WO2014206770A1 - Procédé et dispositif pour actualiser le logiciel d'un appareil de commande de véhicule à moteur - Google Patents

Procédé et dispositif pour actualiser le logiciel d'un appareil de commande de véhicule à moteur Download PDF

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Publication number
WO2014206770A1
WO2014206770A1 PCT/EP2014/062347 EP2014062347W WO2014206770A1 WO 2014206770 A1 WO2014206770 A1 WO 2014206770A1 EP 2014062347 W EP2014062347 W EP 2014062347W WO 2014206770 A1 WO2014206770 A1 WO 2014206770A1
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WO
WIPO (PCT)
Prior art keywords
data
configuration data
vehicle
configuration
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2014/062347
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German (de)
English (en)
Inventor
Felix Hieronymi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2014206770A1 publication Critical patent/WO2014206770A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates

Definitions

  • Control of vehicle components in particular of the engine, is used.
  • the control unit has at least one software-controlled microprocessor.
  • the control software is preferably to the configuration of the motor vehicle, i. in particular to the components installed in the vehicle, adapted to ensure optimum operation of the vehicle. It is therefore desirable to update the control software and, in particular, to be able to adapt to the new configuration of the motor vehicle after replacing components of the motor vehicle. Disclosure of the invention
  • a method according to the invention for updating data in a control unit installed in a vehicle comprises the steps of: acquiring configuration data, which in particular comprise the type, number and / or identity of at least one component installed in or on a vehicle;
  • An inventive system for updating control unit data of a vehicle control unit comprises:
  • a storage device in which a configuration database is stored with configuration data sets, each containing configuration data, in particular the type, number and / or identity of at least one built in or on the vehicle component include;
  • a detection device which is designed to acquire configuration data, which in particular comprise the type, number and / or identity of at least one component installed in or on the vehicle;
  • controller data memory in which controller data
  • a comparison and selection device which is configured to compare the configuration data acquired by the detection device with the configuration data of the configuration data records and to select a configuration data set whose configuration data is the largest
  • a first transmission device having a vehicle transmission device and a reception device, which is designed to transmit configuration data from the detection device to the comparison and selection device;
  • a second transmission device having a transmitting device and a vehicle receiving device, which is designed to transmit control device data which are assigned to the configuration data set selected by the comparison and selection device to the control device.
  • a stored configuration record is selected whose configuration data is complete, i. 1: 1, coincide with the configuration data transmitted to the receiving device.
  • a search may be made for a configuration data set in which all acquired configuration data are contained or whose configuration data are completely contained in the acquired configuration data. If the number of matching configuration data is defined as a measure of the correspondence between the transmitted configuration data and the configuration data of a stored configuration data record, that one of the stored configuration data records can be selected whose configuration data has the greatest degree of agreement with the acquired configuration data.
  • a warning message can be issued. In addition to the warning message, it may be necessary to
  • a method according to the invention and a device according to the invention make it possible in each case to automatically determine the configuration of a motor vehicle, i. In particular, the type, number and / or identity of the components installed in the motor vehicle to capture and select from the available control unit data the best adapted to the detected configuration of the motor vehicle control unit data and transmit it to the control unit.
  • control unit of the motor vehicle can be reliably and easily always operated with control unit data optimally to the current configuration of the motor vehicle are adapted to ensure optimum operation of the motor vehicle.
  • control unit data are transmitted to the control unit, in particular when it is determined that the configuration of the motor vehicle has been changed, in order to adapt the control unit data to the changed configuration of the motor vehicle.
  • the comparison and selection device additionally a
  • a configuration comparison device configured to maintain the current configuration of a vehicle, i. in particular the type, number and / or identity of the components installed in the vehicle to compare with a previously stored configuration of the same vehicle to detect possible changes in the configuration of the vehicle and to select a new software for vehicle control and only to the controller when the current configuration of the vehicle differs from the configuration stored earlier, that is, when the type, number, and / or identity of at least one component installed in the vehicle has changed. In this way, unnecessary transmission of control unit data can be avoided if the
  • the system may also include an in-vehicle vehicle configuration comparison device that compares the currently-determined configuration with a previously-stored configuration and transmits the current configuration only if different from the previously-stored configuration. In this way, the amount of data transfer can be reduced to the necessary degree, and the cost and power consumption for unnecessary transfer of data already stored in the storage device can be saved.
  • new control unit data are transferred from the control unit data memory to the control unit, if in the control Device Data Store updated control device data similar to that of the
  • Comparison and selection device are associated with selected configuration data set and in particular may include an updated ECU software available.
  • data currently stored in the control unit of the vehicle can be read out, transmitted to the comparison and selection device and compared there with the control device data associated with the configuration data set selected by the comparison and selection device in order to transmit new control device data to the control device, if the control unit data currently stored in the control unit of the vehicle from the control unit data stored in the control unit data memory, the
  • At least one version number assigned to the control unit data and / or the time at which the control unit data was last updated may be transmitted and with the corresponding one Data of the control unit data stored in the control unit data memory corresponding to the selected one
  • the transmission of the at least one selected data set to the controller is wireless, so that it is not necessary to establish a wired connection with the controller.
  • the transmission can therefore be carried out particularly easily and conveniently; In particular, it is not necessary to search the controller or a connector connected to the controller in the foot or engine compartment of the vehicle to update the software.
  • the configuration data in particular the type, the number and / or the identity of the components installed in the vehicle, are entered manually, for example by manually capturing a previously created and possibly manually updated component list and entering it into the system, for example by the vehicle and its components are viewed by a trained mechanic, who recognizes the components installed in or on the vehicle, manually detects and inputs into the system via an input device.
  • the type, number and / or identity of the components installed in or on the vehicle are detected by the components, in particular markers attached to or on the individual components, which may comprise, for example, a barcode and / or a QR code ,
  • the optical reader can be manually by a mechanic or automatically, e.g. from a robot-like device, are guided over the vehicle, in particular the engine compartment, in order to detect the markers optically.
  • the detection of the type, number and / or identity of the components installed in the vehicle can be made even easier, more reliable and faster.
  • Wirelessly readable memory elements which can be read in particular with the aid of electromagnetic waves, may contain more information than an optical code, and in particular can be reliably read out independently of the illumination, possible contamination and / or mechanical wear and their respective installation position.
  • the system includes at least one wirelessly readable passive memory device that does not have its own power source.
  • Passive memory elements can be implemented particularly cost-effectively They are easy to install and require little maintenance because they do not require their own power supply, which needs to be regularly monitored and charged or replaced if necessary.
  • RFID elements that are available on the market at low prices have proven to be passive memory elements.
  • the receiving device In order to read such an RFID element, the receiving device generates a high-frequency electromagnetic alternating field to which the RFI D element is exposed.
  • the high frequency energy received by the RFID element from the alternating electromagnetic field serves as a power supply during the communication process.
  • the alternating electromagnetic field activates a microchip present in the RFID element, which decodes the commands sent by the receiving device.
  • the response encodes and modulates the RFID element into the irradiated electromagnetic field by field weakening in non-contact short circuit or antiphase reflection of the field emitted by the receiving device.
  • the RFID element transmits, for example, its own serial number, further data of the designated object and / or other information requested by the reader.
  • the RFID element itself generates no electromagnetic field, but affects the electromagnetic field that has been generated by the receiving device.
  • the system can also at least one active
  • Have storage element which is equipped with its own energy source and is designed to serve itself as a transmitter for an electromagnetic field. Active memory elements can be read from a greater distance compared to passive memory elements due to their higher transmission power.
  • Receiving the data transmitted by the transmitting device is formed, part of the system.
  • the receiving device is connected to and / or equipped with a storage device, wherein the storage device is designed to store the data received by the receiving device. In this way, a current image of the configuration of the vehicle can always be kept in the receiving device, which is always available when needed.
  • the transmitting and receiving devices are adapted to transmit data by means of infrared radiation or by use of a radio network, such as e.g. a mobile network, WLAN, Bluetooth® and / or the Internet to transfer.
  • a radio network such as e.g. a mobile network, WLAN, Bluetooth® and / or the Internet to transfer.
  • Mobile networks, WLAN, Bluetooth® and / or the Internet provide proven and cost-effective networks that are suitable for data transmission.
  • the system also makes it possible to determine specific mounting positions of components in the vehicle.
  • the installation position of a component installed ex works in the vehicle can be stored as a date in a data record assigned to the component. If the component is replaced, we transfer the existing information about the installation location to the new component, so that in the following also the installation of the replacement component is known.
  • the position of a memory element in the vehicle and thus the mounting position of a component can be detected by means of different relative signal strength intensities (RSSI) that occur at the different data reading devices.
  • RSSI relative signal strength intensities
  • the system can be set up such that, when the vehicle or its engine is started and / or stopped, data is read from the memory elements present in the vehicle and emitted by the transmission device. This can be done each time the vehicle is started and / or stopped, or after a predetermined number of start and / or stop operations.
  • FIGURE shows a schematic view of an embodiment of a system according to the invention for updating data of a vehicle control unit 22 (control unit data), which are used in particular for the control of the vehicle control unit 22.
  • a vehicle 2 has a plurality of components 41, 42, 43, 44, e.g. Wheels or
  • a wirelessly readable memory element 51, 52, 53, 54 can be used either as a passive memory element 51,
  • a marking element 51, 52, 53, 54 designed as an optical marking may in particular have a barcode and / or a QR code.
  • optically or electronically readable configuration data stored in the marking elements 51, 52, 53, 54 in particular comprise a unique identification number, which makes it possible for each marking element 51, 52, 53, 54 and thus also the respective marking element 51, 52, 53, 54 assigned component 41, 42, 43, 44 uniquely identify.
  • the vehicle 2 is additionally equipped with a detection device 6, which in particular comprises a data reading device 6a, which is designed such that it is able to read out the configuration data stored in the marking elements 51, 52, 53, 54 and to a likewise in the Vehicle 2 provided to transmit vehicle transmission device 8.
  • a detection device 6 which in particular comprises a data reading device 6a, which is designed such that it is able to read out the configuration data stored in the marking elements 51, 52, 53, 54 and to a likewise in the Vehicle 2 provided to transmit vehicle transmission device 8.
  • the data reading device 6a is designed in particular as a scanner, which optically detects the optical markers 51, 52, 53, 54 and reads out the configuration data contained in them.
  • the data reading device 6a can be guided manually by a mechanic or mechanically by a robot-like device via the vehicle 2, in particular the engine compartment, in order to optically detect the optical markers 51, 52, 53, 54.
  • the data reading device 6a can also be designed such that it makes it possible to manually acquire data from components 41, 42, 43, 44 which have no automatically detectable mark 51, 52, 53, 54 and, for example, with the aid of a keyboard, manually enter into the data reading device 6a.
  • the data reading device 6a, the detection device 6 and the vehicle transmission device 8 may each be formed as separate elements or devices; However, the devices 6a, 6, 8 can also be combined in a common data acquisition and transmission device 6a, 6, 8.
  • the vehicle transmission device 8 is designed to transmit the configuration data transmitted to it by the detection device 6, e.g. via an antenna 10, which may be arranged inside or outside the vehicle 2, to be transmitted to a in the vicinity of the vehicle 2, in particular in a workshop environment, arranged receiving device 12, which may also have an antenna 14 to transmit.
  • the data transmission can take place by means of electromagnetic waves in the non-optical area (for example via Bluetooth®, WLAN etc.) or in the optical area, which in particular comprises infrared light.
  • the transmission of the configuration data from the vehicle 2 to the receiving device 12 can also take place via a suitable for data transmission mobile network.
  • a suitable for data transmission mobile network When using a mobile network and / or the Internet, the data transmission can also take place over a greater distance, so that the
  • the receiving device 12 is part of a workshop system 15 which, in addition to the receiving device 12, also comprises a comparison and selection device 24, which is designed to evaluate the configuration data transmitted to the receiving device 12, in particular by the type, the number and / or the identity of the vehicle 2 built components 41, 42, 43, 44 to determine.
  • the system also has at least one memory device 16, which is designed to store a configuration database with configuration data records, which are each assigned to a component 41, 42, 43, 44, and a comparison unit 26, which is designed to be connected to the reception device 12 transferred configuration data with the stored in the
  • a configuration record is selected whose
  • a configuration data set may be selected whose configuration data only partially match the configuration data transmitted to the receiving device 12.
  • the number of matching configuration data is defined as a measure of correspondence between the transmitted configuration data and the configuration data of a stored configuration data set, it is possible in particular to select that of the stored configuration data records whose configuration data has the greatest degree of correspondence with the acquired configuration data.
  • a warning message can be issued.
  • the warning message it may be indicated that a similar configuration record is being selected has been; and the degree of correspondence between the acquired configuration data and the configuration data of the selected stored configuration record can be displayed. In this case, the user may manually decide that the displayed level of agreement is sufficient to continue the process with the displayed configuration record.
  • Each stored configuration data record is associated with an entry in a control unit data memory 17, wherein the control unit data may in particular include a vehicle or engine control unit software.
  • the control unit data may in particular include a vehicle or engine control unit software.
  • the workshop system 15 also includes a transmitting device 13, and the vehicle 2 has a vehicle receiving device 9 adapted to receive data transmitted by the transmitting device 13, in addition to transmission of data.
  • a transmitting device 13 from the vehicle 2 to the workshop system 15 also a transmission of data, in particular control device data, in the opposite direction, ie from the workshop system 15 to the vehicle 2, in particular to the control unit 22 of the vehicle 2, to enable.
  • the data transmission can take place by means of electromagnetic waves in the non-optical area (for example via Bluetooth®, WLAN etc.) or in the optical area, which in particular comprises infrared light.
  • the transmission of the data from the transmitting device 13 to the vehicle 2 can also take place via a suitable for data transmission mobile network.
  • the data transmission can also take place over a greater distance, so that the data transmission at any time, in particular independently of workshop visits, can be performed.
  • the vehicle transmitting device 8 and the vehicle receiving device 9 as well as the transmitting device 13 and the receiving device 12 can each also be designed as a combined transmitting and receiving device.
  • the vehicle receiving apparatus 9 installed in the vehicle 2 is connected to a vehicle control unit 22 to enable data, in particular control unit data, to be transmitted from the workshop system 15 to the vehicle or engine control unit 22.
  • This makes it possible to change parameters of the vehicle or engine control unit 22, in particular based on the type, number and / or identity of the components 41, 42, 43, 44 installed in the vehicle 2, and thus those in the vehicle 2 installed components 41, 42, 43, 44 adapt.
  • a new vehicle or engine control unit software can be transmitted in particular from the control unit data memory 17 to the control unit 22 of the vehicle 2 when it has been determined that the
  • Configuration of the vehicle 2 has changed, in particular if components 41, 42, 43, 44 of the vehicle 2 have been removed, added and / or replaced. In this way it can be achieved that the vehicle 2 is always operated with an optimally adapted to the current configuration of the vehicle 2 vehicle or engine control unit software.
  • a new vehicle or engine control unit software from the control unit data memory 17 can also be transmitted to the control unit 22 of the vehicle 2, if the configuration of the vehicle 2 has not changed, but in the control unit data memory 17 for the current
  • Configuration of the vehicle 2 an updated vehicle or engine control unit software is available. So can be achieved that the vehicle 2 is always operated with the most current vehicle or engine control software available for the current configuration of the vehicle 2.
  • the detection device 6 and the vehicle transmission device 8 for example, from the control unit 22nd be activated to read out the configuration data from the markers 51, 52, 53, 54 installed in the vehicle 2 and to be transmitted to the receiving device 12 via the vehicle transmission device 8 and if required, in particular if the configuration of the vehicle 2 has changed and / or or new ECU data, such as an updated version of the control software for the control unit 22, which is tuned to the current configuration of the vehicle 2, to transmit new control unit data to the control unit 22 of the vehicle 2.
  • control unit data in particular when it is determined that the configuration of the motor vehicle 2 has been changed, is transmitted to the control unit 22 in order to adapt the control unit data to the changed configuration of the motor vehicle 22.
  • the comparison and selection device 24 may additionally comprise a configuration comparison device 25, which is configured to compare the currently transmitted configuration data of a vehicle 2 with configuration data of the same vehicle 2 stored in a configuration memory device 27 at an earlier time and only then to select and to select new software to the vehicle 2, in particular the control unit 22 in the vehicle 2, to transmit, if the currently transmitted configuration data does not match the last transmitted configuration data of the same vehicle 2.
  • a configuration comparison device 25 which is configured to compare the currently transmitted configuration data of a vehicle 2 with configuration data of the same vehicle 2 stored in a configuration memory device 27 at an earlier time and only then to select and to select new software to the vehicle 2, in particular the control unit 22 in the vehicle 2, to transmit, if the currently transmitted configuration data does not match the last transmitted configuration data of the same vehicle 2.
  • a vehicle configuration comparison device 7 with a local memory 7a may also be provided in the vehicle 2.
  • the local memory 7a is configured to store configuration data that has been read out from at least one of the preferably wirelessly readable markers 51, 52, 53, 54 at a first time
  • the vehicle configuration comparison device 7 is configured to store configuration data a second, later time from at least one of the preferably wirelessly readable markers 51, 52, 53, 54 have been read out, with the configuration data stored in the local memory 7a, which have been read at the first, earlier time to compare and only then Help of the vehicle transmitting device 8 to transmit configuration data from the vehicle 2 to the garage system 15 when the configuration data read out at the second, later time differ from the configuration data stored in the local memory 7a. In this way, unnecessary data transfers can be avoided.
  • control unit data is sent to the
  • Control unit 22 transmitted when in the control unit data memory 17 updated control unit data are available, which are assigned to the selected by the comparison and selection device 24 configuration record and in particular may include an updated control software.
  • data currently stored in the control unit 22 of the vehicle 2 can be read out, transferred to the comparison and selection device 24 and compared there with the control device data associated with the configuration data set selected by the comparison and selection device 24, only to supply new control unit data to the control unit Control unit 22 to transmit when the currently stored in the control unit 22 of the vehicle 2 control unit data from the stored in the control unit data memory 17 control unit data, which are assigned to the selected configuration data set, different.
  • At least one version number assigned to the control unit data and / or the time at which the control unit data was last updated can be transmitted instead of the control unit data itself the corresponding data of the control unit data stored in the control unit data memory 17, which are assigned to the selected configuration data set, are compared.
  • the configuration data transmitted by the vehicle 2 to the receiving device 12 may optionally be read together with further data transmitted by the vehicle 2 to the receiving device 12, such as the current mileage, possibly from the control unit 22 and from the vehicle transmitting device 8 the receiving device 12 have been transmitted, are stored in the storage device 16, for example, to create a "log" of the vehicle 2 and its configuration, ie built in the vehicle 2 components 41, 42, 43, 44, and always up to date hold.
  • vehicle and / or engine control may be adjusted by the controller 22 depending on mileage, e.g. to compensate for aging and / or wear of components 41, 42, 43, 44 and / or to protect aged / worn components 41, 42, 43, 44.
  • the memory device 16 can, as shown in the figure, be formed as part of the workshop system 15, but alternatively also as part of a “virtual data cloud” (“cloud”), which can be accessed via the Internet.
  • cloud virtual data cloud
  • the data of the vehicle 2 are stored in a "cloud of data", they are available everywhere where access to the Internet is possible and can be quickly called up as needed, in particular in the event of repair and / or breakdown become.
  • the configuration data of the vehicle 2 is available throughout its life and may be, e.g. for product development and / or preparation, to improve product quality.
  • the identification of a defective component 41, 42, 43, 44 takes place by evaluating the configuration data stored in the storage device 16.
  • the sensor in the vehicle 2 determines that the injector in the first cylinder is faulty, this information can be clearly associated with the affected component 41, 42, 43, 44 in connection, as it is known which injector is installed in the first cylinder. Thus, for each injector its degree of stress, its defect image, etc. can be obtained and documented.
  • the workshop system 15 can also have at least one input device 20, which allows manual input of configuration data into the workshop system 15 and / or to complete and / or modify configuration data sets stored in the memory device 16.
  • the workshop system 15 may additionally include a display device 18, which allows stored in the memory device 16

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

L'invention concerne un procédé pour actualiser des données d'un appareil de commande (22) de véhicule, qui comprend les étapes suivantes : acquérir des données de configuration comprenant en particulier, le type, le nombre et/ou l'identité d'au moins un composant (41, 42, 43, 44) intégré dans ou sur un véhicule (2); comparer les données de configuration acquises avec des données de configuration contenues dans des jeux de données de configuration mémorisés, de manière à sélectionner un jeu de données de configuration dont les données de configuration correspondent au moins en partie aux données de configuration acquises; et transmettre à l'appareil de commande (22) des données mémorisées concernant l'appareil de commande, qui sont associées au jeu de données de configuration ainsi sélectionné.
PCT/EP2014/062347 2013-06-26 2014-06-13 Procédé et dispositif pour actualiser le logiciel d'un appareil de commande de véhicule à moteur Ceased WO2014206770A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013212344.2 2013-06-26
DE201310212344 DE102013212344A1 (de) 2013-06-26 2013-06-26 Verfahren und Vorrichtung zum Aktualisieren der Software eines Kfz-Steuergeräts

Publications (1)

Publication Number Publication Date
WO2014206770A1 true WO2014206770A1 (fr) 2014-12-31

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PCT/EP2014/062347 Ceased WO2014206770A1 (fr) 2013-06-26 2014-06-13 Procédé et dispositif pour actualiser le logiciel d'un appareil de commande de véhicule à moteur

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DE (1) DE102013212344A1 (fr)
WO (1) WO2014206770A1 (fr)

Cited By (1)

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CN108536054A (zh) * 2018-03-19 2018-09-14 航天新长征电动汽车技术有限公司 一种整车通用控制方法及装置

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DE102015214783A1 (de) 2015-08-03 2017-02-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Konfigurieren eines Steuersystems in einem Kraftfahrzeug
DE102016209750A1 (de) 2016-06-03 2017-12-07 Robert Bosch Gmbh Verfahren zur Aktualisierung von steuerungsrelevanten Daten in einem Speicher einer elektronischen Steuereinheit
DE102023124614A1 (de) * 2023-09-12 2025-03-13 Audi Aktiengesellschaft Verfahren zum Koordinieren eines Betriebs von Softwarefunktionen in einer Mehrzahl von Kraftfahrzeugen sowie System und Kraftfahrzeug

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US20070094089A1 (en) * 2005-10-26 2007-04-26 International Business Machines Corporation System and method for utilizing rfid tags to manage automotive parts
DE102007010763A1 (de) * 2007-03-06 2008-09-11 Zf Friedrichshafen Ag Verfahren zur adaptiven Konfigurationserkennung
DE102009018761A1 (de) * 2009-04-27 2010-10-28 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Aktualisierung von Softwarekomponenten

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US20060271254A1 (en) * 2005-05-27 2006-11-30 Hemang Shah Automotive scanner with advanced module programming options
US20070094089A1 (en) * 2005-10-26 2007-04-26 International Business Machines Corporation System and method for utilizing rfid tags to manage automotive parts
DE102007010763A1 (de) * 2007-03-06 2008-09-11 Zf Friedrichshafen Ag Verfahren zur adaptiven Konfigurationserkennung
DE102009018761A1 (de) * 2009-04-27 2010-10-28 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Aktualisierung von Softwarekomponenten

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108536054A (zh) * 2018-03-19 2018-09-14 航天新长征电动汽车技术有限公司 一种整车通用控制方法及装置

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