CN103994745B - Guide wheel deflection angle measuring method and device - Google Patents
Guide wheel deflection angle measuring method and device Download PDFInfo
- Publication number
- CN103994745B CN103994745B CN201410163586.3A CN201410163586A CN103994745B CN 103994745 B CN103994745 B CN 103994745B CN 201410163586 A CN201410163586 A CN 201410163586A CN 103994745 B CN103994745 B CN 103994745B
- Authority
- CN
- China
- Prior art keywords
- angle
- wheel
- course
- refers
- deflection
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000009434 installation Methods 0.000 abstract description 5
- 239000002184 metal Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a guide wheel deflection angle measuring method and device. The method comprises the following steps: obtaining a front course angle [theta] t sensed by a front course sensor, a back course angle sensed by a back course sensor, a front wheel distance and a shaft distance; and determining the deflection angle of guide wheels at the left and right sides according to the obtained front course angle [theta] t, the back course angle, the front wheel distance and the shaft distance. Through the installation of the course sensors on the middle point of the axis of the guide wheels and the middle point position of the axis of the back wheel, the course angles are collected, and thus rapid and accurate measurement of deflection angle of the guide wheel is realized.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a method and a device for measuring a deflection angle of a guide wheel.
Background
The agricultural machinery automatic navigation is an important component of modern intelligent agricultural vehicles, and has wide development prospect. Has wide application in many aspects such as automatic pesticide and fertilizer spraying, harvesting operation, intertillage weeding, rice transplanting and farming, etc. The automatic steering control system is one of the key technologies for realizing the automatic navigation of the agricultural machinery. The measuring device for the deflection angle of the guide wheel is the most basic component of an automatic steering control system.
In the prior art, there are generally three methods for measuring the deflection angle of the guide wheel: (1) measuring the deflection angle of the guide wheel by adopting an angle sensor of a connecting rod mechanism; (2) adopting a magneto-resistance type angle sensor to directly measure the deflection angle of the guide wheel; (3) and a displacement sensor is adopted to calculate the deflection angle of the guide wheel by measuring the stroke of the hydraulic cylinder.
However, with the three methods for measuring the steering wheel deflection angle, if the first method is adopted, the sensor of the link mechanism is easily damaged by the mechanical transmission and the vehicle vibration impact, and the angle measurement is inaccurate due to the measurement noise generated by the vibration. If the second method is adopted, although the magneto-resistive angle sensor adopts non-contact measurement and is less affected by vibration, the measurement accuracy is easily affected by the installation and fixing mode because the requirement on the machining accuracy of the installation adapter is high. If the third method is adopted, because a gap exists between the hydraulic cylinder and the guide wheel through mechanical connection, hysteresis is easily generated in the measurement by adopting a mode that the deflection angle of the guide wheel is calculated by measuring the stroke of the hydraulic cylinder through a displacement sensor, so that a data processing algorithm is complex, and the repetition precision is low.
In summary, with the above methods, although the measurement of the deflection angle of the guide wheel can be realized, the measurement result is not satisfactory due to the influence of various factors.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for measuring the deflection angle of a guide wheel.
In order to achieve the above object, an embodiment of the present invention provides a method for measuring a deflection angle of a guide wheel, including the following steps:
obtaining the front course angle theta sensed by the front course sensortThe rear course angle sensed by the rear course sensorFront track and wheel base;
according to the obtained front course angle thetatAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side.
Preferably, the front heading angle is obtainedθtAngle of rear courseThen, the method further comprises the following steps:
according to the obtained front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle.
Preferably, the deflection angle of the left and right guide wheels is determined by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front track width and d refers to the wheel base.
Preferably, the angle θ is obtained according to the obtained front headingtAngle of rear courseThe deflection angle of the guide wheels on the left side and the right side is determined by the front wheel base and the wheel base, and is specifically determined by the following formula:
wherein,θlrefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front track width and d refers to the wheel base.
Preferably, after the deflection angles of the left and right guide wheels are determined, the method further comprises the following steps:
and outputting the determined deflection angles of the left and right guide wheels through a data bus.
The embodiment of the invention also discloses a device for measuring the deflection angle of the guide wheel, which comprises:
an acquisition module for acquiring the front course angle theta sensed by the front course sensortThe rear course angle sensed by the rear course sensorFront track and wheel base;
a determining module for obtaining the front course angle thetatAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side.
Preferably, the first and second electrodes are formed of a metal,
the determining module is further used for obtaining the front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle.
Preferably, the first and second electrodes are formed of a metal,
the determining module is used for determining the deflection angles of the guide wheels on the left side and the right side through the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front track width and d refers to the wheel base.
Preferably, the first and second electrodes are formed of a metal,
the determining module is further specifically configured to determine the deflection angles of the left and right guide wheels by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front track width and d refers to the wheel base.
Preferably, the apparatus further comprises:
and the output module is used for outputting the determined deflection angles of the left and right guide wheels to a data bus.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
according to the embodiment of the invention, the course angle is acquired by installing the course sensors at the middle points of the guide wheel axis and the rear wheel axis, so that the quick measurement of the deflection angle of the guide wheel is realized.
Drawings
FIG. 1 is a schematic flow chart of a guide wheel deflection angle measurement provided by an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for measuring a deflection angle of a guide wheel according to an embodiment of the present invention;
figure 3 is a schematic view of a wheeled tractor steering provided by an embodiment of the present invention;
FIG. 4 is a schematic view of a location of a heading sensor provided by an embodiment of the invention;
fig. 5 is a schematic view of a device for measuring deflection angle of a guide wheel according to an embodiment of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic flow chart of measuring a deflection angle of a guide wheel according to an embodiment of the present invention is provided, where the flow chart may include:
step 101, obtaining a front course angle theta sensed by a front course sensortThe rear course angle sensed by the rear course sensorFront track and wheel base.
After this step, also include:
according to the obtained front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle.
102, according to the obtained front course angle thetatAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side.
After determining the virtual center wheel yaw angle, when determining the left and right guide wheel yaw angles, by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front track width and d refers to the wheel base.
Or,
it is determined directly by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefer to the left guide wheelAngle of deflection, /)fRefers to the front track width and d refers to the wheel base.
After the deflection angles of the left and right guide wheels are determined, the method further comprises the following steps:
and outputting the determined deflection angles of the left and right guide wheels through a data bus.
In the embodiment, the course angle is acquired by installing the course sensors at the middle points of the guide wheel axis and the rear wheel axis, so that the quick measurement of the deflection angle of the guide wheel is realized.
In order to more clearly describe the process of measuring the deflection angle of the guide wheel provided by the embodiment of the invention, a detailed description is given below by taking a wheeled tractor as an example, as shown in fig. 2.
Step 201, initializing the system, and reading the front wheel track l of the tractorfAnd a wheel base d.
In this step, before measuring the deflection angle of the guide wheel, 1 heading sensor needs to be installed at each of the midpoint of the guide wheel axis and the midpoint of the rear wheel axis of the tractor, 1 data collector is installed in the driving, as shown in fig. 3, and the heading sensor and the data collector are connected by a cable, as shown in fig. 4.
Further, when the deflection angle of the guide wheel is measured, system initialization is carried out, so that the front wheel track l of the tractor is obtainedfAnd the size of the wheelbase d.
Of course, for the installation arrangement of the heading sensor, the installation position of the front heading sensor is not limited to the middle point F of the steering wheel axis, and the front heading sensor can also be installed at the steering axis a or B of the steering wheel to realize the determination of the deflection angle of the wheel in the virtual steering.
Step 202, obtaining a heading angle.
Specifically, in this step, the data collector acquires and acquires the front navigation through the front course sensor connected with the data collectorTo an angle thetatThe data collector acquires and acquires the rear course angle through a rear course sensor connected with the data collector
And step 203, determining the deflection angles of the guide wheels on the left side and the right side according to the acquired course angle, the front wheel base and the wheel base.
In this step, the forward heading angle θ is obtainedtAnd rear course angleThen, the deflection angles of the guide wheels on the left side and the right side can be directly determined; of course, the virtual center wheel deflection angle theta can be determined according to the requirementcThen, according to the determined virtual middle wheel deflection angle thetacTo determine the deflection angle of the left and right guide wheels.
Specifically, if the deflection angles of the left and right guide wheels are directly determined, the following formula can be used:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the left guide wheel deflection angle. The formula is suitable for left-right steering and straight-going conditions of the wheeled tractor.
If the virtual middle wheel deflection angle theta is determined firstlycThen, determining the deflection angles of the guide wheels on the left side and the right side, which specifically comprises the following steps:
determining a virtual center wheel yaw angle θcBy the following formula:
the deflection angle of the guide wheels on the left side and the right side is determined through the following formula:
and step 204, outputting the determined deflection angles of the left and right guide wheels.
Specifically, the determined deflection angles of the left and right guide wheels are output to a data bus, and the determined deflection angles of the left and right guide wheels are output by the data bus, wherein the data bus may be RS (recommended standard) 232, RS485, controller area Network (CAN, controllera Network), and the like.
In the embodiment, the course angle is collected by installing the course sensors at the middle points of the guide wheel axis and the rear wheel axis, so that the deflection angle of the guide wheel is quickly measured, and the measured value of the deflection angle of the guide wheel is processed by the data acquisition unit and then is sent to the data bus, so that the usability and the applicability of the device are improved.
Based on the same concept as the method, the embodiment of the invention also provides a device for measuring the deflection angle of the guide wheel, as shown in fig. 5, which comprises:
an obtaining module 51, configured to obtain a front heading angle θ sensed by the front heading sensortThe rear course angle sensed by the rear course sensorFront track and wheel base.
A determining module 52 for obtaining a front heading angle θtAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side;
and is also used for acquiring the front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle;
the deflection angle of the guide wheels on the left side and the right side is determined by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front wheel base, d refers to the wheel base;
and the deflection angle of the left and right guide wheels is determined by the following formula:
and the output module 53 is used for outputting the determined deflection angles of the left and right guide wheels to a data bus.
In the embodiment, the course angle is acquired by installing the course sensors at the middle points of the guide wheel axis and the rear wheel axis, so that the quick measurement of the deflection angle of the guide wheel is realized.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
Those skilled in the art will appreciate that the drawings are merely schematic representations of one preferred embodiment and that the blocks or flow diagrams in the drawings are not necessarily required to practice the present invention.
Those skilled in the art will appreciate that the modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, and may be correspondingly changed in one or more devices different from the embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (4)
1. A method of measuring the deflection angle of a steerable wheel, the method comprising the steps of:
obtaining the front course angle theta sensed by the front course sensortThe rear course angle sensed by the rear course sensorFront track and wheel base;
according to the obtained front course angle thetatAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side;
the angle theta is obtained according to the obtained front coursetAngle of rear courseThe deflection angle of the guide wheels on the left side and the right side is determined by the front wheel base and the wheel base, and is specifically determined by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front wheel base, d refers to the wheel base;
after the deflection angles of the left and right guide wheels are determined, the method further comprises the following steps:
and outputting the determined deflection angles of the left and right guide wheels through a data bus.
2. The method of claim 1, wherein a front heading angle θ is obtainedtAngle of rear courseThen, the method further comprises the following steps:
according to the obtained front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle.
3. A guide wheel deflection angle measuring apparatus, comprising:
an acquisition module for acquiring the front course angle theta sensed by the front course sensortThe rear course angle sensed by the rear course sensorFront track and wheel base;
a determining module for obtaining the front course angle thetatAngle of rear courseThe front wheel base and the wheel base determine the deflection angles of the guide wheels on the left side and the right side;
the determining module is further specifically configured to determine the deflection angles of the left and right guide wheels by the following formula:
wherein, thetalRefers to the left-hand leading wheel deflection angle, θrRefers to the deflection angle of the left guide wheelfRefers to the front wheel base, d refers to the wheel base;
the device further comprises:
and the output module is used for outputting the determined deflection angles of the left and right guide wheels to a data bus.
4. The apparatus of claim 3,
the determining module is further used for obtaining the front course angle thetatAnd rear course angleDetermining a virtual middle wheel deflection angle;
specifically, the following formula is used:
wherein, the thetacRefers to the virtual center wheel yaw angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410163586.3A CN103994745B (en) | 2014-04-22 | 2014-04-22 | Guide wheel deflection angle measuring method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410163586.3A CN103994745B (en) | 2014-04-22 | 2014-04-22 | Guide wheel deflection angle measuring method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103994745A CN103994745A (en) | 2014-08-20 |
| CN103994745B true CN103994745B (en) | 2017-05-17 |
Family
ID=51308977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410163586.3A Active CN103994745B (en) | 2014-04-22 | 2014-04-22 | Guide wheel deflection angle measuring method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103994745B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108007417B (en) * | 2016-10-27 | 2021-02-05 | 上海华测导航技术股份有限公司 | Automatic calibration method for angle sensor of automatic driving control system of agricultural machine |
| CN107655439B (en) * | 2017-09-19 | 2020-06-02 | 北京电子工程总体研究所 | Automatic interpretation method for control surface step test result |
| CN109470264B (en) * | 2018-08-30 | 2020-06-09 | 北京农业智能装备技术研究中心 | Automatic calibration method and system for guide wheel deflection angle measurement sensor |
| CN112284772A (en) * | 2020-09-17 | 2021-01-29 | 江苏大学 | Portable wheel type tractor guide wheel deflection angle measuring method and device |
| CN112526986B (en) * | 2020-10-28 | 2022-11-22 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6681180B2 (en) * | 2001-01-29 | 2004-01-20 | The Board Of Trustees Of The Leland Stanford Junior University | Determination and control of vehicle sideslip using GPS |
| EP0893329B1 (en) * | 1997-07-25 | 2004-02-18 | Delphi Technologies, Inc. | Steering angle determination method and apparatus |
| CN1539694A (en) * | 2003-10-31 | 2004-10-27 | 清华大学 | Control method for turning direction of vehicle |
| DE102008021512A1 (en) * | 2008-04-30 | 2008-12-24 | Daimler Ag | Method for adjusting chassis of motor vehicle, involves measuring steering angle of guidable vehicle wheels by using steering angle sensor system |
| CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
| CN102343912A (en) * | 2011-06-20 | 2012-02-08 | 中南大学 | Method for estimating state during running process of automobile |
| CN102368158A (en) * | 2011-09-15 | 2012-03-07 | 西北农林科技大学 | Navigation positioning method of orchard machine |
| CN102416956A (en) * | 2011-09-09 | 2012-04-18 | 中南大学 | Soft measurement method for automobile mass center slip angle and tire slip angle |
| CN102466802A (en) * | 2010-11-04 | 2012-05-23 | 瑞士优北罗股份有限公司 | Method for tracking the position and the heading of a vehicle using dead reckoning and a tracking device for carrying out the method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3060923B2 (en) * | 1995-11-24 | 2000-07-10 | トヨタ自動車株式会社 | Vehicle state estimation device |
| US6152546A (en) * | 1997-02-12 | 2000-11-28 | General Electric Company | Traction vehicle/wheel slip and slide control |
| JP2007010329A (en) * | 2005-06-28 | 2007-01-18 | Honda Motor Co Ltd | Rotation angle detector, and electric power steering device using this |
| JP4414391B2 (en) * | 2005-11-02 | 2010-02-10 | 本田技研工業株式会社 | Abnormality determination device for vehicle steering angle sensor |
-
2014
- 2014-04-22 CN CN201410163586.3A patent/CN103994745B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0893329B1 (en) * | 1997-07-25 | 2004-02-18 | Delphi Technologies, Inc. | Steering angle determination method and apparatus |
| US6681180B2 (en) * | 2001-01-29 | 2004-01-20 | The Board Of Trustees Of The Leland Stanford Junior University | Determination and control of vehicle sideslip using GPS |
| CN1539694A (en) * | 2003-10-31 | 2004-10-27 | 清华大学 | Control method for turning direction of vehicle |
| DE102008021512A1 (en) * | 2008-04-30 | 2008-12-24 | Daimler Ag | Method for adjusting chassis of motor vehicle, involves measuring steering angle of guidable vehicle wheels by using steering angle sensor system |
| CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
| CN102466802A (en) * | 2010-11-04 | 2012-05-23 | 瑞士优北罗股份有限公司 | Method for tracking the position and the heading of a vehicle using dead reckoning and a tracking device for carrying out the method |
| CN102343912A (en) * | 2011-06-20 | 2012-02-08 | 中南大学 | Method for estimating state during running process of automobile |
| CN102416956A (en) * | 2011-09-09 | 2012-04-18 | 中南大学 | Soft measurement method for automobile mass center slip angle and tire slip angle |
| CN102368158A (en) * | 2011-09-15 | 2012-03-07 | 西北农林科技大学 | Navigation positioning method of orchard machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103994745A (en) | 2014-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103994745B (en) | Guide wheel deflection angle measuring method and device | |
| CN106405555B (en) | Obstacle detection method and device for Vehicular radar system | |
| US9296422B2 (en) | Trailer angle detection target plausibility | |
| CN105842684B (en) | Enhancing is estimated using the vehicle movement of radar data | |
| WO2018076725A1 (en) | Automatic calibration method of angle sensor for automatic drive control system of farm machine | |
| CN102628684A (en) | Method and device for determining reached angle between trailer and tractor | |
| WO2020165650A3 (en) | Systems and methods for vehicle navigation | |
| DE102017131125A1 (en) | In-vehicle alarm device | |
| US20140236532A1 (en) | Trailer length estimation | |
| CN103796885B (en) | Method for assessing the tire parameter of vehicle | |
| GB2552282A (en) | Vehicle control system | |
| WO2023071442A1 (en) | Data processing method and apparatus | |
| US10780893B2 (en) | System and method for estimating the length of a trailer attached to a vehicle | |
| CN103927754A (en) | Calibration method of on-board camera | |
| CN102105317A (en) | Method for determining an inclination of a body of a motor vehicle, and device for determining an inclination | |
| CN111521979A (en) | Method and device for calibrating installation angle of vehicle-mounted radar and related equipment thereof | |
| CN110290997A (en) | Controller of vehicle | |
| CN110386189A (en) | Interference signal is accessed into datum quantity in Cascade control | |
| CN104620297A (en) | Speed calculating device and speed calculating method, and collision determination device | |
| CN111572551A (en) | Course angle calculation method, device, equipment and storage medium under parking condition | |
| KR102303230B1 (en) | Apparatus and method for estimating radius of curvature in vehicle | |
| KR102159360B1 (en) | Apparatus and Method for Estimating Curvature | |
| US11938944B2 (en) | Method and system for determining and displaying a wading situation | |
| CN112835029A (en) | Unmanned-vehicle-oriented multi-sensor obstacle detection data fusion method and system | |
| CN110807949B (en) | Parking space detection method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 1107, block a, Nongke building, No. 11, Shuguang garden middle road, Haidian District, Beijing, 100097 Patentee after: Intelligent equipment technology research center of Beijing Academy of agricultural and Forestry Sciences Address before: 100097 318b, block a, agricultural science building, 11 Shuguang Huayuan Middle Road, Haidian District, Beijing Patentee before: BEIJING RESEARCH CENTER OF INTELLIGENT EQUIPMENT FOR AGRICULTURE |