calculating a target tilt angle based on the real-time data; and
and controlling the lifting of at least two lifting pieces arranged between the upper layer road surface component and the lower layer road surface component in the road width direction to lift or lower the upper layer road surface component based on the signal related to the target inclination angle, so as to adjust the current inclination angle of the road surface to the target inclination angle.
According to a sixth aspect of the present invention there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the method of the third to fifth aspects of the present invention.
By using the scheme of the invention, the real-time data of the current vehicle and the current road can be accurately acquired, the target inclination angle is calculated based on the real-time data, and the road surface is controlled to finish the inclination angle adjustment, so that the occurrence probability of vehicle sideslip is reduced, and the driving safety is improved.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, in which:
FIG. 1 schematically illustrates an application scenario of the system and method according to the present invention;
FIG. 2 schematically illustrates a remote assistance system according to an embodiment of a first aspect of the present invention;
FIG. 3 schematically illustrates a single pavement assembly in a pavement control system according to an embodiment of a second aspect of the present disclosure;
FIG. 4 schematically illustrates a flow chart of a remote assistance method according to an embodiment of a third aspect of the present invention;
FIG. 5 shows a flowchart of a road surface control method according to an embodiment of a fourth aspect of the invention;
fig. 6 shows a flowchart of a driving assistance method according to an embodiment of the fifth aspect of the invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.
Fig. 1 schematically illustrates an application scenario of the system and method of the present invention. As can be seen from this figure, the vehicle 10 will enter the curve 20. At this time, as can be appreciated, since the road is curved, there is a risk of the vehicle 10 skidding if it is traveling at a relatively fast speed. The invention controls the inclination angle of the road surface through the information interaction between the server 30 and the vehicle 10 and the curve 20, thereby realizing the effect of preventing the vehicle 10 from sideslipping.
According to a first aspect of the invention, a remote assistance system is provided. Fig. 2 schematically shows a remote assistance system 100 according to an embodiment of the first aspect of the invention, the remote assistance system 100 comprising: an information acquisition unit 101, a calculation unit 102, and a signal transmission unit 103.
The information acquisition unit 101 may be configured to acquire vehicle data and road data in real time. On the one hand, the vehicle can be connected with the information acquisition unit 101 through the internet of vehicles (V2X) so as to perform information interaction. In this context, the term "vehicle networking (V2X)" may include, for example, vehicle-to-vehicle (V2V) communications, vehicle-to-internet (V2N) communications, vehicle-to-infrastructure (V2I) communications. For example, the vehicle may be connected to the information acquisition unit 101 through a wireless connection (Wi-Fi or a mobile network such as 3G, 4G, or 5G, etc.), whereby the information acquisition unit 101 may acquire vehicle data from the vehicle in real time.
The vehicle data may include, but is not limited to, the position, speed, mass, etc. of the vehicle. It is understood that the location of the vehicle may be a Global Navigation Satellite System (GNSS) location, such as a Global Positioning System (GPS) location. The road data may include road surface parameters, road surface curvature, and the like, but is not limited thereto. The "road surface parameter" may include, for example, snow detection, friction coefficient value, etc., and may be detected by a sensing device mounted on the vehicle. For example, for snow detection, a camera mounted in front of the vehicle may be used to capture an image in front of the vehicle and identify whether snow is present on the road through image recognition techniques. For another example, the friction coefficient value may be detected by a tire sensor. The "road curvature" may be calculated from GNSS position (e.g. GPS position) data of the vehicle and map data stored on the vehicle or on an online server.
The calculation unit 102 is communicatively coupled with the information acquisition unit 101, whereby the vehicle data and the road data acquired by the information acquisition unit 101 can be obtained. The calculation unit 102 may be configured to calculate a target tilt angle based on real-time data. Calculating the target tilt angle may be based on real-time data and according to principles of physics. Those skilled in the art will appreciate methods for calculating the target tilt angle using these data, and therefore, the detailed description thereof is omitted here. It is understood that, in the present invention, the purpose of calculating the target inclination angle is to adjust the road surface inclination angle so as to prevent the vehicle from skidding on a curved road. Therefore, the target inclination angle needs to be set to ensure that the lateral frictional force between the vehicle and the road surface when the vehicle is turning is larger than the centrifugal force to which the vehicle is subjected.
In one embodiment, the calculating unit 102 is further configured to calculate the maximum value of the inclination angle, which is the target inclination angle, when a plurality of vehicles enter the road. It is understood that when a plurality of vehicles simultaneously appear on a certain curved road section, the target inclination angles are not exactly the same because the masses of the vehicles to each other and the current positions and speeds thereof are different from each other. In this case, in calculating the target reclining angle, it is necessary to simultaneously consider the respective weights of the plurality of vehicles and the current positions and speeds thereof so as to obtain a target reclining angle suitable for preventing all the vehicles from skidding.
The signal transmitting unit 103 is communicatively coupled to the calculating unit 102 so that a signal related to the target tilt angle can be obtained from the calculating unit 102. The signal transmitting unit 103 may be configured to transmit the target tilt angle-related signal. In the context of the present invention, it will be appreciated that the target inclination angle-related signal may be sent to, for example, the road surface control system of the second aspect of the present invention provided on the online server side, so that the road surface control system may adjust the road surface inclination angle to prevent the vehicle from skidding. The road surface control system will be described in detail below.
According to a second aspect of the invention, there is provided a roadway control system comprising one or more roadway components. Fig. 3 schematically illustrates a single pavement assembly 200 in a pavement control system according to one embodiment of the second aspect of the present disclosure. As shown in the figure, the road surface component 200 includes: an upper layer pavement member 201 and a lower layer pavement member 202, a lifting piece 203, a signal receiving unit 204, and a control unit 205.
It can be seen from this figure that the pavement on which the invention is implemented is a double-deck pavement comprising an upper deck pavement member 201 and a lower deck pavement member 202 which are connected together by a lifting member 203.
The lifter 203 is provided between the upper-layer pavement member 201 and the lower-layer pavement member 202, and at least two lifters, for example, two, three, or more lifters are provided in the road width direction. Each lifter 203 is controllable to adjust its length in the vertical direction so that the upper deck member 201 can be tilted to either side of the road as required, thereby adjusting the angle of inclination of the road.
The signal receiving unit 204 may be configured to receive the target tilt angle-related signal. As described for the remote assistance system 100 of the first aspect of the present invention, the signal transmitting unit 103 thereof is used to transmit a signal related to the target tilt angle determined in the remote assistance system 100. Accordingly, the signal receiving unit 204 is configured to receive the target tilt angle related signal.
The control unit 205 may be configured to, in response to the signal receiving unit 204 receiving the target inclination angle-related signal, control the lifting of the lifting member 203 to lift or lower the upper layer of road surface 201, so as to adjust the current inclination angle of the road surface to the target inclination angle.
For example, for a vehicle about to enter a road curved to the left, after the signal receiving unit 204 receives the relevant signal of the target inclination angle of 5 degrees sent by the signal sending unit 103, the control unit 205 may control the lifter 203 disposed on the right side of the road to increase its length in the vertical direction, thereby adjusting the road surface inclination angle to 5 degrees to prevent the vehicle from sideslipping.
In addition, only one part of many roads has a bend, and the rest are straight roads, and the inclination angle of the road surface does not need to be adjusted. Therefore, the road surface control system 200 in the present invention may be provided only at a road curve or a maximum curve from the viewpoint of cost saving. Similarly, there are some road segments on which there are continuous road segments, and therefore, it is necessary to continuously adjust the road surface inclination angle while the vehicle travels thereon. Thus, in one embodiment, the pavement assembly 200 can be configured as a maximum curve segment or as a continuous segment. It will be appreciated that whether the road assembly 200 is configured for a maximum curve segment or a continuous segment, it is capable of achieving a gradual, continuous adjustment of the current incline angle of the road surface between zero degrees and a target incline angle, thereby preventing the vehicle traveling thereon from skidding.
According to a third aspect of the invention, a remote assistance method is provided. Fig. 4 schematically shows a flow chart of a remote assistance method S300 according to an embodiment of the third aspect of the invention. As can be seen from this figure, the method S300 includes:
s301: acquiring vehicle data and road data in real time;
s302: calculating a target tilt angle based on the real-time data; and
s303: and sending the target inclination angle related signal.
In one embodiment, the vehicle data includes position, speed, and mass of the vehicle, and the road data includes road surface parameters and road surface curvature.
In one embodiment, the target inclination angle is set to ensure that the lateral friction between the vehicle and the road surface when the vehicle is turning is greater than the centrifugal force to which it is subjected.
In a further embodiment, the method S300 further includes calculating a maximum target inclination angle at which the plurality of vehicles enter the road.
According to a fourth aspect of the present invention, a road surface control method is provided. Fig. 5 schematically shows a flow chart of a road surface control method S400 according to an embodiment of the fourth aspect of the invention.
As can be seen from this figure, the method S400 includes:
s401: receiving a target inclination angle related signal; and
s402: and controlling the lifting of at least two lifting pieces arranged between the upper layer of road surface component and the lower layer of road surface component in the road width direction to lift or lower the upper layer of road surface component in response to the received target inclination angle related signal, so as to adjust the current road surface inclination angle to the target inclination angle.
According to a fifth aspect of the present invention, a driving assist method is provided. Fig. 6 schematically shows a flow chart of a driving assistance method S500 according to an embodiment of a fifth aspect of the invention. As can be seen from this figure, the method S500 includes:
s501: acquiring vehicle data and road data in real time;
s502: calculating a target tilt angle based on the real-time data; and
s503: and controlling the lifting of at least two lifting pieces arranged between the upper layer road surface component and the lower layer road surface component in the road width direction to lift or lower the upper layer road surface component based on the signal related to the target inclination angle, so as to adjust the current inclination angle of the road surface to the target inclination angle.
In one embodiment, the vehicle data includes position, speed, and mass of the vehicle, and the road data includes road surface parameters and road surface curvature.
In one embodiment, the target inclination angle is set to ensure that the lateral friction between the vehicle and the road surface when the vehicle is turning is greater than the centrifugal force to which it is subjected.
In a further embodiment, the method S500 further includes calculating a maximum target inclination angle at which the plurality of vehicles enter the road.
As a sixth aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the methods of the third to fifth aspects of the invention.
Additionally, it should be understood that the various elements of the remote assistance system 100 and the roadway control system 200 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The units may be embedded in a processor of the computer device in a hardware or firmware form or independent of the processor, or may be stored in a memory of the computer device in a software form for being called by the processor to execute operations of the units. Each of the units may be implemented as a separate component or module, or two or more units may be implemented as a single component or module.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the method of any of the above embodiments when executing the computer program. The computer device may be a server or a vehicle-mounted terminal. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. Which computer program is executed by a processor to carry out the method of the invention.
It will be understood by those of ordinary skill in the art that the remote assistance system 100 shown in fig. 2 and the roadway control system 200 shown in fig. 3 are merely exemplary illustrative block diagrams of portions of structures associated with aspects of the present invention and do not constitute a limitation of the computer device, processor, or computer program embodying aspects of the present invention. A particular computer device, processor or computer program may include more or fewer components or modules than shown in the figures, or may combine or split certain components or modules, or may have a different arrangement of components or modules.
It will be understood by those skilled in the art that all or part of the steps of the method of the present invention may be instructed to be performed by associated hardware such as a computer device or a processor through a computer program, which may be stored in a non-transitory computer-readable storage medium, and which when executed performs the steps of the remote assistance method and the control method of the present invention. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the present invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (10)
1. A remote assistance system, wherein the system comprises:
an information acquisition unit configured to acquire, in real time, vehicle data including, for example, a position, a speed, and a mass of a vehicle, and road data including, for example, road surface parameters and a road surface curvature;
a calculation unit configured to calculate a target tilt angle based on the real-time data, wherein
The target inclination angle is set, for example, to ensure that the lateral frictional force between the vehicle and the road surface when the vehicle is turning is larger than the centrifugal force to which the vehicle is subjected; and
a signal transmitting unit configured to transmit the target tilt angle-related signal.
2. The system according to claim 1, wherein the calculation unit is further configured to calculate a maximum target inclination angle when a plurality of vehicles enter the road.
3. A roadway control system, said system comprising one or more roadway components, wherein each of said roadway components comprises:
an upper pavement member and a lower pavement member;
the lifting pieces are arranged between the upper layer pavement member and the lower layer pavement member and at least two lifting pieces are arranged in the width direction of the road;
a signal receiving unit configured to receive a target tilt angle-related signal; and
a control unit configured to control the lifting of the lifting member to lift or lower the upper-layer road member in response to the signal receiving unit receiving a target inclination angle-related signal, thereby adjusting the current inclination angle of the road surface to the target inclination angle.
4. The system of claim 3, wherein the roadway assembly is configured as a maximum curve segment or as a continuous segment.
5. A remote assistance method, wherein the method comprises:
acquiring vehicle data including, for example, a position, a speed, and a mass of a vehicle and road data including, for example, road surface parameters and road surface curvature in real time;
calculating a target inclination angle based on the real-time data, the target inclination angle being set, for example, to ensure that a lateral frictional force between the vehicle and a road surface when the vehicle is turning is larger than a centrifugal force to which the vehicle is subjected; and
and sending the target inclination angle related signal.
6. The method of claim 5, wherein the method further comprises calculating a maximum target inclination angle for a plurality of vehicles when driving into the road.
7. A road surface control method, wherein the method comprises:
receiving a target inclination angle related signal; and
and controlling the lifting of at least two lifting pieces arranged between the upper layer road surface component and the lower layer road surface component in the road width direction to lift or lower the upper layer road surface component in response to the received target inclination angle related signal, so as to adjust the current inclination angle of the road surface to the target inclination angle.
8. A driving assist method, wherein the method comprises:
acquiring vehicle data including, for example, a position, a speed, and a mass of a vehicle and road data including, for example, road surface parameters and road surface curvature in real time;
calculating a target inclination angle based on the real-time data, the target inclination angle being set, for example, to ensure that a lateral frictional force between the vehicle and a road surface when the vehicle is turning is larger than a centrifugal force to which the vehicle is subjected; and
and controlling the lifting of at least two lifting pieces arranged between the upper layer road surface component and the lower layer road surface component in the road width direction to lift or lower the upper layer road surface component based on the signal related to the target inclination angle, so as to adjust the current inclination angle of the road surface to the target inclination angle.
9. The method of claim 8, wherein the method further comprises calculating a maximum target inclination angle for a plurality of vehicles when driving into the road.
10. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the method according to any of claims 7 to 9 to be performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911268901.8A CN112937552A (en) | 2019-12-11 | 2019-12-11 | Remote assistance system, road surface control system, corresponding method and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911268901.8A CN112937552A (en) | 2019-12-11 | 2019-12-11 | Remote assistance system, road surface control system, corresponding method and medium |
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| CN112937552A true CN112937552A (en) | 2021-06-11 |
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| CN201911268901.8A Withdrawn CN112937552A (en) | 2019-12-11 | 2019-12-11 | Remote assistance system, road surface control system, corresponding method and medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024074139A1 (en) * | 2022-10-08 | 2024-04-11 | 中车南京浦镇车辆有限公司 | Assisted bend-taking method and apparatus for vehicle, and storage medium and electronic apparatus |
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| JP2008256577A (en) * | 2007-04-06 | 2008-10-23 | Kenwood Corp | On-vehicle navigation apparatus |
| JP2013144513A (en) * | 2012-01-16 | 2013-07-25 | Equos Research Co Ltd | Vehicle |
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| JPH10103935A (en) * | 1996-09-30 | 1998-04-24 | Mitsubishi Motors Corp | Curve radius estimating apparatus and automatically steering control system with the same |
| JPH11328596A (en) * | 1998-05-13 | 1999-11-30 | Toyota Motor Corp | Drive assisting device |
| CN1238282A (en) * | 1999-02-01 | 1999-12-15 | 张玉玺 | Trailer with offset central axle |
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| JP2013144513A (en) * | 2012-01-16 | 2013-07-25 | Equos Research Co Ltd | Vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024074139A1 (en) * | 2022-10-08 | 2024-04-11 | 中车南京浦镇车辆有限公司 | Assisted bend-taking method and apparatus for vehicle, and storage medium and electronic apparatus |
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