CN104627174A - 产生无人驾驶车辆的最佳停车路径的方法和无人驾驶车辆 - Google Patents
产生无人驾驶车辆的最佳停车路径的方法和无人驾驶车辆 Download PDFInfo
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- CN104627174A CN104627174A CN201410345268.9A CN201410345268A CN104627174A CN 104627174 A CN104627174 A CN 104627174A CN 201410345268 A CN201410345268 A CN 201410345268A CN 104627174 A CN104627174 A CN 104627174A
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- path
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- driving vehicle
- automatic driving
- parking path
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Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000004044 response Effects 0.000 claims abstract description 18
- 238000004904 shortening Methods 0.000 claims description 42
- 230000008859 change Effects 0.000 claims description 20
- 238000010586 diagram Methods 0.000 description 31
- 230000006870 function Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 230000001419 dependent effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping 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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (23)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020130135836A KR101906952B1 (ko) | 2013-11-08 | 2013-11-08 | 무인 주행 차량의 최적 주차 경로를 생성하는 방법, 및 이 방법을 채용한 무인 주행 차량 |
KR10-2013-0135836 | 2013-11-08 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104627174A true CN104627174A (zh) | 2015-05-20 |
CN104627174B CN104627174B (zh) | 2018-07-24 |
Family
ID=51266095
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410345268.9A Expired - Fee Related CN104627174B (zh) | 2013-11-08 | 2014-07-18 | 产生无人驾驶车辆的最佳停车路径的方法和无人驾驶车辆 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9254870B2 (zh) |
EP (1) | EP2876025B1 (zh) |
JP (1) | JP2015095255A (zh) |
KR (1) | KR101906952B1 (zh) |
CN (1) | CN104627174B (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105539428A (zh) * | 2015-11-30 | 2016-05-04 | 奇瑞汽车股份有限公司 | 侧方位停车的方法和装置 |
CN106218632A (zh) * | 2016-07-19 | 2016-12-14 | 百度在线网络技术(北京)有限公司 | 用于控制无人驾驶车辆的方法和装置 |
CN107458243A (zh) * | 2017-07-13 | 2017-12-12 | 合肥创智汽车技术开发有限公司 | 一种用于新能源汽车智能无人驾驶的故障停车控制方法 |
CN107765685A (zh) * | 2016-08-19 | 2018-03-06 | 德韧营运有限责任公司 | 用于机动车辆的自动辅助泊车系统的路径控制方法 |
CN107792177A (zh) * | 2016-08-31 | 2018-03-13 | 爱信精机株式会社 | 停车支援装置 |
CN108027612A (zh) * | 2015-09-10 | 2018-05-11 | 罗伯特·博世有限公司 | 用于无引导员地引导停放在停车场的初始位置上的机动车的方法和设备 |
CN108058708A (zh) * | 2016-11-09 | 2018-05-22 | 丰田自动车株式会社 | 车辆的控制装置 |
CN108372855A (zh) * | 2017-01-31 | 2018-08-07 | 德尔福技术有限公司 | 停车辅助系统 |
CN109739231A (zh) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | 自动驾驶充电车停车控制方法及系统 |
CN110997461A (zh) * | 2017-08-30 | 2020-04-10 | 罗伯特·博世有限公司 | 用于虚拟停放点的自动化停放 |
CN111332279A (zh) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | 泊车路径生成方法和装置 |
CN111619577A (zh) * | 2019-02-28 | 2020-09-04 | 株式会社日立制作所 | 服务器、车辆控制系统 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9541409B2 (en) | 2014-12-18 | 2017-01-10 | Nissan North America, Inc. | Marker aided autonomous vehicle localization |
US9625906B2 (en) * | 2015-01-15 | 2017-04-18 | Nissan North America, Inc. | Passenger docking location selection |
US9448559B2 (en) * | 2015-01-15 | 2016-09-20 | Nissan North America, Inc. | Autonomous vehicle routing and navigation using passenger docking locations |
US9568335B2 (en) | 2015-01-30 | 2017-02-14 | Nissan North America, Inc. | Associating parking areas with destinations based on automatically identified associations between vehicle operating information and non-vehicle operating information |
US9697730B2 (en) | 2015-01-30 | 2017-07-04 | Nissan North America, Inc. | Spatial clustering of vehicle probe data |
US9778658B2 (en) | 2015-03-13 | 2017-10-03 | Nissan North America, Inc. | Pattern detection using probe data |
JP6573795B2 (ja) * | 2015-07-31 | 2019-09-11 | アイシン精機株式会社 | 駐車支援装置、方法及びプログラム |
US10249194B2 (en) * | 2016-08-30 | 2019-04-02 | International Business Machines Corporation | Modifying behavior of autonomous vehicle based on advanced predicted behavior analysis of nearby drivers |
KR102625258B1 (ko) * | 2016-10-24 | 2024-01-16 | 주식회사 에이치엘클레무브 | 주차지원장치 및 주차지원방법 |
KR102441054B1 (ko) * | 2016-11-23 | 2022-09-06 | 현대자동차주식회사 | 차량의 경로 제어 장치 및 방법 |
CN106959690B (zh) * | 2017-02-13 | 2020-11-20 | 北京百度网讯科技有限公司 | 无人驾驶车辆的寻找方法、装置、设备及存储介质 |
JP6759143B2 (ja) * | 2017-04-07 | 2020-09-23 | クラリオン株式会社 | 駐車支援装置 |
US20190016331A1 (en) * | 2017-07-14 | 2019-01-17 | Nio Usa, Inc. | Programming complex parking maneuvers for driverless vehicles |
US10710633B2 (en) | 2017-07-14 | 2020-07-14 | Nio Usa, Inc. | Control of complex parking maneuvers and autonomous fuel replenishment of driverless vehicles |
KR102077573B1 (ko) * | 2018-01-31 | 2020-02-17 | 엘지전자 주식회사 | 자동 주차 시스템 및 차량 |
US10836379B2 (en) * | 2018-03-23 | 2020-11-17 | Sf Motors, Inc. | Multi-network-based path generation for vehicle parking |
US11117569B2 (en) * | 2018-06-27 | 2021-09-14 | Baidu Usa Llc | Planning parking trajectory generation for self-driving vehicles using optimization method |
US11860628B2 (en) * | 2021-06-21 | 2024-01-02 | Nvidia Corporation | Parallel processing of vehicle path planning suitable for parking |
Citations (5)
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US6275754B1 (en) * | 1996-10-09 | 2001-08-14 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
DE10101342A1 (de) * | 2001-01-13 | 2002-07-18 | Daimler Chrysler Ag | Rangiervorrichtung für ein Nutzfahrzeug |
CN1577198A (zh) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | 用于车辆的驾驶辅助装置及其方法 |
CN1964883A (zh) * | 2004-06-05 | 2007-05-16 | 罗伯特·博世有限公司 | 支持汽车停入的方法和装置 |
CN102763147A (zh) * | 2009-12-23 | 2012-10-31 | 大众汽车有限公司 | 向竖直泊车位中自动地前进泊车 |
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EP0835796B1 (en) * | 1996-10-09 | 2004-09-08 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for verhicle |
DE19650808A1 (de) * | 1996-12-06 | 1998-06-10 | Bosch Gmbh Robert | Einparkvorrichtung für ein Kraftfahrzeug |
JP4129101B2 (ja) * | 1999-07-02 | 2008-08-06 | 本田技研工業株式会社 | 車両の自動操舵装置 |
US7663333B2 (en) | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
JP4759878B2 (ja) * | 2001-08-10 | 2011-08-31 | 日産自動車株式会社 | 車両用駐車支援装置 |
FR2889502B1 (fr) * | 2005-08-02 | 2007-09-14 | Renault Sas | Procede d'aide au parcage en temps reel pour vehicule automobile et dispositif correspondant |
JP4769625B2 (ja) * | 2006-04-25 | 2011-09-07 | トヨタ自動車株式会社 | 駐車支援装置及び駐車支援方法 |
JP2008143430A (ja) * | 2006-12-12 | 2008-06-26 | Toyota Motor Corp | 駐車支援装置 |
JP5018458B2 (ja) | 2007-12-25 | 2012-09-05 | トヨタ自動車株式会社 | 座標補正方法、座標補正プログラム、及び自律移動ロボット |
KR20100073078A (ko) | 2008-12-22 | 2010-07-01 | 한국전자통신연구원 | 자동주차장치, 주차로봇, 포스트, 및 자동주차제어방법 |
DE102009040375A1 (de) | 2009-09-07 | 2011-04-07 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs |
US8457844B2 (en) * | 2010-04-12 | 2013-06-04 | Delphi Technologies, Inc. | Parallel parking assistant system and method thereof |
KR20120054879A (ko) | 2010-11-22 | 2012-05-31 | 고려대학교 산학협력단 | 차량형 이동 로봇의 충돌 회피 경로 생성 방법 및 이를 이용한 주차 보조 시스템 |
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-
2013
- 2013-11-08 KR KR1020130135836A patent/KR101906952B1/ko active IP Right Grant
-
2014
- 2014-05-13 US US14/276,089 patent/US9254870B2/en active Active
- 2014-05-23 JP JP2014106878A patent/JP2015095255A/ja active Pending
- 2014-07-18 CN CN201410345268.9A patent/CN104627174B/zh not_active Expired - Fee Related
- 2014-07-22 EP EP14177965.2A patent/EP2876025B1/en active Active
Patent Citations (5)
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US6275754B1 (en) * | 1996-10-09 | 2001-08-14 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
DE10101342A1 (de) * | 2001-01-13 | 2002-07-18 | Daimler Chrysler Ag | Rangiervorrichtung für ein Nutzfahrzeug |
CN1577198A (zh) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | 用于车辆的驾驶辅助装置及其方法 |
CN1964883A (zh) * | 2004-06-05 | 2007-05-16 | 罗伯特·博世有限公司 | 支持汽车停入的方法和装置 |
CN102763147A (zh) * | 2009-12-23 | 2012-10-31 | 大众汽车有限公司 | 向竖直泊车位中自动地前进泊车 |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108027612A (zh) * | 2015-09-10 | 2018-05-11 | 罗伯特·博世有限公司 | 用于无引导员地引导停放在停车场的初始位置上的机动车的方法和设备 |
CN105539428B (zh) * | 2015-11-30 | 2018-01-02 | 奇瑞汽车股份有限公司 | 侧方位停车的方法和装置 |
CN105539428A (zh) * | 2015-11-30 | 2016-05-04 | 奇瑞汽车股份有限公司 | 侧方位停车的方法和装置 |
CN106218632B (zh) * | 2016-07-19 | 2019-01-01 | 百度在线网络技术(北京)有限公司 | 用于控制无人驾驶车辆的方法和装置 |
CN106218632A (zh) * | 2016-07-19 | 2016-12-14 | 百度在线网络技术(北京)有限公司 | 用于控制无人驾驶车辆的方法和装置 |
CN107765685A (zh) * | 2016-08-19 | 2018-03-06 | 德韧营运有限责任公司 | 用于机动车辆的自动辅助泊车系统的路径控制方法 |
CN107792177B (zh) * | 2016-08-31 | 2021-03-12 | 爱信精机株式会社 | 停车支援装置 |
CN107792177A (zh) * | 2016-08-31 | 2018-03-13 | 爱信精机株式会社 | 停车支援装置 |
CN108058708A (zh) * | 2016-11-09 | 2018-05-22 | 丰田自动车株式会社 | 车辆的控制装置 |
CN108372855A (zh) * | 2017-01-31 | 2018-08-07 | 德尔福技术有限公司 | 停车辅助系统 |
CN108372855B (zh) * | 2017-01-31 | 2022-01-11 | 安波福技术有限公司 | 停车辅助系统 |
CN107458243A (zh) * | 2017-07-13 | 2017-12-12 | 合肥创智汽车技术开发有限公司 | 一种用于新能源汽车智能无人驾驶的故障停车控制方法 |
CN110997461A (zh) * | 2017-08-30 | 2020-04-10 | 罗伯特·博世有限公司 | 用于虚拟停放点的自动化停放 |
CN110997461B (zh) * | 2017-08-30 | 2022-06-07 | 罗伯特·博世有限公司 | 用于虚拟停放点的自动化停放 |
CN111332279A (zh) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | 泊车路径生成方法和装置 |
CN111332279B (zh) * | 2018-12-18 | 2023-09-01 | 北京京东乾石科技有限公司 | 泊车路径生成方法和装置 |
CN109739231A (zh) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | 自动驾驶充电车停车控制方法及系统 |
CN111619577A (zh) * | 2019-02-28 | 2020-09-04 | 株式会社日立制作所 | 服务器、车辆控制系统 |
Also Published As
Publication number | Publication date |
---|---|
EP2876025A2 (en) | 2015-05-27 |
US20150134185A1 (en) | 2015-05-14 |
KR20150053627A (ko) | 2015-05-18 |
EP2876025A3 (en) | 2015-07-08 |
JP2015095255A (ja) | 2015-05-18 |
EP2876025B1 (en) | 2017-07-12 |
CN104627174B (zh) | 2018-07-24 |
US9254870B2 (en) | 2016-02-09 |
KR101906952B1 (ko) | 2018-10-11 |
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CP01 | Change in the name or title of a patent holder | ||
CP01 | Change in the name or title of a patent holder |
Address after: Gyeongnam Changwon City, South Korea Patentee after: Hanhuadi Fos Co., Ltd. Address before: Gyeongnam Changwon City, South Korea Patentee before: Korea lander Systems Inc |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20190718 |