CN113960329A - Indicating device and indicating method for riding comfort - Google Patents
Indicating device and indicating method for riding comfort Download PDFInfo
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- CN113960329A CN113960329A CN202111159473.2A CN202111159473A CN113960329A CN 113960329 A CN113960329 A CN 113960329A CN 202111159473 A CN202111159473 A CN 202111159473A CN 113960329 A CN113960329 A CN 113960329A
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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Abstract
The invention discloses an indicating device and an indicating method for riding comfort. The indicating device comprises a base, a display and a controller, wherein the base is used for being placed on the horizontal plane of a vehicle; the first end of the elastic supporting piece is fixed on the top surface of the base, and the second end of the elastic supporting piece can elastically swing relative to the first end of the elastic supporting piece; the supporting part is arranged at the second end of the elastic supporting part; and the sensor measuring module is arranged on one side of the supporting part far away from the base and used for calculating and displaying the comfort index. The invention can simulate the forward tilting and backward tilting trends the same as those of passengers, thereby effectively indicating the riding comfort of the current running vehicle, further prompting the driver to generate the desire of adjusting the driving operation, improving the controllability of the vehicle, further ensuring that the vehicle runs more stably, forming the closed-loop feedback regulation of the riding comfort, warning the driver on one hand, and being used as one of the evaluation reference indexes of driving technology and safety service consciousness on the other hand.
Description
Technical Field
The invention relates to an indicating device for riding comfort, and also relates to a corresponding indicating method for riding comfort, belonging to the technical field of vehicle driving.
Background
During the running process of the vehicle, the driver is absolutely in control of the vehicle, the spirit is highly concentrated, and the operation of acceleration and braking is also based on comprehensive prediction of the front ambient environment condition, so the driver is prepared in advance physically and psychologically, and the driver does not have obvious feeling of 'jerking back' and 'sharp forward inclination' when accelerating and braking. However, for passengers riding in a vehicle, particularly passengers sitting in the rear rows, the feeling of pushing back and leaning forward during acceleration and braking may be significant. In particular, the "thrust back" and "leaning forward" sensations can cause passengers to have safety concerns about the vehicle, greatly affecting ride comfort.
Vestibular function may be deficient for infants and small teenagers riding in vehicles because the nervous system is still poorly developed. When the baby carriage is riding, the head position of the baby is changed continuously due to the continuous change of direction during the movement, and the body is accelerated and decelerated to do linear speed change or rotary motion, so that the vestibular organ of the baby is strongly stimulated, if the overstimulation is too strong, the tolerance limit of the vestibular organ is exceeded, the posture adjustment disorder and the vegetative nerve dysfunction are caused, and the reactions such as dizziness, nausea, vomiting and the like can occur.
Therefore, at present, a device capable of indicating the riding comfort of a running vehicle is urgently needed, so that the driver can be reminded of the feeling of the current passenger, the driving operation of the driver is indirectly influenced, and a closed-loop feedback regulation of the riding comfort is formed.
Disclosure of Invention
The invention provides an indicating device for riding comfort, which is used for improving the riding comfort of passengers.
Another object of the present invention is to provide a method for indicating riding comfort.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
according to a first aspect of embodiments of the present invention, there is provided a ride comfort indicating device, comprising:
a base for placement on a vehicle level;
the first end of the elastic supporting piece is fixed on the top surface of the base, and the second end of the elastic supporting piece can elastically swing relative to the first end of the elastic supporting piece;
a support mounted at a second end of the resilient support;
and the sensor measuring module is arranged on one side of the supporting part far away from the base and used for calculating and displaying the comfort index.
Preferably, the sensor measuring module comprises a power module, a three-axis acceleration module, a single chip microcomputer and an indication execution module, and the three-axis acceleration module, the single chip microcomputer and the indication execution module are all electrically connected with the power module;
the three-axis acceleration module is electrically connected with the single chip microcomputer and is used for detecting instantaneous acceleration values of the vehicle in three directions at the current moment and feeding back the instantaneous acceleration values to the single chip microcomputer; the driving direction of the vehicle is defined as a Y-axis direction, the direction perpendicular to the Y-axis direction in a horizontal plane is defined as an X-axis direction, and the direction perpendicular to the Y-axis direction in a vertical plane is defined as a Z-axis direction;
the indication execution module is electrically connected with the single chip microcomputer and used for displaying the comfort index;
the single chip microcomputer is used for completing the configuration of three-axis acceleration, the reading and analysis of data and driving the indication execution module to display the comfort index.
According to a second aspect of the embodiments of the present invention, there is provided a method for indicating a riding comfort, including the steps of:
initializing a sensor measuring module and carrying out data configuration;
judging whether the data in a certain time period is updated or not, if so, reading the data, resolving a Z-axis inclination angle and storing the Z-axis inclination angle in a cache region; if the data is not updated, continuing data updating judgment until the data is updated; the driving direction of the vehicle is defined as a Y-axis direction, the direction perpendicular to the Y-axis direction in a horizontal plane is defined as an X-axis direction, and the direction perpendicular to the Y-axis direction in a vertical plane is defined as a Z-axis direction;
judging whether the number of accumulated sampling points reaches a set number N, if so, analyzing the distribution of the Z-axis inclination angle, and calculating a comfort index; if the number of the accumulated sampling points does not reach N, continuously accumulating the samples until the number of the accumulated sampling points reaches N;
displaying the comfort index through a sensor measuring module, and emptying a cache;
returning to the step of data updating judgment to judge whether the data in the next time interval is updated.
Preferably, if the data is updated, the Z-axis tilt angle is calculated after the data is read and stored in the cache region, and the method specifically includes the following substeps:
x, Y, Z instantaneous acceleration values after updating in three directions are read through a sensor measuring module, and the instantaneous acceleration values are Ax(n)、Ay(n)、Az(n)；
Solving a Z-axis inclination angle gamma (n) according to a formula and storing the Z-axis inclination angle gamma (n) in a cache region;
preferably, if the number of accumulated sampling points reaches N, the Z-axis inclination angle distribution is analyzed, and a comfort index is calculated, specifically including the following substeps:
carrying out distribution estimation on the Z-axis inclination angle;
screening out an effective data set for subsequent model parameter training;
giving an optimal parameter estimation value through model parameter training;
and judging and outputting the comfort index according to the parameter estimation value.
Preferably, the estimating the distribution of the Z-axis inclination angle specifically includes the following sub-steps:
let the update frequency of the data set be fuThen N is 1/(f)u*Ts)；
Performing M-level histogram statistics on Z-axis inclination angles gamma (N), N being 0, and N-1 to obtain a distribution sequence D (i), i being 0, and M-1; where M is the number of intervals of the histogram statistics, and i is the index of the statistical interval.
Preferably, the screening of the effective data set for subsequent model parameter training specifically includes the following substeps:
let the effective data set after data screening be S, the elements in the effective data set S are composed of the non-zero elements of the sequence D (i),
preferably, the method for providing the optimal parameter estimation value through model parameter training specifically comprises the following substeps:
assuming that there are a total of K elements in the valid data set S, defining the element as (K, S)k)，k＝0，...，K－1；
Training to obtain parameter estimation value according to cost function
co，
Wherein,
c is a parameter of the model and c is a parameter of the model,
represents the relief of the profile and c represents the steady state expectation of the tilt angle.
Preferably, the determining the output comfort index according to the parameter estimation value specifically includes the following substeps:
the comfort index
Calculated according to the following formula:
and E is a system adjustable parameter, the larger the value of E is, the less sensitive the comfort index calculation is to the distribution estimated value, and otherwise, the more sensitive the comfort index calculation is to the distribution estimated value.
Preferably, the initializing the sensor measurement module and configuring the data specifically includes the following sub-steps:
initializing buffer zone data and resetting a triaxial acceleration module in a sensor measurement module;
configuring a timer, a watchdog and a timed interrupt response program;
and the timed interrupt response program comprises reading triaxial acceleration instantaneous data and updating triaxial acceleration instantaneous data and marks.
The indicating device for the riding comfort degree provided by the invention can be installed on a vehicle, when the vehicle accelerates or brakes suddenly, the sensor measuring module can simulate the forward tilting trend and the backward tilting trend which are the same as those of passengers due to the action of inertia, and the forward tilting trend and the backward tilting trend can be converted into the change of the inclination angle of the sensor measuring module in the preset direction through the action of the elastic supporting piece, so that the riding comfort degree of the running vehicle at present can be effectively indicated. And finally, displaying the comfort index through a sensor measuring module. After the comfort index shows, can remind present passenger's impression for the driver, and then impel the driver to produce the wish of adjusting driving operation to improve the controllability to the vehicle, thereby make the vehicle go more steady, from this, form a closed loop feedback control who takes comfort, can warn for the driver on the one hand, on the other hand also can regard as one of driving technique and safety service consciousness's evaluation reference index.
Drawings
Fig. 1 is a schematic structural diagram of a ride comfort indicating device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a sensor measurement module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of three-axis acceleration directions of a three-axis acceleration module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of closed loop feedback adjustment of ride comfort according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of ride comfort indication according to an embodiment of the present invention;
FIG. 6 is a flow chart of a timed interrupt response procedure according to an embodiment of the present invention;
fig. 7 is a schematic diagram of three-axis acceleration directions after the position of the three-axis acceleration module is changed according to the embodiment of the present invention.
Detailed Description
The technical contents of the invention are described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a device for indicating a riding comfort level according to an embodiment of the present invention. The indicating device at least comprises: base 1, elastic support 2, support 3 and sensor measurement module 4.
Wherein the base 1 serves as a mounting base for other components, for placement on a vehicle level, for example: the base 1 is fixed in the horizontal plane of the vehicle by means of glue. In the embodiment of the present invention, the base 1 is in a disk shape, but in other embodiments, the base may be in other shapes, for example: triangular, rectangular, polygonal, oval, diamond, etc., without limitation. Meanwhile, the material of the base 1 can be adaptively selected according to the requirement, and is preferably metal, and of course, plastic is also possible.
The first end of the elastic supporting part 2 is fixed on the top surface of the base 1, and the second end of the elastic supporting part 2 can elastically swing relative to the first end of the elastic supporting part 2. In the embodiment of the present invention, the elastic supporting member 2 is preferably a supporting spring, but is not limited to a specific type of the elastic supporting member 2, a first end of the supporting spring is fixed on the top surface of the base 1 by a fixing screw 11 (the first end of the supporting spring can also be fixed on the top surface of the base 1 by welding), and a second end of the supporting spring is a free end, so that the second end of the supporting spring can elastically swing relative to the first end of the supporting spring.
The support 3 is mounted at a second end of the elastic support 2 to serve as a mounting base for the sensor measuring module 4. In the embodiment of the present invention, the support 3 is disc-shaped, and it is easily understood that in other embodiments, the support 3 may be in other shapes, for example: triangular, rectangular, polygonal, oval, diamond, and the like, but not limited thereto.
The sensor measuring module 4 is mounted on the side of the support 3 away from the base 1 for calculating and displaying the comfort index. Specifically, referring to fig. 2, the sensor measurement module 4 includes a power module 41, a three-axis acceleration module 42, a single chip 43, and an instruction execution module 44; the three-axis acceleration module 42, the single chip microcomputer 43 and the indication execution module 44 are all electrically connected with the power module 41, so that power is supplied to other components through the power module 41.
Meanwhile, the three-axis acceleration module 42 is electrically connected to the single chip microcomputer 43, and is configured to detect instantaneous acceleration values of the vehicle in three directions at the current time and feed the instantaneous acceleration values back to the single chip microcomputer 43. The single chip 43 includes a crystal oscillator and a conventional adaptive interface circuit, so as to complete the configuration of the three-axis acceleration, the reading and analysis of the data, and the driving of the indication execution module 44 to display the comfort index. The indication execution module 44 is electrically connected to the single chip 43, and the indication execution module 44 includes an audible and visual alarm device and a display module, so as to display the comfort index by means of warning sound or indication pictures.
Therefore, by installing the indicating device on the vehicle, when the vehicle accelerates or brakes suddenly, due to the effect of inertia, the sensor measuring module 4 can simulate the forward tilting and backward tilting trends the same as those of passengers, and through the effect of the supporting spring, the forward tilting and backward tilting trends can be converted into the inclination angle change of the sensor measuring module 4 in the preset direction, so that the riding comfort of the vehicle running at present can be effectively indicated, and the comfort index can be displayed through the indication executing module 44 in the sensor measuring module 4.
Referring to fig. 4, after the comfort index is displayed, the driver can be reminded of the current feeling of the passenger, so that the driver is prompted to have a desire to adjust the driving operation, the controllability of the vehicle is improved, and the vehicle is driven more stably. On the basis of the riding comfort level indicating device, the embodiment of the invention further provides a riding comfort level indicating method. As shown in fig. 5, the indication method at least includes the following steps:
s1: and initializing a sensor measurement module and configuring data.
Specifically, the method comprises the steps of S11-S12:
s11: initializing buffer zone data and resetting a triaxial acceleration module 42 in the sensor measurement module;
s12: configuring a timer, a watchdog and a timed interrupt response program;
referring to fig. 6, the timer interrupt response procedure includes two steps, the first step is to read the triaxial acceleration instantaneous data, and the second step is to update the triaxial acceleration instantaneous data and the flag. The interrupt response program is triggered by timed interrupt, the timed interval is Ts, and the interrupt response program is mainly responsible for driving a specific bus interface to read the acceleration values of the triaxial accelerometer in the current three directions, storing the acceleration values into a buffer area and updating a flag bit for updating data so as to help to judge whether the data is updated or not subsequently.
S2: judging whether the data in a certain time period is updated or not, if so, reading the data, resolving a Z-axis inclination angle and storing the Z-axis inclination angle in a cache region; and if the data is not updated, continuing the data updating judgment until the data is updated.
Specifically, after initialization, watchdog configuration, timer configuration, and timer interrupt configuration are completed, it is necessary to determine whether the interrupt response program updates the three-axis acceleration, and if the data is updated, the updated data may be used to perform the calculation of the Z-axis tilt angle (the specific calculation process is described in detail later); if the data is not updated, the data is continuously monitored until the data is updated.
In this step, since the time interval of the interrupt response program is Ts, under normal conditions, the Z-axis inclination angle can be calculated once every Ts, and each time the Z-axis inclination angle is calculated, i.e. one sampling, and when the number of accumulated sampling points reaches N, the comfort index can be calculated, wherein the number N can be determined according to actual needs, and in the embodiment of the present invention, N is preferably 1000.
The following describes in detail the calculation of the Z-axis tilt γ (n):
referring to fig. 7, assuming that the current position of the triaxial acceleration module 42 is as indicated by the dashed box cube in fig. 7, the three-axis accelerometers in the triaxial acceleration module 42 respectively read X, Y, Z the updated instantaneous acceleration values in three directions, which are ax (n), ay (n), and az (n), at this time, the X, Y, Z three axes respectively generate the included angles α (n), β (n), and γ (n) with respect to the reference position (i.e., the position shown in fig. 3).
Then, the Z-axis inclination angle gamma (n) is calculated according to a formula and is stored in a cache region,
s3: judging whether the number of accumulated sampling points reaches a set number N, if so, analyzing the distribution of the Z-axis inclination angle, and calculating a comfort index; if the number of the accumulated sampling points does not reach N, the accumulated sampling is continued until the number of the accumulated sampling points reaches N.
Specifically, the method comprises the steps of S31-S34:
s31: and carrying out distribution estimation on the Z-axis inclination angle.
Specifically, the method comprises steps S311 to S312:
s311: let the update frequency of the data set be fuThen N is 1/(f)u*Ts)。
In a preferred embodiment of the invention, fu0.2Hz, N1000, Ts 1/200. Of course, in other embodiments, fuOther values are also possible, for example 0.3Hz, 0.15Hz, etc., and N may have other values, such as 800, 1200, etc.
S312: performing M-level histogram statistics on Z-axis inclination angles gamma (N), N being 0, and N-1 to obtain a distribution sequence D (i), i being 0, and M-1; where M is the number of intervals of the histogram statistics, and i is the index of the statistical interval.
S32: and screening effective data sets for subsequent model parameter training.
Specifically, let the effective data set after data screening be S, the elements in the effective data set S are composed of non-zero elements of the sequence D (i),
s33: and (4) giving an optimal parameter estimation value through model parameter training.
Specifically, the method comprises steps S331-S332:
s331: assuming that there are a total of K elements in the valid data set S, defining the element as (K, S)k)，k＝0，...，K－1；
S332: training to obtain parameter estimation value according to cost function
co，
Wherein,
c is a parameter of the model and c is a parameter of the model,
represents the relief of the profile and c represents the steady state expectation of the tilt angle.
S34: and judging and outputting the comfort index according to the parameter estimation value.
In particular, comfort index
Calculated according to the following formula:
wherein epsilon is a system adjustable parameter, the larger the value of epsilon is, the less sensitive the comfort index calculation is to the distribution estimated value, otherwise, the more sensitive the distribution estimated value is. When the inclination angle is estimated, the unevenness is not conspicuous and
when the value of C is very small, the value is mainly considered.
The comfort index
Has the following properties:
one, the range is between [0, 1 ].
Secondly, the smaller the value of the comfort index is, the more stable the driving is; the greater the value of the comfort index, the less smooth the ride (i.e., the feeling of pushing back or leaning forward is significant).
S4: displaying the comfort index through a sensor measuring module 4, and emptying a cache;
in particular, as comfort index
After the calculation is finished, the single chip microcomputer 43 controls the indication execution module 44 to display the comfort index
In the embodiment of the present invention, as shown in fig. 5, the indication execution module 44 may have different expressions (for example, according to smiling face, no expression, worry, and pain, the comfort level gradually decreases), or may have a color identifier (for example, from green, yellow to red, the comfort level gradually decreases). It is easy to understand that the invention is practicedIn the embodiment, the comfort index is displayed by expression and color in two simpler implementation manners, and in other embodiments, various forms of display can be formed as required.
S5: returning to the step of data updating judgment to judge whether the data in the next time interval is updated.
Specifically, after the comfort index in the previous time period is displayed, the step S2 needs to be returned, and the steps S2 to S5 are repeated to form a loop, so that the comfort index is continuously displayed in the driving process of the vehicle, and the riding experience of the user is improved.
In summary, the indicating device and the indicating method for riding comfort provided by the embodiment of the invention simulate the inertial response of a non-driver by fixing the three-axis acceleration sensor on the supporting spring. The distribution of Z-axis inclination angles of the three-axis accelerometer is fitted to reflect the concavity and convexity of a curve, the concavity and the convexity are normalized and quantized, and finally, an index of comfort is given, so that the stability of the current driving is reflected. Based on the technical scheme provided by the invention, the riding comfort of the current running vehicle can be effectively indicated, on one hand, the driving comfort can be warned to form closed-loop control, and the safe driving awareness of the driver is improved; on the other hand, the method can also be used as one of evaluation reference indexes of driving technique and safety service consciousness and used for driving technique evaluation and risk assessment.
The present invention provides a ride comfort indicating apparatus and a ride comfort indicating method. It will be apparent to those skilled in the art that any obvious modifications thereof can be made without departing from the spirit of the invention, which infringes the patent right of the invention and bears the corresponding legal responsibility.
Claims (10)
1. A ride comfort indicator, comprising:
a base for placement on a vehicle level;
the first end of the elastic supporting piece is fixed on the top surface of the base, and the second end of the elastic supporting piece can elastically swing relative to the first end of the elastic supporting piece;
a support mounted at a second end of the resilient support;
and the sensor measuring module is arranged on one side of the supporting part far away from the base and used for calculating and displaying the comfort index.
2. The indicating device of claim 1 wherein:
the sensor measurement module comprises a power module, a three-axis acceleration module, a single chip microcomputer and an indication execution module, and the three-axis acceleration module, the single chip microcomputer and the indication execution module are all electrically connected with the power module;
the three-axis acceleration module is electrically connected with the single chip microcomputer and is used for detecting instantaneous acceleration values of the vehicle in three directions at the current moment and feeding back the instantaneous acceleration values to the single chip microcomputer;
the driving direction of the vehicle is defined as a Y-axis direction, the direction perpendicular to the Y-axis direction in a horizontal plane is defined as an X-axis direction, and the direction perpendicular to the Y-axis direction in a vertical plane is defined as a Z-axis direction;
the indication execution module is electrically connected with the single chip microcomputer and used for displaying the comfort index;
the single chip microcomputer is used for completing the configuration of three-axis acceleration, the reading and analysis of data and driving the indication execution module to display the comfort index.
3. A method of indicating ride comfort, comprising the steps of:
initializing a sensor measuring module and carrying out data configuration;
judging whether the data in a certain time period is updated or not, if so, reading the data, resolving a Z-axis inclination angle and storing the Z-axis inclination angle in a cache region; if the data is not updated, continuing data updating judgment until the data is updated; the driving direction of the vehicle is defined as a Y-axis direction, the direction perpendicular to the Y-axis direction in a horizontal plane is defined as an X-axis direction, and the direction perpendicular to the Y-axis direction in a vertical plane is defined as a Z-axis direction;
judging whether the number of accumulated sampling points reaches a set number N, if so, analyzing the distribution of the Z-axis inclination angle, and calculating a comfort index; if the number of the accumulated sampling points does not reach N, continuously accumulating the samples until the number of the accumulated sampling points reaches N;
displaying the comfort index through a sensor measuring module, and emptying a cache;
returning to the step of data updating judgment to judge whether the data in the next time interval is updated.
4. The indication method of claim 3, wherein: if the data is updated, calculating the Z-axis inclination angle after reading the data and storing the Z-axis inclination angle in a cache region, and specifically comprising the following substeps:
x, Y, Z instantaneous acceleration values after updating in three directions are read through a sensor measuring module, and the instantaneous acceleration values are Ax(n)、Ay(n)、Az(n)；
Solving a Z-axis inclination angle gamma (n) according to a formula and storing the Z-axis inclination angle gamma (n) in a cache region;
5. the indication method of claim 3, wherein: if the number of accumulated sampling points reaches N, analyzing the Z-axis inclination angle distribution, and calculating a comfort index, specifically comprising the following substeps:
carrying out distribution estimation on the Z-axis inclination angle;
screening out an effective data set for subsequent model parameter training;
giving an optimal parameter estimation value through model parameter training;
and judging and outputting the comfort index according to the parameter estimation value.
6. The pointing method according to claim 5, wherein the estimating the distribution of the Z-axis tilt angle comprises the following sub-steps:
let the update frequency of the data set be fuThen N is 1/(f)u*Ts)；
Performing M-level histogram statistics on Z-axis inclination angles gamma (N), N being 0, and N-1 to obtain a distribution sequence D (i), i being 0, and M-1; where M is the number of intervals of the histogram statistics, and i is the index of the statistical interval.
7. The method for indicating as claimed in claim 6, wherein the screening of the valid data sets for subsequent model parameter training comprises the following sub-steps:
let the effective data set after data screening be S, the elements in the effective data set S are composed of non-zero elements of the sequence D (i), wherein
8. The indicating method of claim 7, wherein the optimal parameter estimation value is given by model parameter training, comprising the following sub-steps:
assuming that there are a total of K elements in the valid data set S, defining the element as (K, S)k)，k＝0，...，K－1；
Training to obtain parameter estimation value according to cost function
co，
Wherein,
c is a parameter of the model and c is a parameter of the model,
representThe relief of the profile, c, represents the steady state expectation of the tilt angle.
9. The indication method according to claim 8, wherein said deciding an output comfort index based on said parameter estimation value comprises the following sub-steps:
the comfort index
Calculated according to the following formula:
and E is a system adjustable parameter, the larger the value of E is, the less sensitive the comfort index calculation is to the distribution estimated value, and otherwise, the more sensitive the comfort index calculation is to the distribution estimated value.
10. The indication method according to any one of claims 3 to 9, characterized by: the initialization of the sensor measurement module and the data configuration specifically comprise the following substeps:
initializing buffer zone data and resetting a triaxial acceleration module in a sensor measurement module;
configuring a timer, a watchdog and a timed interrupt response program;
and the timed interrupt response program comprises reading triaxial acceleration instantaneous data and updating triaxial acceleration instantaneous data and marks.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111159473.2A CN113960329B (en) | 2021-09-30 | 2021-09-30 | Indication device and indication method for riding comfort |
| PCT/CN2022/123510 WO2023051818A1 (en) | 2021-09-30 | 2022-09-30 | Indication device and method for riding comfort |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111159473.2A CN113960329B (en) | 2021-09-30 | 2021-09-30 | Indication device and indication method for riding comfort |
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| CN113960329A true CN113960329A (en) | 2022-01-21 |
| CN113960329B CN113960329B (en) | 2023-11-07 |
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| CN202111159473.2A Active CN113960329B (en) | 2021-09-30 | 2021-09-30 | Indication device and indication method for riding comfort |
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| WO (1) | WO2023051818A1 (en) |
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| WO2023051818A1 (en) * | 2021-09-30 | 2023-04-06 | 瞬联软件科技（北京）有限公司 | Indication device and method for riding comfort |
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| CN113960329B (en) | 2023-11-07 |
| WO2023051818A1 (en) | 2023-04-06 |
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