CN106909153B - 无人车横向控制方法和装置 - Google Patents
无人车横向控制方法和装置 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004590 computer program Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 13
- 238000004364 calculation method Methods 0.000 description 6
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- 230000006870 function Effects 0.000 description 5
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- 230000036632 reaction speed Effects 0.000 description 3
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- 238000011161 development Methods 0.000 description 1
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- 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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN201710169068.6A CN106909153B (zh) | 2017-03-21 | 2017-03-21 | 无人车横向控制方法和装置 |
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CN201710169068.6A CN106909153B (zh) | 2017-03-21 | 2017-03-21 | 无人车横向控制方法和装置 |
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CN106909153A CN106909153A (zh) | 2017-06-30 |
CN106909153B true CN106909153B (zh) | 2020-07-31 |
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Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107918388A (zh) * | 2017-11-08 | 2018-04-17 | 深圳市招科智控科技有限公司 | 港口集装箱搬运无人车轨迹控制方法及装置 |
CN108549371A (zh) * | 2018-03-28 | 2018-09-18 | 安徽农业大学 | 一种高地隙植保机械路径跟踪方法及系统 |
CN108549373A (zh) * | 2018-04-10 | 2018-09-18 | 清华大学 | 一种基于导航角偏差进行车辆运行信息处理的方法和装置 |
CN108609014B (zh) * | 2018-05-04 | 2021-01-05 | 奇瑞汽车股份有限公司 | 智能车辆的横向控制方法及装置 |
CN109703566B (zh) * | 2018-12-29 | 2021-08-03 | 百度在线网络技术(北京)有限公司 | 一种速度控制指令处理方法和车辆 |
CN109976341B (zh) * | 2019-03-21 | 2022-09-23 | 驭势科技(北京)有限公司 | 一种自动驾驶车辆附着路网的方法、车载设备及存储介质 |
CN110001637B (zh) * | 2019-04-10 | 2023-09-29 | 吉林大学 | 一种基于多点跟踪的无人驾驶汽车路径跟踪控制装置及控制方法 |
CN109976387B (zh) * | 2019-05-07 | 2022-05-27 | 福建盛海智能科技有限公司 | 一种无人车探测轨迹的方法及终端 |
CN110789531B (zh) * | 2019-10-09 | 2021-01-29 | 福瑞泰克智能系统有限公司 | 一种车辆过弯速度确定方法、装置、电子设备和车辆 |
CN112859826A (zh) * | 2019-11-26 | 2021-05-28 | 北京京东乾石科技有限公司 | 用于控制无人搬运车的方法和装置 |
CN111284478A (zh) * | 2020-03-13 | 2020-06-16 | 联创汽车电子有限公司 | 预瞄路径跟踪计算方法及跟踪计算模块 |
CN112356828A (zh) * | 2020-11-06 | 2021-02-12 | 广州小鹏自动驾驶科技有限公司 | 一种车辆横向控制方法、装置、车辆和可读存储介质 |
CN113129460B (zh) * | 2021-03-17 | 2024-01-02 | 深圳成谷科技有限公司 | 智能交通系统中的车辆的行驶方向确定方法及车载单元 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100504788C (zh) * | 2007-08-02 | 2009-06-24 | 上海交通大学 | 自主驾驶车辆行驶过程的软件仿真方法 |
GB0715142D0 (en) * | 2007-08-03 | 2007-09-12 | Cambridge Entpr Ltd | Active steering controller |
JP5741697B2 (ja) * | 2011-08-31 | 2015-07-01 | トヨタ自動車株式会社 | 車両の走行制御装置 |
CN202453757U (zh) * | 2011-12-14 | 2012-09-26 | 长安大学 | 一种基于视觉的自动寻迹智能车控制装置 |
KR102137933B1 (ko) * | 2013-11-28 | 2020-07-27 | 현대모비스 주식회사 | 차량 코너링 제어 방법 및 그 장치 |
CN103941742A (zh) * | 2014-04-29 | 2014-07-23 | 中国科学院自动化研究所 | 一种无人机滑跑纠偏控制装置及方法 |
CN104571112B (zh) * | 2015-01-14 | 2017-02-22 | 中国科学院合肥物质科学研究院 | 基于转弯曲率估计的无人车横向控制方法 |
CN104859650B (zh) * | 2015-05-28 | 2017-04-05 | 吉林大学 | 一种多时间尺度的车辆横摆稳定性滚动优化控制方法 |
CN104960520B (zh) * | 2015-07-16 | 2017-07-28 | 北京工业大学 | 基于Pure Pursuit算法的预瞄点确定方法 |
CN105651286B (zh) * | 2016-02-26 | 2019-06-18 | 中国科学院宁波材料技术与工程研究所 | 一种移动机器人视觉导航方法与系统、以及仓库系统 |
CN105867377B (zh) * | 2016-04-13 | 2019-01-08 | 浙江理工大学 | 一种农业机械自动导航控制方法 |
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Effective date of registration: 20210305 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Patentee before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210305 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Patentee after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100195 Beijing Haidian Xingshikou Road 65 West Cedar Creative Garden 4 District 11 Building East 1-4 Floor West 1-4 Floor Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |