CN106274899A - The laser barrier-avoiding method of a kind of pilotless automobile and system - Google Patents
The laser barrier-avoiding method of a kind of pilotless automobile and system Download PDFInfo
- Publication number
- CN106274899A CN106274899A CN201610782894.3A CN201610782894A CN106274899A CN 106274899 A CN106274899 A CN 106274899A CN 201610782894 A CN201610782894 A CN 201610782894A CN 106274899 A CN106274899 A CN 106274899A
- Authority
- CN
- China
- Prior art keywords
- laser
- pilotless automobile
- avoiding
- barrier
- automobile
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000012913 prioritisation Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses laser barrier-avoiding method and the system of a kind of pilotless automobile, this system includes Driving control module, laser assembly, automatic obstacle avoiding module, wherein, Driving control module controls the traveling of pilotless automobile by the instruction of automatic obstacle avoiding module；Laser assembly includes generating laser and the laser pickoff being arranged on pilotless automobile, described generating laser outwardly sends laser, described laser pickoff receives the laser that extraneous barrier reflects, and laser signal is sent the automatic obstacle avoiding module to pilotless automobile；Automatic obstacle avoiding module controls pilotless automobile for the laser signal sent according to laser instrument receptor and carries out avoidance.The laser obstacle avoidance system of pilotless automobile of the present invention, it is possible to carried out disturbance in judgement thing by acceptance by the laser signal of external reflection, it is achieved the automatic obstacle-avoiding of pilotless automobile, automaticity is high, safe and reliable, easy to use.
Description
Technical field
The present invention relates to a kind of automobile barrier-avoiding method and system, particularly to the laser avoidance side of a kind of pilotless automobile
Method and system.
Background technology
In recent years, economic fast development, private car quantity grows with each passing day, and causes road car crowded, brings many
Vehicle accident, the person and property to people cause huge loss.The reason causing vehicle accident has a lot, principal element
Or the reason of driver self, specifically, is that the generation of accident can not be made correct anticipation and cause by driver.
If certain measure can be taked, guiding function is played in the operation to driver, can reduce the incidence rate of vehicle accident.
Along with the fast development of auto industry and improving constantly of people's living standard, automobile instead of conventional traffic
Instrument.Vehicle owing to travelling on road gets more and more, if do not control effectively vehicle obstacle-avoidance, it is possible to cause
Traffic accidents.One of key technology as automobile active safety system, vehicle obstacle-avoidance method gets the attention.
Pilotless automobile is a kind of intelligent automobile, it is also possible to referred to as wheeled mobile robot, relies primarily in car
Intelligent driving instrument based on computer system realizes unmanned.China proceeds by unmanned from the eighties in 20th century
The research of automobile, the National University of Defense technology successfully developed first pilotless automobile truly of China in 1992.
2005, first city pilotless automobile was succeeded in developing in Shanghai Communications University.
Pilotless automobile is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line also controls vehicle
Arrive the intelligent automobile of predeterminated target.It is to utilize onboard sensor to carry out perception vehicle-periphery, and is obtained according to perception
Road, vehicle location and obstacle information, control the turning to and speed of vehicle, thus enable the vehicle to reliably and securely exist
Travel on road.Integrate automatically control, architecture, artificial intelligence, numerous technology such as vision calculating, be computer section
, pattern recognition and the product of intelligent control technology high development, be also to weigh a national research strength and industrial level
One important symbol, has broad application prospects in national defence and national economy field.
China, as great powers in the world, also necessarily takes up one seat in high-tech area, the intellectuality of future automobile
Being that development of automobile industry is inevitable, research automobile avoidance has far reaching significance in this case, and this will be to China's intelligence in future
The research of automobile has important function at world's high-tech area position oneself at the forefront.
Summary of the invention
The technical problem to be solved is to provide laser barrier-avoiding method and the system of a kind of pilotless automobile, this
Invention makes pilotless automobile can automatically evade barrier, and the mode evaded is the most diversified, and can be certainly
Dynamic adjustment travel route, completes the traveling task of regulation.Present configuration is simple, easy to use, has bigger practical value.
The present invention solves above-mentioned technical problem by the following technical solutions:
On the one hand, the present invention provides the laser obstacle avoidance system of a kind of pilotless automobile, including Driving control module, laser
Device assembly, automatic obstacle avoiding module, wherein, Driving control module controls pilotless automobile by the instruction of automatic obstacle avoiding module
Traveling；Laser assembly includes generating laser and the laser pickoff being arranged on pilotless automobile, and described laser is sent out
Emitter outwardly sends laser, and described laser pickoff receives the laser that extraneous barrier reflects, and is sent out by laser signal
Deliver to the automatic obstacle avoiding module of pilotless automobile；Automatic obstacle avoiding module is for the laser signal sent according to laser instrument receptor
Control pilotless automobile and carry out avoidance.
As the further prioritization scheme of the present invention, this system also includes driving assembly, be used for driving laser assembly around
Pilotless automobile travel direction place straight line left-right rotation.
As the further prioritization scheme of the present invention, above-mentioned laser assembly is straight around pilotless automobile travel direction place
Line does left and right uniform rotation.
As the further prioritization scheme of the present invention, above-mentioned laser assembly is straight around pilotless automobile travel direction place
Line does ± uniform rotation of 30 °.
As the further prioritization scheme of the present invention, laser assembly is arranged on the pars intermedia of pilotless automobile headstock
Position.
On the other hand, the present invention provides the barrier-avoiding method of a kind of laser obstacle avoidance system based on above-mentioned pilotless automobile,
Specifically comprise the following steps that
Step 1, pilotless automobile independently travels according to preset travel route；
Step 2, in the process of moving, generating laser is constantly to emission laser；
Step 3, if laser pickoff receives the laser that extraneous barrier reflects, then pilotless automobile front is deposited
At barrier, then control pilotless automobile avoiding obstacles according to laser signal disturbance in judgement object location, continue executing with traveling
Task；Otherwise there is not barrier in pilotless automobile front, then re-execute step 2.
The present invention uses above technical scheme compared with prior art, has following technical effect that the present invention is unmanned
The laser obstacle avoidance system of automobile, it is possible to carried out disturbance in judgement thing by acceptance by the laser signal of external reflection, it is achieved unmanned
The automatic obstacle-avoiding of automobile, automaticity is high, safe and reliable, easy to use.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the embodiment described is exemplary, be only used for explaining this
Invention, and be not construed as limiting the claims.
Those skilled in the art of the present technique it is understood that unless expressly stated, singulative used herein " ",
" one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that the description of the present invention uses
Wording " includes " referring to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existence or adds
Add other features one or more, integer, step, operation, element, assembly and/or their group.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connections or couple.Wording used herein
"and/or" includes one or more any cell listing item being associated and all combinations.
It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique
Art term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with in the context of prior art
The consistent meaning of meaning, and unless defined as here, will not explain by idealization or the most formal implication.
Below technical scheme is described in further detail:
The invention discloses the laser obstacle avoidance system of a kind of pilotless automobile, including Driving control module, laser array
Part, automatic obstacle avoiding module, wherein, Driving control module controls the row of pilotless automobile by the instruction of automatic obstacle avoiding module
Sail；Laser assembly includes generating laser and the laser pickoff being arranged on pilotless automobile, described generating laser
Outwardly sending laser, described laser pickoff receives the laser that extraneous barrier reflects, and is sent extremely by laser signal
The automatic obstacle avoiding module of pilotless automobile；Automatic obstacle avoiding module controls for the laser signal sent according to laser instrument receptor
Pilotless automobile carries out avoidance.
This system also includes driving assembly, is used for driving laser assembly around pilotless automobile travel direction place straight line
Left-right rotation.Laser assembly does left and right uniform rotation around pilotless automobile travel direction place straight line, laser assembly around
Pilotless automobile travel direction place straight line does ± uniform rotation of 30 °.In the present invention, laser assembly is arranged on unmanned
Drive a car the middle part of headstock.
The barrier-avoiding method specific works principle of present invention laser based on above-mentioned pilotless automobile obstacle avoidance system is as follows: when
When pilotless automobile is in transport condition, laser assembly by drive Component driver make its pilotless automobile travel flight
About the dead ahead in direction, 30 ° carry out uniform rotation, simultaneously laser transmitter projects laser, if laser is reflected by extraneous barrier
To and optical receiver, then laser signal is sent to the Driving control module of pilotless automobile by laser pickoff, unmanned
The Driving control module of automobile is according to laser signal disturbance in judgement object location and drives pilotless automobile avoiding obstacles to fly.
Be different from prior art, the laser obstacle avoidance system of pilotless automobile of the present invention, it is possible to by accept by external instead
The laser signal penetrated carrys out disturbance in judgement thing, it is achieved the automatic obstacle-avoiding of pilotless automobile, and automaticity is high, safe and reliable, makes
With convenient.
The above, the only detailed description of the invention in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What is familiar with the people of this technology in the technical scope that disclosed herein, it will be appreciated that the conversion expected or replacement, all should contain
Within the scope of the comprising of the present invention, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (6)
1. the laser obstacle avoidance system of a pilotless automobile, it is characterised in that include Driving control module, laser assembly,
Automatic obstacle avoiding module, wherein, Driving control module controls the traveling of pilotless automobile by the instruction of automatic obstacle avoiding module；
Laser assembly includes generating laser and the laser pickoff being arranged on pilotless automobile, and described generating laser is outside
Boundary sends laser, and described laser pickoff receives the laser that extraneous barrier reflects, and sends laser signal to unmanned
The automatic obstacle avoiding module driven a car；Automatic obstacle avoiding module controls unmanned for the laser signal sent according to laser instrument receptor
Drive a car and carry out avoidance.
The laser obstacle avoidance system of a kind of pilotless automobile the most according to claim 1, it is characterised in that this system is also wrapped
Include driving assembly, be used for driving laser assembly around pilotless automobile travel direction place straight line left-right rotation.
The laser obstacle avoidance system of a kind of pilotless automobile the most according to claim 2, it is characterised in that laser assembly
Around pilotless automobile travel direction place, straight line does left and right uniform rotation.
The laser obstacle avoidance system of a kind of pilotless automobile the most according to claim 2, it is characterised in that laser assembly
Around pilotless automobile travel direction place, straight line does the ± uniform rotation of 30 °.
5. according to the laser obstacle avoidance system of described a kind of pilotless automobile arbitrary in Claims 1-4, it is characterised in that
Laser assembly is arranged on the middle part of pilotless automobile headstock.
6. the barrier-avoiding method of laser obstacle avoidance system based on a kind of pilotless automobile described in claim 1, it is characterised in that
Specifically comprise the following steps that
Step 1, pilotless automobile independently travels according to preset travel route；
Step 2, in the process of moving, generating laser is constantly to emission laser；
Step 3, if laser pickoff receives the laser that extraneous barrier reflects, then there is barrier in pilotless automobile front
Hinder thing, then control pilotless automobile avoiding obstacles according to laser signal disturbance in judgement object location, continue executing with traveling task；
Otherwise there is not barrier in pilotless automobile front, then re-execute step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782894.3A CN106274899A (en) | 2016-08-29 | 2016-08-29 | The laser barrier-avoiding method of a kind of pilotless automobile and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782894.3A CN106274899A (en) | 2016-08-29 | 2016-08-29 | The laser barrier-avoiding method of a kind of pilotless automobile and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106274899A true CN106274899A (en) | 2017-01-04 |
Family
ID=57672461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610782894.3A Pending CN106274899A (en) | 2016-08-29 | 2016-08-29 | The laser barrier-avoiding method of a kind of pilotless automobile and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106274899A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600062A (en) * | 2017-09-06 | 2018-01-19 | 深圳市招科智控科技有限公司 | A kind of whole-control system and method |
| CN107618506A (en) * | 2017-09-06 | 2018-01-23 | 深圳市招科智控科技有限公司 | A kind of servomechanism obstacle avoidance system and its barrier-avoiding method |
| CN108688487A (en) * | 2017-04-11 | 2018-10-23 | 通用汽车环球科技运作有限责任公司 | Vehicle frame, device and control algolithm for managing wireless vehicle charging |
| WO2018213965A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
| WO2020147486A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Vehicle control method, apparatus, device, and computer storage medium |
| CN113848938A (en) * | 2021-10-14 | 2021-12-28 | 西安现代控制技术研究所 | Low-cost unmanned automobile keeps away barrier device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7266453B2 (en) * | 2003-08-22 | 2007-09-04 | Honda Motor Co., Ltd. | Vehicular object detection system, tracking control system, and vehicle control system |
| WO2008134815A1 (en) * | 2007-05-04 | 2008-11-13 | Teledyne Australia Pty Ltd. | Collision avoidance system and method |
| EP2169501A1 (en) * | 2008-09-25 | 2010-03-31 | Lely Patent N.V. | Unmanned vehicle for displacing manure |
| CN102749927A (en) * | 2012-07-20 | 2012-10-24 | 常州大学 | System for pilotless plane to automatically avoid barrier and avoiding method of system |
| CN105549014A (en) * | 2016-01-18 | 2016-05-04 | 无锡觅睿恪科技有限公司 | Laser obstacle-avoidance system for unmanned plane |
| CN105739519A (en) * | 2014-12-11 | 2016-07-06 | 中孚航空科技（天津）有限公司 | Unmanned plane laser obstacle avoidance system |
-
2016
- 2016-08-29 CN CN201610782894.3A patent/CN106274899A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7266453B2 (en) * | 2003-08-22 | 2007-09-04 | Honda Motor Co., Ltd. | Vehicular object detection system, tracking control system, and vehicle control system |
| WO2008134815A1 (en) * | 2007-05-04 | 2008-11-13 | Teledyne Australia Pty Ltd. | Collision avoidance system and method |
| EP2169501A1 (en) * | 2008-09-25 | 2010-03-31 | Lely Patent N.V. | Unmanned vehicle for displacing manure |
| CN102749927A (en) * | 2012-07-20 | 2012-10-24 | 常州大学 | System for pilotless plane to automatically avoid barrier and avoiding method of system |
| CN105739519A (en) * | 2014-12-11 | 2016-07-06 | 中孚航空科技（天津）有限公司 | Unmanned plane laser obstacle avoidance system |
| CN105549014A (en) * | 2016-01-18 | 2016-05-04 | 无锡觅睿恪科技有限公司 | Laser obstacle-avoidance system for unmanned plane |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108688487A (en) * | 2017-04-11 | 2018-10-23 | 通用汽车环球科技运作有限责任公司 | Vehicle frame, device and control algolithm for managing wireless vehicle charging |
| CN108688487B (en) * | 2017-04-11 | 2022-05-03 | 通用汽车环球科技运作有限责任公司 | Vehicle architecture, apparatus and control algorithm for managing wireless vehicle charging |
| WO2018213965A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| CN107600062A (en) * | 2017-09-06 | 2018-01-19 | 深圳市招科智控科技有限公司 | A kind of whole-control system and method |
| CN107618506A (en) * | 2017-09-06 | 2018-01-23 | 深圳市招科智控科技有限公司 | A kind of servomechanism obstacle avoidance system and its barrier-avoiding method |
| CN107618506B (en) * | 2017-09-06 | 2021-02-23 | 深圳市招科智控科技有限公司 | Obstacle avoidance system for automatic driving device and obstacle avoidance method thereof |
| CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
| CN110316187B (en) * | 2018-03-30 | 2022-01-07 | 比亚迪股份有限公司 | Automobile and obstacle avoidance control method thereof |
| WO2020147486A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Vehicle control method, apparatus, device, and computer storage medium |
| CN113848938A (en) * | 2021-10-14 | 2021-12-28 | 西安现代控制技术研究所 | Low-cost unmanned automobile keeps away barrier device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106274899A (en) | The laser barrier-avoiding method of a kind of pilotless automobile and system | |
| US20240094741A1 (en) | Control of automated following in vehicle convoys | |
| CN106292666A (en) | Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system | |
| CN110785780B (en) | Method and system for advanced boarding of passengers in an autonomous vehicle | |
| EP3815072B1 (en) | Interactive external vehicle-user communication | |
| CN111422196A (en) | Intelligent networking automatic driving system and method suitable for mini bus | |
| CN110281928A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| US11520338B2 (en) | Systems and methods for vehicle spatial path sampling | |
| US20200331491A1 (en) | Autonomous Vehicle Operational Management Scenarios | |
| JP2019510670A (en) | Vehicle with autonomous driving ability | |
| CN106371436A (en) | Driverless automobile obstacle avoidance method and system | |
| CN107507444A (en) | For unpiloted intelligent highway system and its control method | |
| CN113570845A (en) | Networked vehicle formation driving method and system | |
| CN110239542A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN110239546A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| US10836405B2 (en) | Continual planning and metareasoning for controlling an autonomous vehicle | |
| CN110341704A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN107618506A (en) | A kind of servomechanism obstacle avoidance system and its barrier-avoiding method | |
| CN110126822A (en) | Vehicle control system, control method for vehicle and storage medium | |
| CN110271549A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN108281040A (en) | A kind of more vehicle collaborative obstacle avoidance system and methods | |
| CN106325274A (en) | Grating-based obstacle avoidance system of pilotless automobile | |
| CN110281935A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| Liu et al. | Research on local dynamic path planning method for intelligent vehicle lane-changing | |
| EP4330104A1 (en) | Intelligent pedal lane change assist |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |