CN109318987A - A kind of vehicle - Google Patents
A kind of vehicle Download PDFInfo
- Publication number
- CN109318987A CN109318987A CN201811297507.2A CN201811297507A CN109318987A CN 109318987 A CN109318987 A CN 109318987A CN 201811297507 A CN201811297507 A CN 201811297507A CN 109318987 A CN109318987 A CN 109318987A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- barrier
- wheel
- control
- speed
- 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.)
- Granted
Links
- 230000004888 barrier function Effects 0.000 claims abstract description 83
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000012372 quality testing Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 2
- 238000011897 real-time detection Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B37/00—Wheel-axle combinations, e.g. wheel sets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
Abstract
The present invention relates to a kind of vehicles, vehicle includes chassis, wheel, the obstacle detector for further including control device and being connect with control device signal, the wheel for being located at least in chassis the same side is the adustable wheel of the width direction adjustable position along vehicle, it is deflecting roller positioned at forefront and/or positioned at the adustable wheel of rearmost, the adustable wheel is connected with for adjusting it along the Wheel space adjusting device of the width position of vehicle, and the deflecting roller is connected with steer-drive.The data of vehicle front real-time detection are passed to control device by the detection device that breaks the barriers, control device is set to assign instruction to turning control cell and wheelspan control unit according to the data information received, to make turning control cell and wheelspan control unit control corresponding device action, to realize the automatic obstacle-avoiding of vehicle in the process of moving, safety and the riding comfort of vehicle are improved.
Description
Technical field
The present invention relates to a kind of vehicles.
Background technique
With the development of science and technology and social progress, requirement of the people to vehicle is also higher and higher, such as vehicle travel process
In safety and comfort.Currently, when vehicle during traveling, encounters the barrier on prominent ground mainly using
The method of turning avoidance or obstacle detouring.If vehicle emergency turn avoids, it is likely that cause to lose control of one's vehicle, to be easy to cause overturning；
It if vehicle is directed across barrier, can make automobile appearance is biggish to jolt, cause vehicle comfort to reduce and even hold in the palm
Bottom phenomenon.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicles, encounter barrier in the process of moving to solve vehicle in the prior art
When hindering object by the way of emergency turn evacuation or obstacle detouring caused by comfort reduce the problem of.
To achieve the above object, the technical solution of vehicle of the present invention is:
Vehicle includes chassis, wheel, further includes control device and the obstacle detector that connect with control device signal,
Obstacle detector is used to detect the width, height and vehicle of barrier at a distance from barrier, is located at least in chassis the same side
Wheel be along vehicle width direction adjustable position adustable wheel, positioned at forefront and/or positioned at the adjustable of rearmost
Wheel is deflecting roller, and the adustable wheel is connected with for adjusting it along the Wheel space adjusting device of the width position of vehicle,
The deflecting roller is connected with steer-drive, and the control device includes turning to rotation for controlling steer-drive driving
To turning control cell and the width direction regulating wheel that drives the adustable wheel along vehicle for controlling Wheel space adjusting device
Away from wheelspan control unit；When obstacle detector detects the height of barrier more than or equal to chassis height, then turn
It turns to control unit control steer-drive driving deflecting roller to avoid barrier；When obstacle detector detects barrier
The height of object is hindered to be less than chassis height, when the width of barrier is greater than or equal to the maximum wheelspan of vehicle, then turning control cell
Steer-drive driving deflecting roller is controlled to turn to avoid barrier；When obstacle detector detects the height of barrier
When the maximum wheelspan and barrier for being less than vehicle less than the width of chassis height, barrier are in front of corresponding wheel, then wheelspan control
Unit processed control Wheel space adjusting device drive the adustable wheel along vehicle width direction regulating wheel away from and/or course changing control list
Member control steer-drive driving deflecting roller is turned to avoid barrier；When obstacle detector detects the height of barrier
When the maximum wheelspan and barrier that degree is less than chassis height, the width of barrier is less than vehicle are between two front-wheels of vehicle,
Then normal vehicle operation is crossed.
Beneficial effect is: the data of vehicle front real-time detection are passed to control device by the detection device that breaks the barriers,
Control device is set to assign instruction to turning control cell and wheelspan control unit, to make to turn to according to the data information received
Control unit and wheelspan control unit control corresponding device action and are mentioned with realizing the automatic obstacle-avoiding of vehicle in the process of moving
The safety of high vehicle and riding comfort.
The control device further includes the speed control unit for regulation speed, is greater than or equal in the height of barrier
When chassis height, if speed is greater than or equal to setting speed, first slowed down by speed control unit control vehicle, then by turning to
Control unit controls steer-drive driving deflecting roller and turns to avoid barrier；If speed is less than setting speed, directly
It connects and is turned to by turning control cell control steer-drive driving deflecting roller to avoid barrier.Make vehicle when running at high speed
First reduction of speed turns again to avoidance.
The control device further includes the speed control unit for regulation speed, and it is high to be less than chassis in the height of barrier
Degree, barrier width be greater than or equal to vehicle maximum wheelspan when, if speed be greater than or equal to setting speed, first by vehicle
Fast control unit control vehicle slows down, then is turned to by turning control cell control steer-drive driving deflecting roller to avoid barrier
Hinder object；If speed is less than setting speed, directly turned to by turning control cell control steer-drive driving deflecting roller
To avoid barrier.Vehicle elder generation's reduction of speed when running at high speed is set to turn again to avoidance.
The front part of vehicle is additionally provided with the image identification system that the case where vehicle front is shot with video-corder and identified, image is known
Other system is connect with control device signal.By increasing image identification system, control instruction is assigned for control device and is provided accurately
Data information.
Detailed description of the invention
Fig. 1 is the evacuation schematic diagram of vehicle of the invention；
Fig. 2 is the overall structure diagram of vehicle of the invention；
Fig. 3 is the schematic diagram in Fig. 2 at rear-wheel.
Appended drawing reference: 1- vehicle；2- barrier；11- wheel；12- obstacle detector；13- actuator；131- wheelspan
Regulating device；132- steer-drive；14- control device.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
The specific embodiment of vehicle of the invention, as shown in Figure 1 to Figure 3, vehicle 1 include chassis, wheel 11, control device
14 and the obstacle detector 12 that is connect with 14 signal of control device, detection of obstacles module include ultrasonic sensor,
Laser range finder and the image identification system being arranged on vehicle, image identification system is by image capturing system, information processing system
System collectively forms, and in other embodiments, can use the obstacle detector of existing measurement barrier size or distance.Barrier
Hinder analyte detection device 12 for detecting wide, the high and vehicle 1 of barrier 2 at a distance from barrier 2；Wheel 11 includes four,
Including two front-wheels and two rear-wheels, each wheel 11 can turn to regulating wheel away from, i.e., wheel 11 both be adustable wheel, also for
Deflecting roller；Wheel 11 is connected with for adjusting it along the Wheel space adjusting device 131 of the width position of vehicle and turning to driving
Device 132, steer-drive 132 and Wheel space adjusting device 131 constitute actuator 13, for turning to and adjusting to wheel 11
Wheelspan；Control device 14 includes for controlling the turning control cell and be used for that steer-drive 132 drives wheel 11 to turn to
Control Wheel space adjusting device 131 drive the wheel 11 along vehicle 1 width direction regulating wheel away from wheelspan control unit.At it
In his embodiment, only the wheel of the same side can turn to and be adjustable wheelspan.
In the present embodiment, the front of vehicle 1 is arranged in obstacle detector 12, in order to the barrier to vehicle front
2 are detected, and in other embodiments, obstacle detector can be arranged in the middle part or top of vehicle, as long as can
Detect front obstacle.In the present embodiment, the inside of each wheel 11 is equipped with actuator 13, each actuator 13 with
14 signal of control device connection, in order to each wheel can individually turn to regulating wheel away from.Wheelspan in the present embodiment is adjusted
Device is existing structure.
As shown in Figure 1, when vehicle front detects barrier 2 there are obstacle detector 12 when barrier 2, is first passed through
Then size will test information and pass to control device 14, it is then right that control device 14 first analyze to detection information
Steer-drive 132, which is assigned steering order or assigned to Wheel space adjusting device 131, adjusts wheelspan instruction, finally when vehicle passes through barrier
Hindering resets wheel by steer-drive 132 and Wheel space adjusting device 131 after object 2.
Specific evacuation process: the dimension information for the barrier 2 that the obstacle detector 12 of front part of vehicle will test passes
Pass control device 14, the size of the height of the height and 1 chassis of vehicle of 14 disturbance in judgement object 2 of control device, vehicle chassis away from
The height on ground is the height of vehicle chassis, when obstacle detector 12 detects that the height of barrier 2 is greater than or equal to
When the height on 1 chassis of vehicle, then turning control cell assigns the instruction of full-vehicle steering to steer-drive 132 to hide obstacle
Object.
When obstacle detector 12 detect barrier 2 height be less than 1 chassis of vehicle height when, then will continue to examine
Survey the width of barrier 2 and the size of 1 wheelspan L of vehicle.In the present embodiment, by taking unilateral wheel as an example, barrier 2 is in unilateral wheel
11 fronts, when obstacle detector 12 detects that the width of barrier 2 is greater than or equal to the maximum wheelspan L in unilateral side of vehicle 1max
When, then the instruction of full-vehicle steering is assigned with avoiding barrier 2 to steer-drive 132 by turning control cell；Work as barrier
Detection device 12 detects that the width of barrier 2 is less than the maximum wheelspan L in unilateral side of vehicle 1maxWhen, then continuing disturbance in judgement object 2 is
The no front in corresponding wheel 11, when barrier 2 is at the front of corresponding wheel 11, by wheelspan control unit to unilateral wheelspan
Regulating device 131 assigns the instruction for changing wheelspan with avoiding barrier 2, when barrier 2 is between two wheels 11 of vehicle 1
When, then 1 normally travel of vehicle is crossed.
Control device 14 further includes the speed control unit for regulation speed, is greater than or equal in the height of barrier 2
When the chassis height of vehicle 1, if speed is greater than or equal to setting speed, first slowed down by speed control unit control vehicle,
Corresponding wheel 11 is driven to turn to avoid barrier 2 by turning control cell control steer-drive 132 again；If speed is less than
When setting speed, then directly corresponding wheel 11 is driven to turn to avoid barrier by turning control cell control steer-drive 132
Hinder object 2.Setting speed in the present embodiment is safe speed when wheel changes wheelspan.
In the present embodiment, it is greater than or equal in the height of barrier 2 less than the chassis height of vehicle 1, the width of barrier 2
The maximum wheelspan L in the unilateral side of vehicle 1maxWhen, if speed is greater than or equal to setting speed, first controlled by speed control unit whole
Vehicle slows down, then drives corresponding wheel 11 to turn to avoid barrier 2 by turning control cell control steer-drive 132；If
When speed is less than setting speed, then directly corresponding wheel 11 is driven to turn to by turning control cell control steer-drive 132
To avoid barrier 2.
It is less than the unilateral side of vehicle 1 most less than the height on 1 chassis of vehicle, the width of barrier 2 in the height for meeting barrier 2
Big wheelspan LmaxAnd barrier 2 is in the case where 11 front of corresponding wheel, it is first if speed is greater than or equal to setting speed
Slowed down by speed control unit control vehicle, then change wheel is assigned to unilateral Wheel space adjusting device 131 by wheelspan control unit
Away from instruction with avoiding barrier 2；If speed is less than setting speed, directly by wheelspan control unit to unilateral wheelspan tune
Regulating device 131 assigns the instruction for changing wheelspan with avoiding barrier 2.
In other embodiments, can first disturbance in judgement object width, then the height of disturbance in judgement object to carry out wheel
It adjusts to break the barriers；Or the height of disturbance in judgement object and width wheel can be adjusted simultaneously to pass through obstacle
Object.In other embodiments, barrier is in two fronts, can the two sides wheel to vehicle carry out adjusting wheelspan to hide
Barrier.
Claims (4)
1. a kind of vehicle, including chassis, wheel, it is characterised in that: further include control device and connect with control device signal
Obstacle detector, obstacle detector are used to detect the width, height and vehicle of barrier at a distance from barrier, at least
Wheel positioned at chassis the same side is the adustable wheel of the width direction adjustable position along vehicle, is located at forefront and/or position
It is deflecting roller in the adustable wheel of rearmost, the adustable wheel is connected with the width position for adjusting it along vehicle
Wheel space adjusting device, the deflecting roller are connected with steer-drive, and the control device includes turning to driving dress for controlling
Set the turning control cell and drive the adustable wheel along vehicle for controlling Wheel space adjusting device that driving deflecting roller turns to
Width direction regulating wheel away from wheelspan control unit；When obstacle detector detects that the height of barrier is greater than or equal to bottom
When disk height, then turning control cell control steer-drive driving deflecting roller is turned to avoid barrier；When obstacle quality testing
When survey device detects that the height of barrier is less than chassis height, the width of barrier is greater than or equal to the maximum wheelspan of vehicle,
Then turning control cell control steer-drive driving deflecting roller is turned to avoid barrier；When obstacle detector detects
To barrier height be less than chassis height, barrier width be less than vehicle maximum wheelspan and barrier in corresponding wheel
When front, then wheelspan control unit control Wheel space adjusting device drive the adustable wheel along vehicle width direction regulating wheel away from
And/or turning control cell control steer-drive driving deflecting roller is turned to avoid barrier；Work as obstacle detector
It detects the maximum wheelspan that the height of barrier is less than chassis height, the width of barrier is less than vehicle and barrier is in vehicle
Two front-wheels between when, then normal vehicle operation is crossed.
2. vehicle according to claim 1, it is characterised in that: the control device further includes the speed for regulation speed
Control unit, barrier height be greater than or equal to chassis height when, if speed be greater than or equal to setting speed, first by
Speed control unit controls vehicle and slows down, then is turned to by turning control cell control steer-drive driving deflecting roller to avoid
Barrier；If speed is less than setting speed, rotation is directly turned to by turning control cell control steer-drive driving
To avoid barrier.
3. vehicle according to claim 1, it is characterised in that: the control device further includes the speed for regulation speed
Control unit, when the height of barrier is less than chassis height, the width of barrier is greater than or equal to the maximum wheelspan of vehicle, if
When speed is greater than or equal to setting speed, then first slowed down by speed control unit control vehicle, then controlled by turning control cell
Steer-drive drives deflecting roller to turn to avoid barrier；If speed is less than setting speed, directly by course changing control
Unit controls steer-drive driving deflecting roller and turns to avoid barrier.
4. vehicle according to any one of claim 1-3, it is characterised in that: the front part of vehicle is additionally provided with to before vehicle
The image identification system that the situation of side is shot with video-corder and identified, image identification system are connect with control device signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297507.2A CN109318987B (en) | 2018-11-01 | 2018-11-01 | Vehicle with a steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297507.2A CN109318987B (en) | 2018-11-01 | 2018-11-01 | Vehicle with a steering wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318987A true CN109318987A (en) | 2019-02-12 |
| CN109318987B CN109318987B (en) | 2021-07-16 |
Family
ID=65259460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811297507.2A Active CN109318987B (en) | 2018-11-01 | 2018-11-01 | Vehicle with a steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318987B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645621A (en) * | 2020-05-25 | 2020-09-11 | 王彩霞 | Intelligent obstacle avoidance system for automobile |
| CN113753037A (en) * | 2021-08-25 | 2021-12-07 | 北庭星云科技(北京)有限公司 | Artificial intelligence keeps away barrier chassis |
| CN114167855A (en) * | 2021-10-27 | 2022-03-11 | 北京云汉通航科技有限公司 | Obstacle avoidance system for inspection robot and inspection robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2357159B (en) * | 1999-12-07 | 2003-12-31 | Rover Group | A control system |
| KR20120137025A (en) * | 2011-06-10 | 2012-12-20 | 현대모비스 주식회사 | Collision avoidance method for vehicles |
| CN103407491A (en) * | 2013-04-28 | 2013-11-27 | 常雪阳 | Intelligent car and control method thereof |
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN205220853U (en) * | 2015-11-27 | 2016-05-11 | 江苏省交通科学研究院有限公司 | Radar four -wheel adjusting device |
| CN107150733A (en) * | 2017-06-07 | 2017-09-12 | 邓晗 | The robot of energy crossing over blockage |
| CN206856831U (en) * | 2017-06-08 | 2018-01-09 | 杭州师范大学钱江学院 | Adjustable tread searches and rescues car |
| CN107587461A (en) * | 2017-09-06 | 2018-01-16 | 河南天翔新能源专用车有限公司 | The control device and its control method of a kind of mobile sanitizer |
| US20180126850A1 (en) * | 2016-11-08 | 2018-05-10 | Powertrain Control Solutions, LLC | Vehicle With Anti-Collision Safety System |
-
2018
- 2018-11-01 CN CN201811297507.2A patent/CN109318987B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2357159B (en) * | 1999-12-07 | 2003-12-31 | Rover Group | A control system |
| KR20120137025A (en) * | 2011-06-10 | 2012-12-20 | 현대모비스 주식회사 | Collision avoidance method for vehicles |
| CN103407491A (en) * | 2013-04-28 | 2013-11-27 | 常雪阳 | Intelligent car and control method thereof |
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN205220853U (en) * | 2015-11-27 | 2016-05-11 | 江苏省交通科学研究院有限公司 | Radar four -wheel adjusting device |
| US20180126850A1 (en) * | 2016-11-08 | 2018-05-10 | Powertrain Control Solutions, LLC | Vehicle With Anti-Collision Safety System |
| CN107150733A (en) * | 2017-06-07 | 2017-09-12 | 邓晗 | The robot of energy crossing over blockage |
| CN206856831U (en) * | 2017-06-08 | 2018-01-09 | 杭州师范大学钱江学院 | Adjustable tread searches and rescues car |
| CN107587461A (en) * | 2017-09-06 | 2018-01-16 | 河南天翔新能源专用车有限公司 | The control device and its control method of a kind of mobile sanitizer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645621A (en) * | 2020-05-25 | 2020-09-11 | 王彩霞 | Intelligent obstacle avoidance system for automobile |
| CN113753037A (en) * | 2021-08-25 | 2021-12-07 | 北庭星云科技(北京)有限公司 | Artificial intelligence keeps away barrier chassis |
| CN113753037B (en) * | 2021-08-25 | 2023-08-25 | 刘荣 | Artificial intelligence keeps away barrier chassis |
| CN114167855A (en) * | 2021-10-27 | 2022-03-11 | 北京云汉通航科技有限公司 | Obstacle avoidance system for inspection robot and inspection robot |
| CN114167855B (en) * | 2021-10-27 | 2022-08-19 | 北京云汉通航科技有限公司 | Obstacle avoidance system for inspection robot and inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109318987B (en) | 2021-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105593700B (en) | Adaptive learning algorithms with Entrance ramp detection | |
| US7742864B2 (en) | Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus | |
| US9740206B2 (en) | Driving test system for a moving object | |
| US10339391B2 (en) | Fusion-based wet road surface detection | |
| US9880556B2 (en) | Test method and system using a highly agile ground vehicle for intelligent vehicle testing | |
| KR101628503B1 (en) | Driver assistance apparatus and method for operating thereof | |
| CN109318987A (en) | A kind of vehicle | |
| CN105163994B (en) | Drive support apparatus and driving support method | |
| US8700229B2 (en) | Method for controlling a driver assistance system, and driver assistance system | |
| CN104527643B (en) | Velocity aid for motor vehicle | |
| CN101162395B (en) | Method and system for lane centering control | |
| CN102785661A (en) | Lane departure control system and lane departure control method | |
| KR20170063865A (en) | Impact mitigation by intelligent vehicle positioning | |
| EP3431370B1 (en) | Object height determination for automated vehicle steering control system | |
| US20220204034A1 (en) | Method for carrying out an automated or autonomous driving operation of a vehicle | |
| CN109484485B (en) | Vehicle with variable track and chassis height | |
| CN107209995A (en) | Drive assistance device, method and program | |
| CN104271432A (en) | Method and device for determining a lane adaptation parameter for a lane keeping system of a vehicle and method and device for the lane guidance of a vehicle | |
| CN107176567A (en) | A kind of forklift door frame avoiding collision and device | |
| CN110893849A (en) | Obstacle avoidance and lane change control method and device for automatic driving vehicle | |
| KR20140016510A (en) | System for lane keeping assistance based on driver's needs and method for the same | |
| KR101765633B1 (en) | Driving checking system of moving object | |
| CN202271993U (en) | Vehicle drive-assistant device | |
| KR102011665B1 (en) | Apparatus and method for evalutating adaptive cruise control system for vehicle | |
| US20210179105A1 (en) | Vehicle and method of controlling the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190212 Assignee: Shanghai Yijie Computer Technology Co.,Ltd. Assignor: HENAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023980046952 Denomination of invention: A type of vehicle Granted publication date: 20210716 License type: Common License Record date: 20231116 |