1114 results about "Tire pressure" patented technology

The invention belongs to the field of vehicle early warning, and particularly relates to a vehicle hidden danger recognition and safety early warning method and device, and the method comprises the following steps: collecting vehicle speed, tire pressure and road condition data, obtaining the states of key parts of an engine and a braking system through combining an OBD system, and achieving the dynamic perception of a whole vehicle; based on a deep learning algorithm, accurately identifying the too short distance of the front vehicle, fatigue driving, overspeed, area deviation, long-term left-occupying driving of a lane, vehicle retrograde driving and abnormal line pressing tracks; through vehicle-mounted OBD data and cloud large model analysis, potential mechanical faults of tire wear and brake pad aging are predicted, and maintenance suggestions are pushed in advance, so that a driver can be reminded of safety, the driving safety is improved, the hidden danger recognition capability is improved, safety preventive warning is performed on hidden dangers, the driving safety is ensured, and the driving safety is improved. Meanwhile, the vehicle can be guided to avoid high-risk or forbidden road sections, and the probability that the vehicle enters a dangerous or forbidden area is reduced.

The invention discloses a tire wear diagnosis method, device and equipment and a storage medium, and the method comprises the steps: generating a tire wear calculation model based on obtained key factors affecting tire wear, wherein the key factors comprise vehicle driving mileage, historical driving road condition information, driving habits, vehicle tire pressure and four-wheel positioning information; and calculating a current tire wear coefficient according to the tire wear calculation model, and diagnosing tire wear by using the current tire wear coefficient. The abnormal condition of tire wear can be effectively identified, a terminal client is reminded of the tire wear state of the vehicle, and the use safety of the vehicle tire is ensured.

Embodiments relates to systems and methods to calculate a tire pressure scheme to be utilized by a tire of a vehicle during a trip, communicate a command to the tire pressure control apparatus, to adjust tire pressure of a tire based on the tire pressure scheme, detect a problem encountered in adjusting the tire pressure of the tire based on the tire pressure scheme, generate an alert regarding the problem via a driver assistance interface, and recommend an action to be taken to mitigate the problem.

The invention discloses an EPB anti-lock control method and system based on a self-adaptive wheel speed filtering algorithm, and belongs to the field of anti-lock control, and the method comprises the following steps: S1, collecting driving parameters in a vehicle driving process in real time, extracting feature vectors in the driving parameters after preprocessing, inputting the feature vectors into a pre-trained driving condition classification model, and obtaining a driving condition classification model; outputting the current driving condition type; s2, correcting a wheel speed signal based on an extended Kalman filter with determined parameters; s3, calculating a tire pressure deviation ratio based on the corrected wheel speed signal; and S4, when it is detected that the tire pressure deviation ratio exceeds a set threshold value, an EPB anti-lock control system is triggered. By the adoption of the EPB anti-lock control method and system based on the self-adaptive wheel speed filtering algorithm, the wheel speed information can be accurately extracted under the complex road and environment conditions, the calculation precision of the tire pressure deviation ratio is remarkably improved, and therefore a more reliable basis is provided for starting emergency braking.

The invention relates to a tire pressure monitoring method and system, a storage medium and a vehicle, and belongs to the technical field of tire pressure monitoring. Performing image processing on the tire grounding state image to obtain a grounding contour, and fitting the grounding contour into an ellipse to obtain long axis and short axis parameters of the ellipse; calculating a deformation ratio based on long-axis and short-axis parameters of the ellipse; calculating the current tire pressure through a pre-constructed tire pressure calculation model based on the deformation ratio; and judging whether the slow air leakage phenomenon exists in the tire according to the current tire pressure and the standard tire pressure. According to the method, the tire grounding state image can be obtained in real time without adding extra hardware, the cost is reduced by analyzing the tire deformation and judging the current tire pressure state, the influence of low temperature is considered, the slow air leakage condition can be detected, and the monitoring precision is improved.

The invention discloses a wheel looseness early warning method and device, a medium and a vehicle, and is applied to the technical field of vehicle control, and the method comprises the steps: obtaining a wheel image, wheel attribute data and driving attribute data of the vehicle; according to the wheel image and the wheel attribute data, target tire pressure detection information and target fastening detection information of the vehicle are obtained; wherein the target tire pressure detection information is used for indicating whether the tire pressure of the wheel is normal or not, and the target fastening detection information is used for indicating whether the mechanical structure of the wheel is fastened or not; if the target tire pressure detection information is used for indicating that the tire pressure of the wheel is abnormal, and / or the target fastening detection information is used for indicating that the mechanical structure of the wheel is not fastened, wheel movement track data of the vehicle is obtained according to the wheel image, the wheel attribute data and the driving attribute data; and based on the wheel movement track data, performing wheel looseness early warning processing on the vehicle. According to the invention, the accuracy of wheel loosening early warning can be effectively improved.

The invention belongs to the technical field of tire detection, and particularly relates to a full-automatic tire pressure detection device for an electric bicycle tire, the full-automatic tire pressure detection device comprises a base, a clamping mechanism, a lifting mechanism and a detection mechanism, the base is rotatably connected with a rotating disc; the lifting mechanism is used for driving the detection mechanism to lift, the detection mechanism comprises a connecting seat, and a positioning plate is connected below the connecting seat; the guide frame is vertically and fixedly connected with the positioning plate; the guide frame is connected with a movable seat, the movable seat is fixedly connected with a fixed plate, and the fixed plate is connected with a detection joint matched with a tire valve; the detector is connected with the detection joint through an air pipe; the clamping mechanism drives the tire to rotate, the inflating valve is rotated to the position below the detection mechanism, the lifting mechanism drives the detection mechanism to descend, in the descending process, the detection connector is automatically connected with the tire inflating valve in an aligned mode, and therefore the tire pressure is automatically detected, and the detection efficiency is high.

The invention relates to a prompting method and device, a vehicle, a medium and a program product. The prompting method comprises the steps that tire pressure information of a tire is obtained; analyzing the tire sound signal acquired by the sound acquisition device, and determining tire noise information; and executing tire information prompt according to the tire noise information and the tire pressure information. Tire detection is performed in combination with the tire sound signal and the tire pressure information, so that the accuracy and reliability of tire detection are improved, and the accuracy of tire information prompt is improved.

The invention discloses a wireless relay method, system and equipment for commercial vehicle tire pressure monitoring and a medium, relates to the technical field of commercial vehicle tire pressure monitoring, and solves the problems of poor system adaptability and unreliable real-time alarm caused by the fact that existing commercial vehicle tire pressure monitoring needs trailer transformation and wireless transmission is easy to conflict. The method specifically comprises the steps that ACL connection is established between a tire pressure receiving node and a wireless relay node, and channel scheduling parameters and tire pressure sensor working parameters are issued to the wireless relay node; the wireless relay node sends a report request message to the tire pressure sensor on a specified channel according to a preset period; after each tire pressure sensor receives the message, reporting tire pressure monitoring data in the exclusive response time slot, and if the tire pressure sensor detects a tire burst early warning event, repeatedly reporting the tire pressure monitoring data in the tire burst reporting time slot; the wireless relay node packages the data and sends the data to a tire pressure receiving node for receiving and processing, and if it is judged that a tire burst early warning event exists, an alarm is given within 100 ms. The method is used for monitoring the tire pressure of the commercial vehicle.

The invention discloses a driving capability improvement control method and system for an unmanned vehicle. The method comprises the step of realizing road condition perception and tire pressure optimization through vehicle cloud cooperation. A front vehicle collects road surface data and uploads the road surface data to a cloud server after preprocessing, and the server carries out aggregation analysis and constructs and updates a road surface state map. The rear vehicle requests road condition data, verification is carried out, remote data and local data are fused after weight distribution, and road surface state estimation is generated. And calculating a road surface friction coefficient and a weather influence factor based on the fused data, processing tire temperature data, monitoring a load-carrying vehicle speed, formulating an adjusting strategy, and carrying out modeling solving to obtain the optimal tire pressure. And an adjusting strategy is generated according to the optimal tire pressure, differential tire pressure control is implemented, adjustment is executed through closed-loop and predictive control, the effect is monitored in real time, and data are uploaded to a cloud optimization system. The control stability and trafficability of the vehicle under complex road conditions are effectively improved, and driving safety and riding comfort are guaranteed.

The invention relates to a vehicle static tire pressure monitoring method and device and a self-powered system thereof.The method comprises the steps that vehicle state information is obtained, and whether a vehicle enters a static state or not is judged according to the vehicle state information; after it is judged that the vehicle enters the static state, the tire pressure monitoring mode is switched to a static mode from a dynamic mode, tire pressure and temperature data are collected in the static mode, and the sampling frequency of the static mode is higher than that of the dynamic mode; energy support is provided for data acquisition in a static mode through a self-power supply system, and the self-power supply system at least partially converts mechanical energy generated during tire deformation into electric energy; according to the tire pressure and temperature data, the actual air leakage rate of the tire is determined through a temperature compensation algorithm; and triggering early warning information of a corresponding level according to the actual gas leakage rate.

The invention discloses a vehicle RM I anti-rolling regulation and control method fusing load and tire pressure estimation, and belongs to the field of vehicle safety, and the method comprises the following steps: S1, obtaining vehicle chassis pressure data, suspension displacement data and tire pressure data in real time; s2, estimating and optimizing load distribution based on the acquired data; s3, realizing adaptive adjustment of an RM I trigger threshold based on an optimized load distribution estimation result and a driving condition; and S4, judging whether a trigger threshold value is reached or not under the current driving working condition, if so, executing a preset anti-rolling control strategy, and otherwise, returning to the step S1 for continuous monitoring. According to the vehicle RM I anti-rolling regulation and control method fusing the load and the tire pressure estimation, the load distribution is accurately estimated through multi-source data fusion, high-precision and intelligent regulation and control of vehicle rolling prevention are achieved in combination with self-adaptive threshold adjustment and a multi-system cooperative control strategy, and the safety and stability of driving under complex working conditions are remarkably improved.

The invention relates to the technical field of vehicle control, and provides a vehicle tire pressure adjusting method and a vehicle. Vehicle running data and a road topographic image in front of the vehicle are obtained, so that the vehicle trapping risk of the vehicle is predicted, and vehicle trapping probability information of the vehicle is obtained; according to the method, the vehicle trapping risk of the vehicle can be predicted in advance, the accuracy of vehicle trapping risk prediction is ensured through environmental perception and operation data, and the vehicle trapping risk prediction accuracy is improved. The tire pressure adjusting quantity is determined in time according to the vehicle sinking probability information and the vehicle operation data, so that the tire pressure adjusting accuracy is ensured, the purpose of timely intervention before the vehicle sinking is achieved, the vehicle sinking caused by mismatching of the tire pressure under the complex road conditions such as sand and mud is avoided, the vehicle escaping capability is improved, and the vehicle safety is improved. And the trafficability of the vehicle under various complex road conditions is improved.

The invention relates to the technical field of automobile tire pressure sensors, and discloses an automobile tire pressure data analysis method which comprises the following steps: acquiring original automobile tire pressure data and parameter configuration information corresponding to the original automobile tire pressure data; analyzing the data area data according to the configuration area data to obtain level sample point segment data; determining a period deviation range and a pulse width deviation range of the automobile tire pressure data according to the parameter configuration information; filtering the level sample point segment data according to the period deviation range and the pulse width deviation range; determining target level sample point segment data from the filtered level sample point segment data according to a sampling baud rate and a first level jump moment of each frame of data of the filtered level sample point segment data; encoding the target level sample point segment data according to the data encoding format to obtain target data; and analyzing the target data to obtain automobile tire pressure data. In this way, the efficiency and reliability of function testing of the automobile tire pressure sensor are improved.

The invention is suitable for the field of smart campuses, and provides a multi-source fusion data-based campus subject trajectory analysis method and system, and the method comprises the following steps: synchronously collecting the original data of a vehicle through an intelligent riding terminal, the original data comprising three-axis acceleration data, tire pressure data and high-precision positioning trajectory data; preprocessing the original data and extracting an acceleration sudden change event, a tire pressure sudden drop event and track deceleration characteristics; performing spatial superposition on the event data obtained through preprocessing and a campus road network GIS layer, and generating a pit damage thermodynamic diagram based on a preset damage judgment rule; and extracting a high-risk road section based on the pit damage thermodynamic diagram, and pushing a high-risk road section warning to the user. According to the invention, a scientific basis is provided for campus road maintenance planning, preventive maintenance is realized, and pavement damage is reduced.

A rotary sealing assembly comprises a static sealing ring cover and a movable sealing ring cover, the static sealing ring cover is provided with an air inlet channel connected with an external air supply source, the movable sealing ring cover is provided with an air outlet channel connected with the interior of a tire, and a sealing assembly is arranged between the static sealing ring cover and the movable sealing ring cover. The sealing assembly is used for achieving airtight sealing of the joint of the static sealing ring cover and the movable sealing ring cover, the sealing assembly comprises a static sealing ring fixed to the static sealing ring cover and a movable sealing ring fixed to the movable sealing ring cover, and the static sealing ring and the movable sealing ring abut against each other and are in interference contact to achieve dynamic sealing. The sealing device has the beneficial effects that dynamic sealing is achieved through interference contact of the static sealing ring and the movable sealing ring, the airtight reliability in the rotating state is effectively improved, and unstable tire pressure caused by gas leakage is prevented.

The invention discloses a tire detection method and system, an electronic device and a storage medium. The tire detection method comprises the following steps: collecting measurement data of a tire pressure sensor; identifying a vehicle state using the measured data; adjusting the acquisition frequency of a tire pressure sensor and an awakening mechanism of a microcontroller according to the vehicle state; acquiring tire pressure data by using a tire pressure sensor under the acquisition frequency; and under the awakening mechanism, awakening the microcontroller, and sending the tire pressure data to a receiving end according to a preset sending frequency corresponding to the vehicle state by utilizing the microcontroller. According to the technical scheme, the technical problem that in the prior art, a tire pressure sensor depends on periodic sampling and fixed-frequency communication, and consequently a large amount of invalid power consumption is generated can be solved.

The invention discloses a tire pressure monitoring device and method based on a passive RFID temperature tag. The tire pressure monitoring device comprises the passive RFID temperature tag, a reader-writer module and a data processing unit. And the passive RFID temperature measurement tag is fixed on the inner wall of the tire, receives the radio frequency energy sent by the reader-writer module, and collects the internal temperature of the tire in real time. The reader-writer module is fixed near a hub of a vehicle, performs polling communication with the passive RFID temperature measurement tag through a multi-band radio frequency technology, and transmits tire internal temperature data returned by the passive RFID temperature measurement tag to the data processing unit. And the data processing unit indirectly derives the tire pressure by utilizing a thermodynamic equation and combining parameters such as tire structure change, vehicle speed and load, so that high-precision and low-power-consumption tire pressure monitoring is realized. According to the method, the tire structure does not need to be damaged, non-contact pressure estimation and dynamic modeling can be achieved, and the method has the advantages of being simple in structure, high in reliability, wide in applicability and the like.

The invention discloses a vehicle tire pressure monitoring reminding method and related equipment, and relates to the field of vehicle early warning, the method comprises the following steps: when a tire pressure sensor detects that a tire pressure change value of a target vehicle is greater than a tire pressure change threshold value, the tire pressure sensor sends a tire pressure sensor signal containing a preset wake-up identifier to tire pressure receiving equipment; the tire pressure receiving equipment verifies the sensor identifier to generate a verification result; the tire pressure processing equipment analyzes the tire pressure data of the target vehicle at the current moment, and when the current tire pressure state is an abnormal state, the tire pressure processing equipment marks a tire pressure sensor signal as an abnormal state signal and sends the abnormal state signal to the vehicle-mounted communication equipment; the vehicle-mounted communication equipment sends an abnormal state signal to the cloud platform; and based on the abnormal state signal and the current state parameter of the target vehicle, the cloud platform generates target alarm information and sends the target alarm information to the mobile terminal.

The invention provides a self-adaptive tire force calculation method and device, a program product and a vehicle, and relates to the technical field of vehicle tires, the method performs dynamic compensation on tire rigidity through real-time fusion of multi-source information such as a road adhesion coefficient, tire pressure, tire temperature and abrasion loss, the limitation of static fixation of traditional model parameters is broken through, and the tire force calculation accuracy is improved. And the tire force calculation can accurately reflect the physical state of the tire under the real working condition. According to the method, the calculation precision of the longitudinal force and the lateral force under different environmental conditions and tire aging degrees is improved, feedforward pre-judgment is achieved by introducing road surface information, a basis for advanced intervention is provided for a vehicle stability control system, and therefore the response speed and the control performance of a vehicle under the sudden change road condition are effectively improved, and the service life of the vehicle is prolonged. And the driving safety and the control stability are enhanced.

The invention discloses a vehicle tire pressure control method and device, a vehicle, a storage medium and a product, and relates to the technical field of vehicle tire pressure control, the method comprises the following steps: obtaining environment sensing data, and determining the environment temperature of the environment where the vehicle is located based on the environment sensing data; a reference tire pressure value, a reference temperature and a thermal expansion coefficient of a tire of the vehicle are obtained, and the reference tire pressure value is a safe tire pressure value of the vehicle at the reference temperature; correcting the reference tire pressure value based on the environment temperature, the thermal expansion coefficient and the reference temperature to obtain a target tire pressure value; and adjusting the tire pressure of the vehicle based on the target tire pressure value until the tire pressure of the vehicle reaches the target tire pressure value. According to the method, the vehicle tire pressure can be dynamically adjusted, so that the driving safety is improved.

Sensor assemblies and systems comprise a housing configured to accommodate an electrical sensor device therein, mechanically retain the same, and provide a protective surrounding thereto. The housing may include display indicia relating to some aspect of the sensor assembly. The electrical sensor device include electrical components useful for the purpose of monitoring and transmitting desired data relating to operating parameters / conditions of the dynamic article that the sensor assembly is attached with, e.g., a vehicle tire. The data is transmitted wirelessly from the electrical sensor device. The housing is removably attached with a retaining member that is also attached with the dynamic article. A receiver external from the dynamic article receives the data for the purpose of determine such operating parameter / or conditions, when the dynamic article is a vehicle tire, as tire tread depth, tire pressure, vehicle camber and toe alignment variations, and tire / vehicle location, which may be stored.

The embodiment of the invention provides a tire pressure sensor matching method and device of a vehicle, electronic equipment and a storage medium. In the matching process of a to-be-matched tire pressure sensor and a target tire, the tire state of the target tire is detected; under the condition that the tire state is a full gas state, acquiring a gas leakage signal generated by the to-be-matched tire pressure sensor in the deflation process of the target tire; and generating a position test signal of the to-be-matched tire pressure sensor based on the air leakage signal, and determining position information of the to-be-matched tire pressure sensor by using the position test signal, so as to establish a matching relationship between the to-be-matched tire pressure sensor and the target tire based on the position information. According to the application, the matching relationship between the to-be-matched tire pressure sensor and the target tire can be established on the basis of not needing tire pressure sensor matching equipment. And the matching simplicity and convenience of the tire pressure sensor are improved, the matching cost investment of the tire pressure sensor is effectively reduced, and popularization and landing application to common maintenance shops are facilitated.

The invention relates to a vehicle jumping method, a storage medium, a program product, equipment, a system and a vehicle. The vehicle jumping method comprises the steps that in the vehicle jumping process, the tire pressure of a vehicle is adjusted so as to assist the vehicle in jumping. By adjusting the tire pressure of the vehicle, on one hand, the rigidity of the tire can be changed, and on the other hand, the vertical acceleration of the vehicle can be changed, so that the jumping capacity of the vehicle is optimized, for example, the take-off stroke is increased, the leap distance is increased, the oscillation curve is optimized, and landing buffering is increased, and more efficient and comfortable jumping is achieved.

The invention relates to the technical field of tire pressure detection, in particular to a tire pressure interference processing method and device, terminal equipment and a storage medium, and the method comprises the following steps: regularly sending a detection signal to a tire pressure sensor through a preset two-way communication protocol; when the tire pressure data fed back by the tire pressure sensor is lost, a verification instruction is sent to the tire pressure sensor through a verification process; and determining an interference detection result of the tire pressure sensor according to a feedback state of the tire pressure sensor to the verification instruction. According to the method, the data loss condition of the tire pressure sensor is verified by using a targeted verification process, and then the specific fault of the tire pressure sensor is determined according to different feedback states, so that more accurate fault detection operation is realized.

The invention belongs to the technical field of automobile electronics, and particularly relates to a tire pressure monitoring dynamic calibration method and system fused with vehicle speed data, and the method comprises the steps: obtaining real-time tire pressure, tire temperature, vehicle speed and environment temperature; based on the vehicle speed, the environment temperature and the calibration parameters, the tire theoretical temperature is estimated through a dynamic thermodynamic model; the real-time tire temperature and the theoretical temperature are fused through Kalman filtering, and the corrected internal temperature is obtained; and according to the real-time tire pressure, the corrected internal temperature and the cold tire reference temperature, a cold tire pressure equivalent value is calculated to judge the tire pressure state. By the adoption of the technical scheme, the interpretation ambiguity of traditional tire pressure monitoring can be overcome, the cold tire pressure equivalent value with more guiding significance is provided, and the accuracy, robustness and self-adaptive learning capacity of the system are enhanced.

The invention discloses a dynamic adjustment method and system for the tire pressure of an electric truck and electronic equipment, and relates to the technical field of new energy commercial vehicles, and the method comprises the steps that a vehicle load signal and a vehicle speed signal are obtained in real time; determining a basic tire pressure value according to the load signal; determining a corresponding vehicle speed tire pressure threshold value according to the vehicle speed signal; taking the basic tire pressure value as a reference value with the highest priority, taking the vehicle speed tire pressure threshold value as an auxiliary adjustment condition, and taking the larger value of the basic tire pressure value and the vehicle speed tire pressure threshold value as a target tire pressure value; and controlling an execution mechanism to adjust the tire pressure to the target tire pressure value. The tire burst risk caused by insufficient tire pressure under heavy load is avoided to a certain extent, and the problem that the road holding force is reduced due to overhigh tire pressure under light load and high speed is also avoided. The system runs fully automatically, can adapt to various complex working conditions from no load to heavy load and from urban congestion to high-speed cruise without intervention of a driver. And the optimal tire pressure is kept, so that the problems of tire eccentric wear, abnormal wear and the like caused by improper tire pressure are avoided.

The utility model relates to the technical field of mounting brackets, and discloses a quick-release bracket assembly and a tire pressure sensor. The quick-release bracket assembly comprises a first bracket and a second bracket; the first support and the second support are the same in structure and each comprise an abutting plate and a clamping plate which are arranged in an acute angle mode, and a clamping hook is arranged at the free end of each clamping plate. The first support and the second support are arranged in a mirror symmetry mode, and the free end of the abutting plate on the first support and the free end of the abutting plate on the second support are oppositely arranged. The first support is used for being hooked to the installation equipment from one side through the clamping hook, then the abutting plate extrudes the edge of one side of the bottom of the installation equipment through stress, the abutting plate is attached to the bottom of the installation equipment after deformation, and finally the first support is fixedly connected with the installation equipment. The second bracket is connected to the mounting device from the other side in the same manner as the first bracket. By means of the mode, rapid dismounting and mounting between the support and the mounting equipment can be achieved, and the purposes of facilitating operation and improving efficiency are achieved.

The embodiment of the invention provides a tire pressure monitoring method and device, a vehicle and a storage medium, and is applied to the vehicle. The tire pressure monitoring method comprises the following steps: acquiring attribute data of a tire based on a real-time image of the tire; based on the attribute data and the real-time number of the persons in the vehicle, the target tire pressure change rate and the standard tire pressure value of the tire are obtained; wherein the tire pressure change rate represents the change degree of the tire pressure of the tire in unit volume relative to a standard tire pressure value under different tire pressure influence factors; generating a tire pressure change value of the tire based on the attribute data and the target tire pressure change rate; and generating a real-time tire pressure value of the tire based on the tire pressure change value and the standard tire pressure value. Through the technical scheme, the accuracy of tire pressure detection can be improved without adding additional hardware equipment, so that the user experience is improved.

The invention relates to a tire burst vehicle control technology, in particular to a method for tire burst vehicle control, a vehicle control device, a vehicle and a computer readable storage medium. The method comprises the following steps: A, receiving vehicle state information, wherein the vehicle state information comprises real-time tire pressure and vehicle speed; b, under the condition that the tire pressure and the vehicle speed meet specific conditions, whether driver misoperation occurs or not is judged based on track planning information generated by a vehicle-mounted intelligent driving module and a steering wheel input rotating angle input by a driver; and C, if the misoperation of the driver occurs, generating a first instruction based on a longitudinal control strategy for braking and decelerating the vehicle to a safe speed and outputting the first instruction to a longitudinal actuator, and generating a second instruction based on a transverse control strategy for maintaining the transverse stability of the vehicle and outputting the second instruction to a transverse actuator, therefore, a driver is replaced to perform takeover control on the vehicle.