CN107633694A - A kind of parking management system of pilotless automobile - Google Patents
A kind of parking management system of pilotless automobile Download PDFInfo
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- CN107633694A CN107633694A CN201710785649.2A CN201710785649A CN107633694A CN 107633694 A CN107633694 A CN 107633694A CN 201710785649 A CN201710785649 A CN 201710785649A CN 107633694 A CN107633694 A CN 107633694A
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Abstract
The invention discloses a kind of parking management system of pilotless automobile, including parking management unit, parking registration unit, video monitor unit, location navigation unit and automatic Pilot unit；Parking request is sent before vehicle sets out, parking management unit is that the destination in being asked according to parking generates two vehicle parking points：Passenger getting off car point and vehicle the parked vehicle mooring point in selected empty parking space, meet the actual use demand of user.
Description
Technical field
The present invention relates to the parking pipe of unmanned technology and Video Analysis Technology field, more particularly to pilotless automobile
Reason system.
Background technology
Pilotless automobile is one kind of intelligent automobile, also referred to as wheeled mobile robot, rely primarily on in-car in terms of
Intelligent driving instrument based on calculation machine system realizes unpiloted target.Pilotless automobile can automatic identification traffic indication board
And running information, possess the electronic equipments such as radar, camera, global navigation satellite, sensor-based system, as long as car owner's navigation system is defeated
Enter destination, automobile can automatic running, go to destination.
After arriving at, car owner leaves vehicle, and pilotless automobile also needs to drive into the empty parking space in parking lot automatically.It is existing
It must be transformed in the parking lot for manned automobile services, the sensing that installation largely can coordinate with unmanned gas car
Device system, the parking lot automatic stopping of pilotless automobile could be realized, so as to add the investment in parking lot.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of efficient, low cost pilotless automobile
Parking management system, it can be manned simultaneously to do less change to the existing parking lot for manned automobile services
Automobile and pilotless automobile provide service.
In order to realize above-mentioned purpose, present invention employs following technical scheme：
A kind of parking management system of pilotless automobile, including parking management unit, parking registration unit, video monitoring list
Member, location navigation unit and automatic Pilot unit；
Video monitor unit, in parking lot, believe for monitoring all parking stalls in parking lot, and by obtained video
Breath is sent to parking management unit；
Stop registration unit, operates on pilotless automobile, register secondary destination, and generation parking request is sent to parking pipe
Manage unit,
Parking management unit, is operated in cloud platform, and analysis video information generation parking stall, which takes, to be recorded and stored, parking pipe
Manage unit and digital map database, parking management unit setpoint distance model around the destination that parking registration unit provides are provided
Enclosing interior retrieval allows vehicle parking place to be got off a little as car owner, and then is retrieved around car owner gets off in set distance range
The empty parking space in parking lot, optimal parking route is calculated, and generates stopping guide information,
Automatic Pilot unit, is operated on pilotless automobile, using pilotless automobile current stop position as starting point, is received
The car owner that parking management unit is sent gets off the destination of a conduct first, receives the stopping guide information that parking management unit is sent
In empty parking space information as the second destination, driving pilotless automobile is travelled to the first destination and stopped from starting point first
Lean on, then drive to the second destination from the first destination and stop；
Location navigation unit, is operated on pilotless automobile, and positioning vehicle is presently in positional information and course, is certainly
It is dynamic to drive unit navigation.
If preferably, there are multiple permission vehicle parking places, parking management list around destination in set distance range
Member further determines that car owner gets off a little according to the most short walking distance of car owner, vehicle fastest to up to the time；A surrounding if car owner gets off
Setting range has multiple empty parking spaces surely, is got off according to car owner a little further to the most short running distance in parking stall, minimum Parking Fee
Selection.
Preferably, digital map database includes parking lot plan map, the three-dimensional reality that parking management unit is managed
Scape figure and one's respective area plane map, record has all positions for allowing vehicle parking places in periphery to believe in the plane map of one's respective area
Breath；Request includes information of vehicles and destination locations information, and wherein information of vehicles includes car plate and car owner's identity information；Parking is drawn
Leading information includes distributing empty parking space information, course in parking lot, the three-dimensional realistic picture of course correlation in parking lot, stops
Parking lot entry location information and car owner get off dot position information.
Preferably, vehicle parking is behind the first destination, if parking management unit around car owner gets off setting away from
The empty parking space in parking lot is not retrieved from the range of, the stopping guide information that parking management unit is sent includes car owner destination
Related Entrance positional information in surrounding certain limit, planning one enters parking registration unit around related parking lot automatically
The waiting planning driving path of mouth position, and send to automatic Pilot unit, automatic Pilot unit and drive vehicle according to this planning driving path
Automatic cycle travels, until parking registration unit receives the stopping guide information including empty parking space information.
Preferably, the location navigation unit includes d GPS locating module and video location module, video location module bag
Camera and processing unit are included, camera obtains the real scene image of current location, and processing unit receives the outdoor scene that camera obtains
The parking lot solid realistic picture that image information and parking management unit are sent, processing unit draw current real scene image with parking
Lead the related three-dimensional realistic picture of course in the parking lot in information to be analyzed, determine vehicle present position and row
Enter route, and send to automatic Pilot unit, guiding vehicle and advance；Vehicle is determined when being travelled outside parking lot by d GPS locating module
Position navigation, by video location module location navigation when vehicle travels in parking lot.
Preferably, including parking stall lock cell, on parking stall, led between parking management unit by network
Letter, the parking stall lock cell include electronic locking module, and electronic locking module receives the berth lock that parking management unit is sent
Locking parking stall limits other vehicles and drives into parking stall after fixed instruction.
Preferably, stopping guide information includes parking stall PUK.
Preferably, including reverse car seeking unit, reverse car seeking unit is carried with by car owner, positions occupant position, to
Parking management unit sends parking request, parking management unit setpoint distance around the occupant position that reverse car seeking unit provides
In the range of retrieval allow vehicle parking place as car owner get on the bus a little, according to vehicle position information and occupant position information calculating most
Good to seek bus or train route line, car guidance information is sought in generation；Parking management unit will seek car guidance information and directly or indirectly send to reversely seeking
Car unit and location navigation unit.
Preferably, reverse car seeking request includes occupant position information and information of vehicles, seeking car guidance information includes parking stall
Course in positional information, parking lot, the related three-dimensional realistic picture of course in parking lot, EXIT positional information and
Car owner gets on the bus dot position information.
If preferably, retrieving multiple permission vehicle parking places in set distance range, parking management unit enters
One step determines that car owner gets on the bus a little according to car owner's most short walking time and automobile fastest to up to the time.
The parking management system of above-mentioned pilotless automobile, parking request, parking management unit are sent before vehicle sets out
Destination in being asked according to parking generates two vehicle parking points：Passenger getting off car point and vehicle berth in selected empty parking space
Vehicle parking point, meet the actual use demand of user.Video management unit obtains parking by video monitor unit in real time
Parking stall occupancy situation in, the specified empty parking space that generation stopping guide information guidance vehicle leaves in parking lot, stopping guide
Information can be according to parking stall occupancy situation real-time update, suitable for the shared parking lot of manned vehicle and automatic driving vehicle.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the present invention.
Fig. 2 is the workflow diagram of parking registration unit in the present invention.
Fig. 3 is that parking management unit guides vehicle drive to the workflow diagram of empty parking space in the present invention.
Fig. 4 is the position relationship schematic diagram of car owner and vehicle in the present invention（When car owner need to be returned with car）.
Fig. 5 is the workflow diagram of reverse car seeking in the present invention.
Fig. 6 is the workflow diagram of parking stall locking and unblock in the present invention.
Fig. 7 is the position relationship schematic diagram of car owner and vehicle in the present invention（When car owner goes to destination）
Fig. 8 is the modular structure schematic diagram of parking management unit in the present invention
Fig. 9 is the modular structure schematic diagram of parking registration unit in the present invention
Figure 10 is the modular structure schematic diagram of reverse car seeking unit in the present invention
Wherein：1st, parking management unit, 2, parking registration unit, 3, video monitor unit, 4, automatic Pilot unit, 5, positioning leads
Navigate unit, and 6, reverse car seeking unit, 7, parking stall lock cell.
Embodiment
The preferred embodiment of this patent is described in further detail below in conjunction with the accompanying drawings.
A kind of parking management system of pilotless automobile as shown in Figure 1, including parking management unit 1, reverse car seeking
Unit 6, parking registration unit 2, video monitor unit 3, parking stall lock cell 7, location navigation unit 5 and automatic Pilot unit 4.
Video monitor unit 3 includes one group of web camera, and each web camera is arranged on the predeterminated position in parking lot
All parking stalls in parking lot are monitored, video monitor unit carries out data interaction with parking management unit by network,
The video information that video monitor unit photographs web camera is sent to parking management unit in real time.
As shown in Fig. 8, parking management unit 1 includes message processing module 11, vehicle identification module 12, parking stall identification mould
Block 13, scene Recognition module 14, can also include accounting module 15, parking stall control module 16.
Parking management unit 1 is operated in cloud platform, can manage multiple parking lots in a region.Parking management list
Managing parking field plane map and three-dimensional realistic picture are stored in first, is also stored with one's respective area plane map, one's respective area plane
Record has all positional informations for allowing vehicle parking place in region in map.Parking management unit can also include one's respective area
Building information, one's respective area real-time traffic information of road, one's respective area weather information.
The video information that parking management unit 1 is sent to video monitor unit 3 is analyzed, and filtering identifies that parking stall is believed
Breath, information of vehicles, judge empty parking space, generation parking stall, which takes, to be recorded and stored.
As shown in figure 9, parking registration unit 2 is the information processor of pilotless automobile configuration.Stop registration unit 2
Including message processing module 21, human-computer interaction module 22 and wireless communication module 23.As shown in Fig. 2 car owner before setting out, is stopping
Destination, generation parking request are inputted on car registration unit 2.Parking request includes information of vehicles（Car plate and owner information）And mesh
Position information.The registration unit 2 that stops, which will stop, asks to send to parking management unit 1.
Parking management unit 1 is retrieved in the certain distance of car owner destination periphery under allowing vehicle parking place as car owner
Che Dian, the distance are walking maximum distance, can be according to car owner's Preferences, such as 500 meters.If have in scope multiple fair
Perhaps vehicle parking place, can further be selected fastest to up to conditions such as times according to the most short walking distance of car owner, automobile.
Empty wagons in institute's managing parking field that car owner gets off in a certain distance in parking management unit 1 and then search domain
Position, optimal parking route is calculated, and generate stopping guide information.The distance is vehicle farthest distance in pool, can be according to car
Main Preferences, such as 1 kilometer.If multiple empty parking spaces, can be got off according to car owner a little to the most short running distance in parking stall,
The conditions such as minimum Parking Fee further select.
If empty parking space, stopping guide information includes distributed empty parking space information, course, parking in parking lot
The related three-dimensional realistic picture of course in, Entrance positional information, car owner get off dot position information.
If without empty parking space, stopping guide information includes related parking lot in car owner's destination locations certain limit and entered
Mouthful positional information and car owner get off dot position information.
Parking registration unit 2 sends car owner's dot position information of getting off to automatic Pilot unit 4 as destination information.
Automatic Pilot unit 4 is run on pilotless automobile, realizes the automatic running function from starting point to destination.From
After the dynamic destination locations information for driving unit and receiving the parking transmission of registration unit 2, start automatic Pilot.
During pilotless automobile traveling, because parking lot takes for manned automobile and pilotless automobile simultaneously
Business, it is understood that there may be taken parking stall and vacated, distributed situations such as empty parking space is occupied.If parking management unit 1 detects sky
Parking stall changes, and has influence on the parking stall guidance information generated, and will upgrade in time parking stall guidance information, and sends to corresponding
Stop registration unit 2.
Pilotless automobile traveling during, even if distribution empty parking space information do not change, if it is expected that passenger
There is traffic jam in a road ahead of getting off, and parking management unit 1 can reselect passenger getting off car point, renewal parking stall guiding letter
Breath, and send to corresponding parking registration unit 2.
As shown in figure 3, pilotless automobile is travelled to car owner after getting off a little, car owner gets off.If now stop registration form
There is no empty parking space information in stopping guide information in member, but related Entrance in car owner's destination locations certain limit
Positional information, planning one surrounds the waiting planning driving path of related Entrance position to parking registration unit 2 automatically, and sends
To automatic Pilot unit 4.Automatic Pilot unit 4 moves circulation traveling according to this roadway without leave, until parking registration unit 2 receives
To the stopping guide information including empty parking space information.
In automatic cycle driving procedure, parking registration unit 2 monitors vehicle power source in real time（Gasoline, diesel oil, electricity
Power）Situation, if the vehicle power energy is less than preset value, parking registration unit 2 is by the energy of neighbouring support pilotless automobile
Source depot（Gas station, charging station）It is arranged to destination to send to automatic Pilot unit 4, carries out automatic power energy recharge.
After the completion of power source supply, parking registration unit 2 continues executing with automatic cycle traveling process.
Confirm after being free parking space information in stopping guide information, parking registration unit 2 is using Entrance position as mesh
Ground information send to automatic Pilot unit 4, the automatic running of automatic Pilot unit 4 to Entrance.Stopping registration unit 2 will
Course in distributed empty parking space information, parking lot, the related three-dimensional realistic picture of course sends to positioning and led in parking lot
Navigate unit 5.
Location navigation unit 5 is operated on pilotless automobile, and positioning vehicle is presently in positional information and course,
Navigated for automatic Pilot unit.The location navigation unit 5 includes d GPS locating module and video location module, video location mould
Block includes camera and processing unit, and camera obtains the real scene image of current location, and processing unit receives what camera obtained
The parking lot solid realistic picture that real scene image information and parking management unit are sent, processing unit is by current real scene image with stopping
The related three-dimensional realistic picture of course is analyzed in parking lot in car guidance information, determines vehicle present position
And course, and send to automatic Pilot unit 4, guiding vehicle and advance；By GPS location mould when vehicle travels outside parking lot
Block location navigation, by video location module location navigation when vehicle travels in parking lot.Positioned using video location module
When, in vehicular motion, vehicle front outdoor scene moment change, video location module constantly passes through solid related to course
Realistic picture is compared, and determines current location, updates traffic route, eventually arrives at empty parking space, and automatic Pilot unit 4 completes parking
Operation.Video monitor unit 3 generates corresponding vehicle placeholder record.
If parking stall where pilotless automobile is mechanical parking stall, parking management unit 1 will also send a command to mechanical car
Position managing device, mechanical parking management device control machinery parking stall action, so that automatic driving vehicle drives into.
If pilotless automobile deviate from travel route in parking lot for some reason, due to not possessing parking lot
The three-dimensional realistic picture of the interior position, automatic driving vehicle will be unable to position.Registration unit 2 stop by current location parking lot outdoor scene
Image is sent to parking management unit 1, and parking management unit 1 compares real scene image and parking lot solid realistic picture, it is determined that nothing
The position of people's driving, again path planning, course in renewal empty parking space, parking lot, course phase in parking lot
Three-dimensional realistic picture is closed, and the stopping guide information after renewal is sent to parking registration unit 2.
As shown in Figure 10, reverse car seeking unit 6 is the portable unit that car owner carries with, and reverse car seeking unit 6 includes letter
Cease processing module 61, locating module 62, wireless communication module 63 and human-computer interaction module 64.As shown in Figure 4 and Figure 5, Che Zhuyao
When by bus, start reverse car seeking unit 6.Reverse car seeking unit 6 positions car owner position, generation reverse car seeking request.Reversely
Seeking car request includes occupant position information, information of vehicles.Reverse car seeking unit 6 sends reverse car seeking request to parking management list
Member 1, parking management unit 1 retrieve parking stall where vehicle, are calculated according to vehicle position information and occupant position information and most preferably seek car
Car guidance information is sought in route, generation.Parking stall positional information where seeking car guidance information and including vehicle, course in parking lot,
The related three-dimensional realistic picture of course in parking lot, EXIT positional information, car owner get on the bus dot position information.Car owner gets on the bus
For point to allow vehicle parking place in the certain distance of occupant position periphery, the distance is walking maximum distance, can be according to car
Main Preferences, such as 500 meters.If there is multiple permission vehicle parking places in scope, can according to the most short walking of car owner away from
Further selected fastest to up to conditions such as times from, automobile.
Parking management unit 1 will seek car guidance information and send to reverse car seeking unit 6.Reverse car seeking unit 6 is on navigation ground
Show car owner to get on the bus a little on figure to get on the bus according to course row to car owner and a little wait with course, car owner.
Parking management unit 1 will seek car guidance information and send to parking registration unit 2.Registration unit 2 stop by parking lot
The related three-dimensional realistic picture of course is sent to location navigation unit 5 in interior course, parking lot.Location navigation unit uses
Aforementioned video positioning navigation method guiding automatic Pilot unit 4 travels pilotless automobile to EXIT position.Parking
Registration unit 2 sends a car owner position of getting on the bus to automatic Pilot unit 4 as destination, and pilotless automobile automatic running is extremely
Car owner gets on the bus a little.Car owner is got on the bus, and reverse car seeking is completed.
If parking stall where pilotless automobile is mechanical parking stall, parking management unit 1 will also send a command to mechanical car
Position managing device, mechanical parking management device control machinery parking stall action, so that automatic driving vehicle rolls away from.
Because parking lot is manned automobile and pilotless automobile service simultaneously, distributed for pilotless automobile
Empty parking space be possible to be taken by other manned vehicles.As shown in fig. 6, in order to ensure empty parking space is preengage successfully, Che Zhu
Previous existence set out into during parking request, automatic reservation parking stall mark can be set in parking is asked.
Empty parking space can be being distributed for there is provided the automatic parking request for retaining parking stall mark, parking management unit 1
Meanwhile parking stall lock instruction is sent to the parking stall lock cell 7 on distributed empty parking space, and parking stall is locked, if charge parking stall,
Start simultaneously at metered.Parking management unit 1 includes parking stall PUK in corresponding stopping guide information, and is stepped on to parking
Note unit 2 is sent.
Parking stall lock cell 7 is arranged on parking stall, passes through network service, the berth lock between parking management unit 1
Order member 7 includes electronic locking module, and electronic locking module locks after receiving the parking stall lock instruction that parking management unit 1 is sent
Parking stall limits other vehicles and drives into parking stall.Parking stall lock cell 7, which can be selected, intelligently to be locked, and parking stall lock cell 7 receives parking stall
After lock instruction, locking module action, parking stall is locked, other vehicles is not driven into.Pilotless automobile drives to locking car
Before and after position, parking registration unit 2 sends parking stall PUK to parking stall lock cell 7, unlocks parking stall, then drives into.
Claims (10)
1. a kind of parking management system of pilotless automobile, it is characterised in that including parking management unit, parking registration form
Member, video monitor unit, location navigation unit and automatic Pilot unit；
Video monitor unit, in parking lot, believe for monitoring all parking stalls in parking lot, and by obtained video
Breath is sent to parking management unit；
Stop registration unit, operates on pilotless automobile, register secondary destination, and generation parking request is sent to parking pipe
Manage unit,
Parking management unit, is operated in cloud platform, and analysis video information generation parking stall, which takes, to be recorded and stored, parking pipe
Manage unit and digital map database, parking management unit setpoint distance model around the destination that parking registration unit provides are provided
Enclosing interior retrieval allows vehicle parking place to be got off a little as car owner, and then is retrieved around car owner gets off in set distance range
The empty parking space in parking lot, optimal parking route is calculated, and generates stopping guide information,
Automatic Pilot unit, is operated on pilotless automobile, using pilotless automobile current stop position as starting point, is received
The car owner that parking management unit is sent gets off the destination of a conduct first, receives the stopping guide information that parking management unit is sent
In empty parking space information as the second destination, driving pilotless automobile is travelled to the first destination and stopped from starting point first
Lean on, then drive to the second destination from the first destination and stop；
Location navigation unit, is operated on pilotless automobile, and positioning vehicle is presently in positional information and course, is certainly
It is dynamic to drive unit navigation.
2. the parking management system of a kind of pilotless automobile according to claim 1, it is characterised in that if destination is all
Enclosing in set distance range has multiple permission vehicle parking places, parking management unit according to the most short walking distance of car owner, nobody
Driving further determines that car owner gets off a little fastest to up to the time；There are multiple empty wagons in a surrounding setting range if car owner gets off
Position, gets off according to car owner and is a little further selected to the most short running distance in parking stall, minimum Parking Fee.
A kind of 3. parking management system of pilotless automobile according to claim 1, it is characterised in that numerical map number
Parking lot plan map, three-dimensional realistic picture and the one's respective area plane map managed according to storehouse including parking management unit, local area
Record has all positional informations for allowing vehicle parking place in periphery in the plane map of domain；Parking request includes information of vehicles and mesh
Position information, wherein information of vehicles includes car plate and car owner's identity information；Stopping guide information includes distributing empty parking space
Course in information, parking lot, course related three-dimensional realistic picture, Entrance positional information and car owner in parking lot
Get off dot position information.
4. the parking management system of a kind of pilotless automobile according to claim 3, it is characterised in that vehicle parking exists
Behind first destination, if parking management unit does not retrieve the empty wagons in parking lot around car owner gets off in set distance range
Position, the stopping guide information that parking management unit is sent include around car owner destination related Entrance in certain limit
Positional information, planning one surrounds the waiting planning driving path of related Entrance position to parking registration unit automatically, and sends
To automatic Pilot unit, automatic Pilot unit drives vehicle automatic cycle to travel according to this planning driving path, until the registration form that stops
Member receives the stopping guide information including empty parking space information.
5. the parking management system of a kind of pilotless automobile according to claim 3, it is characterised in that the positioning is led
Boat unit includes d GPS locating module and video location module, and video location module includes camera and processing unit, and camera obtains
The real scene image of current location is taken, processing unit receives real scene image information and the transmission of parking management unit that camera obtains
Parking lot solid realistic picture, processing unit is by current real scene image and course phase in the parking lot in stopping guide information
Close three-dimensional realistic picture to be analyzed, determine vehicle present position and course, and send to automatic Pilot unit,
Vehicle is guided to advance；By d GPS locating module location navigation when vehicle travels outside parking lot, when vehicle travels in parking lot by
Video location module location navigation.
6. the parking management system of a kind of pilotless automobile according to claim 3, it is characterised in that including berth lock
Order member, on parking stall, includes electronic lock between parking management unit by network service, the parking stall lock cell
Cover half block, electronic locking module, which receives locking parking stall after the parking stall lock instruction that parking management unit is sent and limits other vehicles, to be sailed
Enter parking stall.
7. the parking management system of a kind of pilotless automobile according to claim 6, it is characterised in that stopping guide is believed
Breath includes parking stall PUK.
8. the parking management system of a kind of pilotless automobile according to claim 1, it is characterised in that including reversely seeking
Car unit, reverse car seeking unit are carried with by car owner, position occupant position, are sent parking request to parking management unit, are stopped
Car administrative unit is retrieving permission vehicle parking place in set distance range around the occupant position that reverse car seeking unit provides
Got on the bus a little as car owner, calculated according to vehicle position information and occupant position information and most preferably seek bus or train route line, car guiding letter is sought in generation
Breath；Parking management unit will seek car guidance information and directly or indirectly send to reverse car seeking unit and location navigation unit.
9. the parking management system of a kind of pilotless automobile according to claim 8, it is characterised in that reverse car seeking please
Ask including occupant position information and information of vehicles, seeking car guidance information includes parking stall positional information, course in parking lot, stops
Course related three-dimensional realistic picture, EXIT positional information and car owner get on the bus dot position information in parking lot.
10. the parking management system of a kind of pilotless automobile according to claim 8, it is characterised in that if setting
Retrieve multiple permission vehicle parking places in distance range, parking management unit further according to car owner's most short walking time and
Automobile determines that car owner gets on the bus a little fastest to up to the time.
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| CN110033647A (en) * | 2019-05-27 | 2019-07-19 | 北京中岩智泊科技有限公司 | A kind of intelligent three-dimensional garage parking lot and its access process suitable for pilotless automobile |
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| CN112330518A (en) * | 2020-11-12 | 2021-02-05 | 广州小马慧行科技有限公司 | Driving control method, driving control device, nonvolatile storage medium, and electronic device |
| CN112614369A (en) * | 2020-12-15 | 2021-04-06 | 苏州触达信息技术有限公司 | Parking system and method based on automatic driving |
| WO2021168698A1 (en) * | 2020-02-26 | 2021-09-02 | Baidu.Com Times Technology (Beijing) Co., Ltd. | A mixed regular and open-space trajectory planning method for autonomous driving vehicle |
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| CN109785652A (en) * | 2019-01-29 | 2019-05-21 | 广州大学 | A kind of automatic stopping control method, device, system, medium and equipment |
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| US11878712B2 (en) | 2020-02-26 | 2024-01-23 | Baidu Usa Llc | Trajectory planning with obstacle avoidance for autonomous driving vehicles |
| CN111785065A (en) * | 2020-06-15 | 2020-10-16 | 北京航空航天大学 | Intelligent remote autonomous parking method based on user travel cost and travel efficiency |
| CN111785065B (en) * | 2020-06-15 | 2022-03-15 | 北京航空航天大学 | Intelligent remote autonomous parking method based on user travel cost and travel efficiency |
| CN112330518A (en) * | 2020-11-12 | 2021-02-05 | 广州小马慧行科技有限公司 | Driving control method, driving control device, nonvolatile storage medium, and electronic device |
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