CN105835891A - System and method for preventing lane departure - Google Patents
System and method for preventing lane departure Download PDFInfo
- Publication number
- CN105835891A CN105835891A CN201610051693.6A CN201610051693A CN105835891A CN 105835891 A CN105835891 A CN 105835891A CN 201610051693 A CN201610051693 A CN 201610051693A CN 105835891 A CN105835891 A CN 105835891A
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- electronic tag
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- feedback signal
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000005855 radiation Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 11
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000628997 Flos Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a system and method for preventing lane departure. The system comprises a radar mounted on the front side of a vehicle, a first electronic tag and a second electronic tag, wherein the first electronic tag and the second electronic tag are arranged on lane lines on the two sides of a lane where the vehicle is located, and the connecting line between the first electronic tag and the second electronic tag is perpendicular to the extending direction of the lane. The radar is used for sending microwave detection signals, receiving first microwave feedback signals sent by the first electronic tag and second microwave feedback signals sent by the second electronic tag and calculating the absolute value of the difference between the distances of the radar and the lane lines on the two sides according to a first time interval between sending of the microwave detection signals and receiving of the first microwave feedback signals and a second time interval between sending of the microwave detection signals and receiving of the second microwave feedback signals. If the absolute value of the difference between the distances is larger than a set threshold value, a lane departure alarming signal is sent out. The system and method for preventing lane departure can meet the requirements of various driving environments.
Description
Technical field
The present invention relates to technical field of vehicle, particularly relate to a kind of system preventing deviation and side
Method.
Background technology
Along with the popularity rate of vehicle is more and more higher, the safety issue in vehicle travel process is increasingly
Paid close attention to by people.Prevent vehicle from deviateing current lane, in certain journey in vehicle travel process
The incidence rate of accident can be substantially reduced on degree.
In prior art, obtain lane line image by being arranged on the backup camera of vehicle tail,
Lane line image according to obtaining determines the vehicle distance to lane line, and then determines that vehicle is currently
Position in track, thus control vehicle and be maintained at current lane.
But prior art at least has following defects that and depends on photographic head, on road surface the most substantially
Lane line mark time cannot realize preventing the function of automotive run-off-road, it is impossible to meet various traveling
The requirement of environment.
Summary of the invention
The present invention provides a kind of system and method preventing deviation, on road surface the most significantly
Also can realize preventing the function of automotive run-off-road, to meet various running environment during lane line mark
Requirement.
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that
On the one hand, the present invention provides a kind of system preventing deviation, before being arranged on vehicle
Side radar, the first electronic tag being arranged on the lane line of side, track, described vehicle place and
The second electronic tag being arranged on the lane line of described track opposite side, described first electronic tag
Vertical with the bearing of trend in described track with the line of described second electronic tag；Described radar, uses
In sending microwave sounding signal；Receive the first radiological feedback signal that described first electronic tag sends
The the second radiological feedback signal sent with described second electronic tag；According to sending described microwave sounding
Signal and receive described first radiological feedback signal the very first time interval and send described microwave visit
The second time interval surveying signal and receive described second radiological feedback signal is calculated described thunder
Reach the absolute value of the difference of distance between the lane line of both sides；If the absolute value of the difference of described distance
More than setting threshold value, then send lane shift alarm signal；Described first electronic tag, is used for connecing
Receive described microwave sounding signal, and send described first radiological feedback signal；Described second electronics mark
Sign, be used for receiving described microwave sounding signal, and send described second radiological feedback signal.
On the other hand, the present invention provides a kind of method preventing deviation, including: radar sends
Microwave sounding signal；First electronic tag receives described microwave sounding signal, and sends the first microwave
Feedback signal；Second electronic tag receives described microwave sounding signal, and sends the second radiological feedback
Signal；Described radar receive described first electronic tag send described first radiological feedback signal and
The described second radiological feedback signal that described second electronic tag sends；Described radar is according to sending institute
State microwave sounding signal and receive the very first time interval of described first radiological feedback signal and send
Described microwave sounding signal and the second time interval receiving described second radiological feedback signal calculate
Obtain the absolute value of the difference of distance between described radar and both sides lane line；If the difference of described distance
Absolute value more than set threshold value, the most described radar sends lane shift alarm signal；Wherein, institute
Stating radar and be arranged on vehicle front, described first electronic tag is arranged on track, described vehicle place one
On the lane line of side, described second electronic tag is arranged on the lane line of described track opposite side,
The line of described first electronic tag and described second electronic tag hangs down with the bearing of trend in described track
Directly.
The system and method preventing deviation that the present invention provides, radar is according to sending microwave sounding
Signal and receive the time interval of radiological feedback signal that electronic tag sends be calculated radar with
The absolute value of the difference of the distance between the lane line of both sides, and distance difference absolute value more than set
Send lane shift alarm signal during threshold value, return the center in track to remind driver to control vehicle,
Realize preventing the function of deviation.The system and method preventing deviation that the present invention provides,
Road surface does not has obvious lane line when identifying, can determine that the vehicle position at current lane yet, enter
And realize preventing the function of automotive run-off-road, to meet the requirement of various running environment.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the present invention
Technological means, and can be practiced according to the content of description, and the present invention's be upper in order to allow
State and can become apparent with other objects, features and advantages, below especially exemplified by the concrete reality of the present invention
Execute mode.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit pair
Will be clear from understanding in those of ordinary skill in the art.Accompanying drawing is only used for illustrating preferred implementation
Purpose, and be not considered as limitation of the present invention.And in whole accompanying drawing, with identical
Reference marks represents identical parts.In the accompanying drawings:
The structural representation of one embodiment of system preventing deviation that Fig. 1 provides for the present invention；
Fig. 2 is the working method schematic diagram of the range radar of 77GHz；
Fig. 3 is the schematic diagram of phase-array scanning mode；
Fig. 4 is the schematic diagram of the greatest irradiation direction sensing direction to the car of electronic tag；
The schematic flow sheet of one embodiment of method preventing deviation that Fig. 5 provides for the present invention.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although in accompanying drawing
Show the exemplary embodiment of the disclosure, it being understood, however, that may be realized in various forms this
Disclose and should not limited by embodiments set forth here.On the contrary, it is provided that these embodiments be in order to
The disclosure can be best understood from, and complete for the scope of the present disclosure can be conveyed to ability
The technical staff in territory.
The system and method that the embodiment of the present invention prevents deviation below in conjunction with the accompanying drawings is carried out in detail
Thin description.
Embodiment one
The structural representation of one embodiment of system preventing deviation that Fig. 1 provides for the present invention.
As it is shown in figure 1, the system preventing deviation of the embodiment of the present invention includes being arranged on vehicle front
Radar 11, the first electronic tag 12 being arranged on the lane line of side, track, vehicle place and set
Put the second electronic tag 13 on the lane line of track opposite side.Wherein, the first electronic tag 12
Vertical with the bearing of trend in track with the line of the second electronic tag 13.
Radar 11, is used for sending microwave sounding signal；Receive the first of the first electronic tag 12 transmission
The second radiological feedback signal that radiological feedback signal and the second electronic tag 13 send；Micro-according to sending
Wave detection signal and receive the first radiological feedback signal the very first time interval and send microwave sounding
Signal and the second time interval receiving the second radiological feedback signal are calculated radar 11 and both sides
The absolute value of the difference of the distance between lane line；If the absolute value of the difference of distance is more than setting threshold value,
Then send lane shift alarm signal.
First electronic tag 12, is used for receiving microwave sounding signal, and sends the first radiological feedback letter
Number.
Second electronic tag 13, is used for receiving microwave sounding signal, and sends the second radiological feedback letter
Number.
Concrete, as it is shown in figure 1, when pavement construction by the first electronic tag 12 and the second electronics
Label 13 buries to be put or is pasted onto on the lane line on road surface and concordant with lane line, the first electronic tag
12 is vertical with the bearing of trend in track with the line of the second electronic tag 13, the i.e. first electronic tag
12 and second electronic tag 13 be symmetrical arranged centered by the center line line in track, two electronic tags it
Between spacing d=3.3m, for the lane width of national Specification.
In automatic Pilot field, the range finding thunder of 77GHz typically selected by the radar 11 being arranged on vehicle
Reach the distance judging between front vehicles and this car.As in figure 2 it is shown, the applicable model of this radar
Within being trapped among 0-200m.The principle used is, one pulsed beam of radar emission, front truck afterbody
Metal parts reflects this radar wave, after the receptor of radar receives this echo, calculates and sends out
Penetrate the time of impulse wave and echo, thus judge the distance between front truck.And near at 0-5m
Distance areas, general employing ultrasonic radar is found range.The range radar of 77GHz typically uses
Phase-array scanning mode as shown in Figure 3, in Fig. 3, each petal of similar Flos Chrysanthemi, represents radar
Scanning angle in 360 degree of spaces.At synchronization, radar antenna only scans a certain of Flos Chrysanthemi
Individual petal, subsequent time scans another petal.Different petals represents different directions.As
Fruit at a time have received a signal, then can illustrate in this moment, from this petal
Direction, have the signal source to have sent a signal, so that it is determined that signal source is in radar
Direction.On electric vehicle, there is similar radar equally, inside a scan period of radar,
Time is divided into some equal portions, such as 8 parts, also referred to as time slot.Inside each time slot, radar
The radar return of scanning vehicle front different directions, so that it is determined that the distance of barrier on different directions.
The distance measurement function of radar 11 opened by vehicle, and radar 11 sends microwave sounding signal, is positioned at car
It is micro-that two electronic tags (first electronic tag 12 and the second electronic tag 13) on diatom receive this
Wave detection signal, and utilize this microwave sounding signal to carry out energy storage, when energy storage reaches working standard,
Two electronic tags (first electronic tag 12 and the second electronic tag 13) send a microwave respectively
Feedback signal (the corresponding first radiological feedback signal of the first electronic tag 12, the second electronic tag 13
Corresponding second radiological feedback signal), before energy storage exhausts, two electronic tags constantly send microwave
Feedback signal.Radar 11 receives the first radiological feedback signal and that the first electronic tag 12 sends
The second radiological feedback signal that two electronic tags 13 send, according to sending microwave sounding signal and reception
The very first time to the first radiological feedback signal is spaced △ t1 and is calculated radar 11 and the first electronics mark
Sign the first distance a1 between 12, according to sending microwave sounding signal and receiving the second radiological feedback
Second time interval △ t2 of signal be calculated between radar 11 and the second electronic tag 13
Two distances a2, according to the first distance a1, second distance a2 and lane width d, utilize trigonometric function
The 3rd distance d1 that algorithm is calculated between radar 11 and the lane line of side and radar 11 are with another
The 4th distance d2 between the lane line of side, calculates according to the 3rd distance d1 and the 4th distance d2
Obtain absolute value △ d=| d1-d2 | of the difference of distance between radar 11 and both sides lane line, if distance
Difference absolute value △ d=| d1-d2 | more than set threshold value, then send lane shift alarm signal, to carry
Awake driver controls vehicle and returns the center in track, it is achieved prevent the function of deviation.
The source of the radiological feedback signal received, the first radiological feedback signal is distinguished for ease of radar
Middle portability has the first electronic code of the first electronic tag 12, can take in the second radiological feedback signal
The second electronic code with the second electronic tag 13.
In automatic Pilot field, if absolute value △ d=| d1-d2 | of the difference of distance is more than setting threshold value, thunder
Reach the 11 control units control vehicles that also can automatically trigger vehicle and revert to the center in track.
For avoiding interference, improve accuracy, in the first electronic tag 12 and the second electronic tag 13
Antenna can use beam antenna, and the radiation direction of beam antenna points to direction to the car, such as Fig. 4
Shown in, the orientable microwave sounding signal receiving radar 11 transmission, and directive sending radiological feedback letter
Number to radar.
The system preventing deviation of the embodiment of the present invention, radar is according to sending microwave sounding signal
It is calculated radar and both sides with the time interval receiving the radiological feedback signal that electronic tag sends
The absolute value of the difference of the distance between lane line, and distance difference absolute value more than set threshold value
Time send lane shift alarm signal, return the center in track to remind driver to control vehicle, real
Now prevent the function of deviation.The system preventing deviation that the present invention provides, on road surface
Do not have obvious lane line when identifying, to can determine that the vehicle position at current lane yet, and then realize anti-
Only the function of automotive run-off-road, can meet the requirement of various running environment.
Embodiment two
The schematic flow sheet of one embodiment of method preventing deviation that Fig. 5 provides for the present invention.
As it is shown in figure 5, the method preventing deviation of the embodiment of the present invention can be passed through shown in above-mentioned Fig. 1
The system preventing deviation of embodiment realizes, and specifically comprises the steps that
S501, radar sends microwave sounding signal.
S502, the first electronic tag receives microwave sounding signal, and sends the first radiological feedback signal.
S503, the second electronic tag receives microwave sounding signal, and sends the second radiological feedback signal.
S504, radar receives the first radiological feedback signal and the second electronics that the first electronic tag sends
The second radiological feedback signal that label sends.
S505, radar is according to sending microwave sounding signal and receiving the of the first radiological feedback signal
One time interval and the second time sending microwave sounding signal with receive the second radiological feedback signal
Interval calculation obtains the absolute value of the difference of the distance between radar and both sides lane line.
S506, if the absolute value of the difference of distance is more than setting threshold value, then radar sends lane shift report
Alert signal.
Wherein, radar is arranged on vehicle front, and the first electronic tag is arranged on track, vehicle place one
On the lane line of side, the second electronic tag is arranged on the lane line of track opposite side, the first electronics
The line of label and the second electronic tag is vertical with the bearing of trend in track.
Further, step S505 specifically can comprise the following steps that according to very first time interval calculation
Obtain the first distance between radar and the first electronic tag；It is calculated according to the second time interval
Second distance between radar and the second electronic tag；According to the first distance, second distance and track
Width calculation radar and the lane line of side between the 3rd distance and the track of radar and opposite side
The 4th distance between line；Difference absolute of distance it is calculated according to the 3rd distance and the 4th distance
Value.
Further, in the first radiological feedback signal, portability has the first electronics of the first electronic tag
Coding, in the second radiological feedback signal, portability has the second electronic code of the second electronic tag.
Further, if the method preventing deviation of the embodiment of the present invention may also include that distance
Difference absolute value more than set threshold value, then radar trigger vehicle control unit control vehicle return
Center to track.
Further, the antenna in the first electronic tag and the second electronic tag concretely orients sky
Line, the radiation direction of beam antenna points to the direction to the car of vehicle.
Concrete, the detailed process of the method preventing deviation of the embodiment of the present invention can be found in
Stating the associated description in embodiment one, here is omitted.
The method preventing deviation of the embodiment of the present invention, radar is according to sending microwave sounding signal
It is calculated radar and both sides with the time interval receiving the radiological feedback signal that electronic tag sends
The absolute value of the difference of the distance between lane line, and distance difference absolute value more than set threshold value
Time send lane shift alarm signal, return the center in track to remind driver to control vehicle, real
Now prevent the function of deviation.The method preventing deviation that the present invention provides, on road surface
Do not have obvious lane line when identifying, to can determine that the vehicle position at current lane yet, and then realize anti-
Only the function of automotive run-off-road, can meet the requirement of various running environment.
One of ordinary skill in the art will appreciate that: realize the whole or portion of above-mentioned each method embodiment
Can be completed by the hardware that programmed instruction is relevant step by step.Aforesaid program can be stored in one
In computer read/write memory medium.This program upon execution, performs to include that above-mentioned each method is implemented
The step of example；And aforesaid storage medium includes: ROM, RAM, magnetic disc or CD etc. are each
Plant the medium that can store program code.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, and
Non-to its restriction；Although the present invention being described in detail with reference to foregoing embodiments, ability
The those of ordinary skill in territory is it is understood that it still can be to the technology described in foregoing embodiments
Scheme is modified, or the most some or all of technical characteristic is carried out equivalent；And this
A little amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. the system preventing deviation, it is characterised in that include being arranged on vehicle front
Radar, the first electronic tag being arranged on the lane line of side, track, described vehicle place and setting
The second electronic tag on the lane line of described track opposite side, described first electronic tag and institute
The line stating the second electronic tag is vertical with the bearing of trend in described track；
Described radar, is used for sending microwave sounding signal；Receive what described first electronic tag sent
The second radiological feedback signal that first radiological feedback signal and described second electronic tag send；According to
Send described microwave sounding signal and receive the very first time interval of described first radiological feedback signal
And send described microwave sounding signal and receive described second radiological feedback signal the second time between
Absolute value every the difference of the distance being calculated between described radar and both sides lane line；If described away from
From difference absolute value more than set threshold value, then send lane shift alarm signal；
Described first electronic tag, is used for receiving described microwave sounding signal, and sends described first
Radiological feedback signal；
Described second electronic tag, is used for receiving described microwave sounding signal, and sends described second
Radiological feedback signal.
System the most according to claim 1, it is characterised in that described radar specifically for:
Obtain between described radar and described first electronic tag according to described very first time interval calculation
The first distance；
It is calculated between described radar and described second electronic tag according to described second time interval
Second distance；
Radar described in width calculation according to described first distance, described second distance and described track
And the lane line of the 3rd distance between the lane line of described side and described radar and described opposite side
Between the 4th distance；
Difference absolute of described distance it is calculated according to described 3rd distance and described 4th distance
Value.
System the most according to claim 1 and 2, it is characterised in that described first microwave is anti-
Feedback signal carries the first electronic code of described first electronic tag, described second radiological feedback
Signal carries the second electronic code of described second electronic tag.
System the most according to claim 1 and 2, it is characterised in that described radar is additionally operable to:
If the absolute value of the difference of described distance is more than described setting threshold value, then trigger the control of described vehicle
Unit processed controls described vehicle and revert to the center in described track.
System the most according to claim 1 and 2, it is characterised in that described first electronics mark
Signing with the antenna in described second electronic tag is beam antenna, the radiation direction of described beam antenna
Point to the direction to the car of described vehicle.
6. the method preventing deviation, it is characterised in that including:
Radar sends microwave sounding signal；
First electronic tag receives described microwave sounding signal, and sends the first radiological feedback signal；
Second electronic tag receives described microwave sounding signal, and sends the second radiological feedback signal；
Described radar receives described first radiological feedback signal and the institute that described first electronic tag sends
State the described second radiological feedback signal that the second electronic tag sends；
Described radar is according to sending described microwave sounding signal and receiving described first radiological feedback letter
Number very first time interval and send described microwave sounding signal and receive described second radiological feedback
Second time interval of signal is calculated the difference of the distance between described radar and both sides lane line
Absolute value；
If the absolute value of the difference of described distance is more than setting threshold value, the most described radar sends lane shift
Alarm signal；
Wherein, described radar is arranged on vehicle front, and described first electronic tag is arranged on described car
On the lane line of side, track, place, described second electronic tag is arranged on described track opposite side
Lane line on, the line of described first electronic tag and described second electronic tag and described track
Bearing of trend vertical.
Method the most according to claim 6, it is characterised in that described described micro-according to sending
Wave detection signal and receive the very first time interval of described first radiological feedback signal and send described
Microwave sounding signal and the second time interval receiving described second radiological feedback signal are calculated
The absolute value of the difference of the distance between described radar and both sides lane line includes:
Obtain between described radar and described first electronic tag according to described very first time interval calculation
The first distance；
It is calculated between described radar and described second electronic tag according to described second time interval
Second distance；
Radar described in width calculation according to described first distance, described second distance and described track
And the lane line of the 3rd distance between the lane line of described side and described radar and described opposite side
Between the 4th distance；
Difference absolute of described distance it is calculated according to described 3rd distance and described 4th distance
Value.
8. according to the method described in claim 6 or 7, it is characterised in that described first microwave is anti-
Feedback signal carries the first electronic code of described first electronic tag, described second radiological feedback
Signal carries the second electronic code of described second electronic tag.
9. according to the method described in claim 6 or 7, it is characterised in that also include:
If the absolute value of the difference of described distance is more than described setting threshold value, the most described radar triggers described
The control unit of vehicle controls described vehicle and revert to the center in described track.
10. according to the method described in claim 6 or 7, it is characterised in that described first electronics
Antenna in label and described second electronic tag is beam antenna, the radiation side of described beam antenna
To the direction to the car pointing to described vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610051693.6A CN105835891A (en) | 2016-01-26 | 2016-01-26 | System and method for preventing lane departure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610051693.6A CN105835891A (en) | 2016-01-26 | 2016-01-26 | System and method for preventing lane departure |
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| CN201610051693.6A Pending CN105835891A (en) | 2016-01-26 | 2016-01-26 | System and method for preventing lane departure |
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Cited By (8)
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| CN108082192A (en) * | 2016-11-22 | 2018-05-29 | 比亚迪股份有限公司 | lane departure warning method and device |
| CN108099907A (en) * | 2016-11-25 | 2018-06-01 | 丰田自动车株式会社 | Vehicle parking assistance device |
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| CN109398355A (en) * | 2017-08-18 | 2019-03-01 | 郑州宇通客车股份有限公司 | It is a kind of for lane keeping method and vehicle based on distributed motor-driven vehicle |
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| CN110926469A (en) * | 2018-08-31 | 2020-03-27 | 杭州海康机器人技术有限公司 | Mobile robot control method and device and mobile robot real-time mapping method and device |
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