CN110435640A - The efficient valet parking planing method cooperateed with based on field end, vehicle end - Google Patents
The efficient valet parking planing method cooperateed with based on field end, vehicle end Download PDFInfo
- Publication number
- CN110435640A CN110435640A CN201910677711.5A CN201910677711A CN110435640A CN 110435640 A CN110435640 A CN 110435640A CN 201910677711 A CN201910677711 A CN 201910677711A CN 110435640 A CN110435640 A CN 110435640A
- Authority
- CN
- China
- Prior art keywords
- parking
- path
- vehicle
- end server
- field
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention discloses a kind of efficient valet parking planing methods cooperateed with based on field end, vehicle end, comprising: S1, field end server, which are received, plans parking path after the request of parking of parking vehicles, and is sent to vehicle end server；S2, vehicle end server control vehicle are travelled according to parking path；Whether the road conditions on the subsequent parking path of real-time judge are suitable for traveling in the process of moving for S3, vehicle end server；It is accurate driving path then to be planned on parking path, and control vehicle and continue to travel according to accurate driving path；It is no, then to field end server request again planning path；S4, field end server to plan parking path again to parking vehicles, and are sent to vehicle end server after receiving the request of planning path again of vehicle end server transmission；S5, S2-S3 is repeated, until travelling to parking vehicles to the terminal of the parking path of planning.It combines the local paths planning of macroscopical path planning at field end and vehicle end, improves the efficiency of automatic parking.
Description
Technical field
The present invention relates to light automatic parking technical field more particularly to a kind of efficient generation visitors cooperateed with based on field end, vehicle end
It parks planing method.
Background technique
As city vehicle increases, parking also becomes more difficult, particularly with more difficult for new hand driver.It is another
Aspect, with the progress and the accelerating rhythm of life in epoch, driver more focuses on the time efficiency of oneself, then major master
Machine factory starts to increase automatic parking function to oneself vehicle.
Automatic parking technology on the market is generally based on the sensor installed on vehicle at present, however because vehicle uploads
The function restriction of sensor itself, so that available parking stall in Vehicular intelligent detection vehicle periphery close range, vehicle stop driving into
It is travelled behind parking lot or repeatedly in parking lot as manually stopping to find suitable parking stall and stop, for many
For large parking lot, vehicle time for wasting on finding parking stall as many as quite, thus can not fundamentally save driving
The pick-up of member is parked the time.Meanwhile being detected based on vehicle self-sensor device, investigative range is not only small, and also increasing can vehicle
Cost, and it is more demanding to draw lines to parking stall.And be only limitted to park, it cannot pick up the car, can not fundamentally solve difficulty of picking up the car of parking,
The technical issues of low efficiency.It is also favorably used in parking lot in the prior art and installs sensor, then using server by sensing
Device obtains detection information to realize although the technology for carrying out parking path planning to vehicle, this technology overcome vehicle entrance and stop
The problem of parking stall is blindly looked for behind parking lot, but the vehicle for travelling according to planning path encounters the situation of burst on path
When, such as mobile barrier etc. is encountered, vehicle needs to return to the signal for encountering obstacle to server, is then thought highly of again by service
New planning path, this process need the more time, are not able to satisfy saving driver equally and take the problem of parking the time.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
The efficient valet parking planing method based on field end, the collaboration of vehicle end that it is a still further object of the present invention to provide a kind of,
The local paths planning of macroscopical path planning at field end and vehicle end is combined, the efficiency of automatic parking is improved.
To achieve the above object with some other purposes, the present invention adopts the following technical scheme:
A kind of efficient valet parking planing method cooperateed with based on field end, vehicle end, comprising the following steps:
S1, field end server receive after the request of parking of parking vehicles, plan road of parking to parking vehicles to be described
Diameter, and the parking path is sent to vehicle end server；
S2, the vehicle end server control control system driving vehicle to parking vehicles are according to the parking path row
It sails；
S3, vehicle end server are described on the subsequent parking path of real-time judge in parking vehicles' driving process
Whether road conditions are suitable for traveling；It is accurate driving path then to be planned on the parking path, and control described to parking vehicles
Control system driving vehicle continues to travel according to the accurate driving path；It is no, then it is advised again to the request of field end server
Draw path；
S4, field end server are after receiving the request of planning path again of vehicle end server transmission, to be described wait moor
Vehicle vehicle plans parking path again, and is sent to vehicle end server；
S5, S2-S3 is repeated, until described travel to parking vehicles to the terminal of the parking path of planning.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, field end described in S1
Server is described to parking vehicles' planning parking path according to the real-time condition at field end.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, the reality at the field end
When situation include an end road conditions and parking stall situation；The road conditions and parking stall situation at the field end are utilized and are set to
The field end sensor at the field end obtains.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, vehicle end described in S3
Server judge the road conditions on the subsequent parking path whether be suitable for traveling standard include: the width of road, barrier,
Traffic density and road flatness.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, vehicle end described in S3
Server plans essence according to the width of the road, barrier, traffic density and road flatness on the parking path
True driving path.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, the vehicle end service
Device plans the criterion of accurate driving path on the parking path are as follows:
It is travelled to parking vehicles in the position close to lane center described in guaranteeing；
It is greater than preset minimum threshold to the spacing of parking vehicles and road edge described in guaranteeing；
Guarantee described to parking vehicles' evacuation barrier.
Preferably, in the efficient valet parking planing method cooperateed with based on field end, vehicle end, the vehicle end service
Device guarantees the method to parking vehicles' evacuation barrier are as follows: according to the direction of the barrier, movement velocity prediction
The movement tendency of barrier, vehicle end server according to the judgement of the movement tendency of the barrier it is described to parking vehicles whether
The barrier can be avoided；It is that accurate driving path is then planned on the parking path；It is no, then to the field
Hold server request planning path again.
The present invention is include at least the following beneficial effects:
In the efficient valet parking planing method cooperateed with based on field end, vehicle end of the invention, after receiving and parking instruction,
Understanding of the field end server by utilizing itself to the real-time condition of field end road and parking stall, can be vehicle Rapid matching parking stall, and
It is that vehicle plans parking path, and server real-time detection in vehicle end travels road in the process of moving according to parking stall and the position of vehicle
Road conditions on diameter can carry out driving path fine planning according to road conditions, to encounter barrier or road in vehicle
When road is relatively narrow, can real-time judge vehicle whether can safety, that is, realize macroscopical path planning and local road
The automatic parking mode that diameter adjustment combines effectively mentions so that vehicle collides with caused by effectively avoiding because of emergency situations
The high efficiency of automatic parking.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Specific embodiment
It elaborates below to the present invention, to enable those of ordinary skill in the art refering to can be real accordingly after this specification
It applies.
A kind of efficient valet parking planing method cooperateed with based on field end, vehicle end, comprising the following steps: S1, the service of field end
Device receives after the request of parking of parking vehicles, plans parking path to parking vehicles to be described, and by the parking path
It is sent to vehicle end server.
S2, the vehicle end server control control system driving vehicle to parking vehicles are according to the parking path row
It sails.
S3, vehicle end server are described on the subsequent parking path of real-time judge in parking vehicles' driving process
Whether road conditions are suitable for traveling；It is accurate driving path then to be planned on the parking path, and control described to parking vehicles
Control system driving vehicle continues to travel according to the accurate driving path；It is no, then it is advised again to the request of field end server
Draw path.
S4, field end server are after receiving the request of planning path again of vehicle end server transmission, to be described wait moor
Vehicle vehicle plans parking path again, and is sent to vehicle end server.
S5, S2-S3 is repeated, until described travel to parking vehicles to the terminal of the parking path of planning.
In the above scheme, after receiving and parking instruction, field end server by utilizing itself is to field end road and parking stall
The understanding of real-time condition can be vehicle Rapid matching parking stall, and be vehicle planning parking road according to parking stall and the position of vehicle
Diameter, and the road conditions on vehicle end server real-time detection driving path in the process of moving, can be according to road conditions for driving path
Carry out fine planning, thus when vehicle encounters barrier or road is relatively narrow, can real-time judge vehicle whether
Can safety, that is, realize macroscopical path planning and local path and adjust the automatic parking mode combined, thus effectively
Avoid because of emergency situations caused by vehicle collide with, effectively raise the efficiency of automatic parking.
In one preferred embodiment, the server of field end described in S1 is described to parking vehicles' rule according to the real-time condition at field end
Draw parking path.
In the above scheme, field end server is to plan parking path to parking vehicles according to the real-time condition at field end, is made
It obtains parking path and adapts to real-time road, i.e., so that parking path is more accurate, feasibility is higher.
In one preferred embodiment, the real-time condition at the field end includes the road conditions and parking stall situation at end；It is described
The road conditions and parking stall situation at field end are obtained using the field end sensor for being set to the field end.
In the above scheme, field end server is according to the real-time road conditions in field end and parking stall situation to the road of parking of vehicle
Diameter is planned, enables to the parking path of planning more efficient.
In one preferred embodiment, the server of vehicle end described in S3 judges whether the road conditions on the subsequent parking path fit
The standard preferably travelled includes: width, barrier, traffic density and the road flatness of road.
In the above scheme, the vehicle difference of vehicle causes the of different sizes of vehicle, road of the field end server for vehicle
Diameter planning does not consider the of different sizes of the vehicle of a variety of models only for vehicle, thus vehicle end server judges subsequent pool
Whether the road conditions of bus or train route diameter are suitable for the width for when driving including road, to be not enough to when vehicle width is larger by current
When road, can inform an end server be the new planning path of the car weight, equally, vehicle driving arrive certain position when, possibility
Occur movable barrier occur or other vehicles also drive to the position on path so that the traveling of vehicle by
Limitation, furthermore road flatness is too low, vehicle lower for chassis is also easily detected by, thus after the judgement of vehicle end server
Whether the road conditions on continuous parking path include: width, barrier, traffic density and the road of road when being suitable for the standard of traveling
Road flatness.
In one preferred embodiment, the server of vehicle end described in S3 according to the road width, barrier, traffic density with
And road flatness plans accurate driving path on the parking path.
In the above scheme, width, barrier, traffic density and road flatness knot of the vehicle end server according to road
Close vehicle the characteristics of can the driving path to vehicle accurately planned on parking path, such as get around barrier
Deng.
In one preferred embodiment, vehicle end server plans the criterion of accurate driving path on the parking path
Are as follows:
It is travelled to parking vehicles in the position close to lane center described in guaranteeing；
It is greater than preset minimum threshold to the spacing of parking vehicles and road edge described in guaranteeing；
Guarantee described to parking vehicles' evacuation barrier.
In the above scheme, vehicle in the process of moving as far as possible close to lane center position traveling can reduce with
The possibility that other lane vehicles scratch, while guaranteeing that the spacing of vehicle and road edge can be avoided the road of vehicle and road edge
Kerb etc. collides with, and guarantees that vehicle evacuation barrier ensure that the safety of driving.
In one preferred embodiment, vehicle end server guarantees the method to parking vehicles' evacuation barrier are as follows: root
The movement tendency of the barrier is predicted according to direction, the movement velocity of the barrier, vehicle end server is according to the barrier
Hinder the movement tendency judgement of object is described whether can avoid to the barrier to parking vehicles；It is then to park described
Accurate driving path is planned on path；It is no, then to field end server request again planning path.
In the above scheme, vehicle end server can predict the movement tendency of barrier, so as to guarantee that vehicle is expert at
To effective evacuation of barrier during sailing.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (7)
1. a kind of efficient valet parking planing method cooperateed with based on field end, vehicle end, wherein include the following steps:
S1, field end server receive after the request of parking of parking vehicles, plan parking path to parking vehicles to be described, and
The parking path is sent to vehicle end server；
S2, the vehicle end server control control system driving vehicle to parking vehicles are travelled according to the parking path；
S3, vehicle end server are in the road conditions on the subsequent parking path of real-time judge in parking vehicles' driving process
It whether is suitable for traveling；It is accurate driving path then to be planned on the parking path, and control the control to parking vehicles
System drive vehicle continues to travel according to the accurate driving path；It is no, then road is planned again to the request of field end server
Diameter；
S4, field end server are after receiving the request of planning path again of vehicle end server transmission, for the vehicle to be parked
Parking path is planned again, and be sent to vehicle end server；
S5, S2-S3 is repeated, until described travel to parking vehicles to the terminal of the parking path of planning.
2. the efficient valet parking planing method cooperateed with as described in claim 1 based on field end, vehicle end, wherein described in S1
Field end server is described to parking vehicles' planning parking path according to the real-time condition at field end.
3. the efficient valet parking planing method cooperateed with as claimed in claim 2 based on field end, vehicle end, wherein the field end
Real-time condition include an end road conditions and parking stall situation；The road conditions and parking stall situation at the field end are utilized and are set
The field end sensor for being placed in the field end obtains.
4. the efficient valet parking planing method cooperateed with as described in claim 1 based on field end, vehicle end, wherein described in S3
Vehicle end server judges whether the road conditions on the subsequent parking path are suitable for that the standard travelled includes: the width of road, hinders
Hinder object, traffic density and road flatness.
5. the efficient valet parking planing method cooperateed with as claimed in claim 4 based on field end, vehicle end, wherein described in S3
Vehicle end server is advised on the parking path according to the width of the road, barrier, traffic density and road flatness
Draw accurate driving path.
6. the efficient valet parking planing method cooperateed with as claimed in claim 5 based on field end, vehicle end, wherein the vehicle end
Server plans the criterion of accurate driving path on the parking path are as follows:
It is travelled to parking vehicles in the position close to lane center described in guaranteeing；
It is greater than preset minimum threshold to the spacing of parking vehicles and road edge described in guaranteeing；
Guarantee described to parking vehicles' evacuation barrier.
7. the efficient valet parking planing method cooperateed with as claimed in claim 6 based on field end, vehicle end, wherein the vehicle end
Server guarantees the method to parking vehicles' evacuation barrier are as follows: is predicted according to the direction of the barrier, movement velocity
The movement tendency of the barrier, vehicle end server are described to parking vehicles according to the judgement of the movement tendency of the barrier
Whether the barrier can be avoided；It is that accurate driving path is then planned on the parking path；It is no, then to institute
State end server request planning path again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910677711.5A CN110435640A (en) | 2019-07-25 | 2019-07-25 | The efficient valet parking planing method cooperateed with based on field end, vehicle end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910677711.5A CN110435640A (en) | 2019-07-25 | 2019-07-25 | The efficient valet parking planing method cooperateed with based on field end, vehicle end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110435640A true CN110435640A (en) | 2019-11-12 |
Family
ID=68431531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910677711.5A Pending CN110435640A (en) | 2019-07-25 | 2019-07-25 | The efficient valet parking planing method cooperateed with based on field end, vehicle end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110435640A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111311944A (en) * | 2020-02-19 | 2020-06-19 | 江苏大学 | Parking lot management system and method under autonomous passenger-riding parking environment |
| CN111341136A (en) * | 2020-02-11 | 2020-06-26 | 浙江吉利汽车研究院有限公司 | Passenger-riding parking method, system and storage medium based on vehicle-road cooperation |
| CN112141090A (en) * | 2020-06-24 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Automatic parking path planning method, system and computer storage medium |
| CN112562407A (en) * | 2020-11-30 | 2021-03-26 | 北京停简单信息技术有限公司 | ODD state pre-judging method and device and autonomous passenger-riding parking system |
| CN112863225A (en) * | 2019-11-28 | 2021-05-28 | 长城汽车股份有限公司 | Method and device for passenger-replacing parking |
| CN113012456A (en) * | 2019-12-19 | 2021-06-22 | 华为技术有限公司 | Autonomous parking method and device |
| CN113147743A (en) * | 2021-04-27 | 2021-07-23 | 东风汽车集团股份有限公司 | Automatic parking method, system and storage medium |
| CN113246963A (en) * | 2020-02-07 | 2021-08-13 | 沃尔沃汽车公司 | Automatic parking assist system, and vehicle-mounted device and method thereof |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
| CN113720339A (en) * | 2020-05-26 | 2021-11-30 | 威马智慧出行科技（上海）有限公司 | Automatic passenger-replacing parking call vehicle cancellation method, electronic equipment and automobile |
| CN113963563A (en) * | 2021-09-23 | 2022-01-21 | 合肥哈工库讯智能科技有限公司 | AMF (advanced metering framework) scheduling control system based on 5G and edge calculation |
| CN114137956A (en) * | 2021-10-28 | 2022-03-04 | 华人运通(上海)云计算科技有限公司 | Vehicle cloud collaborative path planning method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977933A (en) * | 2015-07-01 | 2015-10-14 | 吉林大学 | Regional path tracking control method for autonomous land vehicle |
| WO2016020356A1 (en) * | 2014-08-05 | 2016-02-11 | Valeo Schalter Und Sensoren Gmbh | Provision of driving instructions during a parking manoeuvre |
| CN105702083A (en) * | 2016-04-13 | 2016-06-22 | 重庆邮电大学 | Distributed vision-based parking lot-vehicle cooperative intelligent parking system and method |
| CN106940933A (en) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | A kind of intelligent vehicle decision-making lane-change method based on intelligent transportation system |
| CN108227695A (en) * | 2016-12-14 | 2018-06-29 | 现代自动车株式会社 | Automatic Pilot control device, the system and method including the device |
| CN109767646A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | It parks method and device |
-
2019
- 2019-07-25 CN CN201910677711.5A patent/CN110435640A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020356A1 (en) * | 2014-08-05 | 2016-02-11 | Valeo Schalter Und Sensoren Gmbh | Provision of driving instructions during a parking manoeuvre |
| CN104977933A (en) * | 2015-07-01 | 2015-10-14 | 吉林大学 | Regional path tracking control method for autonomous land vehicle |
| CN105702083A (en) * | 2016-04-13 | 2016-06-22 | 重庆邮电大学 | Distributed vision-based parking lot-vehicle cooperative intelligent parking system and method |
| CN108227695A (en) * | 2016-12-14 | 2018-06-29 | 现代自动车株式会社 | Automatic Pilot control device, the system and method including the device |
| CN106940933A (en) * | 2017-03-08 | 2017-07-11 | 北京理工大学 | A kind of intelligent vehicle decision-making lane-change method based on intelligent transportation system |
| CN109767646A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | It parks method and device |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863225A (en) * | 2019-11-28 | 2021-05-28 | 长城汽车股份有限公司 | Method and device for passenger-replacing parking |
| CN113012456A (en) * | 2019-12-19 | 2021-06-22 | 华为技术有限公司 | Autonomous parking method and device |
| CN113246963B (en) * | 2020-02-07 | 2023-11-03 | 沃尔沃汽车公司 | Automatic parking auxiliary system and vehicle-mounted equipment and method thereof |
| US11787396B2 (en) | 2020-02-07 | 2023-10-17 | Volvo Car Corporation | Automatic parking assistance system, in-vehicle device and method |
| CN113246963A (en) * | 2020-02-07 | 2021-08-13 | 沃尔沃汽车公司 | Automatic parking assist system, and vehicle-mounted device and method thereof |
| CN111341136A (en) * | 2020-02-11 | 2020-06-26 | 浙江吉利汽车研究院有限公司 | Passenger-riding parking method, system and storage medium based on vehicle-road cooperation |
| CN111311944A (en) * | 2020-02-19 | 2020-06-19 | 江苏大学 | Parking lot management system and method under autonomous passenger-riding parking environment |
| CN113720339A (en) * | 2020-05-26 | 2021-11-30 | 威马智慧出行科技（上海）有限公司 | Automatic passenger-replacing parking call vehicle cancellation method, electronic equipment and automobile |
| CN112141090B (en) * | 2020-06-24 | 2023-03-28 | 上汽通用五菱汽车股份有限公司 | Automatic parking path planning method, system and computer storage medium |
| CN112141090A (en) * | 2020-06-24 | 2020-12-29 | 上汽通用五菱汽车股份有限公司 | Automatic parking path planning method, system and computer storage medium |
| CN112562407A (en) * | 2020-11-30 | 2021-03-26 | 北京停简单信息技术有限公司 | ODD state pre-judging method and device and autonomous passenger-riding parking system |
| CN113147743A (en) * | 2021-04-27 | 2021-07-23 | 东风汽车集团股份有限公司 | Automatic parking method, system and storage medium |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
| CN113963563A (en) * | 2021-09-23 | 2022-01-21 | 合肥哈工库讯智能科技有限公司 | AMF (advanced metering framework) scheduling control system based on 5G and edge calculation |
| CN114137956A (en) * | 2021-10-28 | 2022-03-04 | 华人运通(上海)云计算科技有限公司 | Vehicle cloud collaborative path planning method and system |
| CN114137956B (en) * | 2021-10-28 | 2023-11-10 | 华人运通(上海)云计算科技有限公司 | Vehicle cloud cooperative path planning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110435640A (en) | The efficient valet parking planing method cooperateed with based on field end, vehicle end | |
| CN113246985B (en) | Intelligent network vehicle merging and changing control method for expressway ramps under mixed-traveling condition | |
| JP7335350B2 (en) | Remote control for exception handling | |
| CN110293970B (en) | Driving control method and device for automatic driving automobile and automobile | |
| US10453346B2 (en) | Vehicle light control | |
| CN109584571A (en) | Intersection pre-warning and control method and system and sensing device used | |
| CN108162960A (en) | Controlling device for vehicle running | |
| CN107622683A (en) | The crossing passing method and system of autonomous land vehicle | |
| JP7243524B2 (en) | Autonomous driving system | |
| CN109087526A (en) | A kind of intelligent parking method based on Omni-mobile AGV | |
| CN110910646B (en) | Cooperative control method for unmanned buses at intersection | |
| CN108109413A (en) | A kind of information interaction system of automatic driving vehicle and non intelligent traffic participant | |
| CN106470886A (en) | Method for setting up the surrounding model of means of transport | |
| CN106681318A (en) | Vehicle safety control system and method for lane line detection temporary loss in automatic drive | |
| CN107161147A (en) | A kind of vehicle collision avoidance cruise control system and its control method | |
| CN107730883A (en) | Intersection area vehicle scheduling method in Internet of vehicles environment | |
| JPH10105880A (en) | Mobile object control system | |
| JP7234103B2 (en) | Vehicle control device and vehicle control system | |
| JP7271259B2 (en) | Vehicle management system, vehicle management device, and vehicle management method | |
| CN110027551A (en) | More vehicle dispatching methods applied to automatic parking | |
| CN109334668B (en) | Automatic doubling system based on V2X | |
| CN110473419A (en) | A kind of passing method of automatic driving vehicle in no signal lamp intersection | |
| CN109166328A (en) | A kind of operation control system and method based on rubber tire virtual rail train | |
| CN110276983A (en) | A kind of method, system and the vehicle of automatic valet parking | |
| CN110517530A (en) | A kind of urban road Roadside Parking management-control method based on parking robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191112 |
|
| RJ01 | Rejection of invention patent application after publication |