CN110673606A - Edge cleaning method and system of sweeper - Google Patents
Edge cleaning method and system of sweeper Download PDFInfo
- Publication number
- CN110673606A CN110673606A CN201910906015.7A CN201910906015A CN110673606A CN 110673606 A CN110673606 A CN 110673606A CN 201910906015 A CN201910906015 A CN 201910906015A CN 110673606 A CN110673606 A CN 110673606A
- Authority
- CN
- China
- Prior art keywords
- sweeper
- distance information
- distance
- edge
- sweeping
- 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.)
- Withdrawn
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 93
- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010408 sweeping Methods 0.000 claims description 36
- 238000001514 detection method Methods 0.000 claims description 12
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an edge cleaning method and system of a sweeper, which comprises the following steps: a distance acquisition step: acquiring distance information between the sweeper and a road edge; a direction control step: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range. Through combining the autopilot technique with traditional motor sweeper, provide the scheme that an autopilot cleaned, saved the human cost, the precision of the operation of improvement.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an edge sweeping method and system of a sweeper.
Background
The sweeper needs to clean the garbage along the road when cleaning the road, and at the moment, a driver needs to control the distance between the vehicle and the road edge, so that the situation that the sweeper or the vehicle is damaged due to the fact that the distance between the vehicle and the road edge is too close is avoided, and meanwhile, the situation that the sweeper cannot complete the cleaning operation along the road due to the fact that the distance between the vehicle and the road edge is too far is also avoided.
With the further aggravation of aging of the personnel, sanitation operators are in short supply, especially for the drivers of the motor sweeper, because the requirements on the drivers are high, the problem of wasted labor is caused. With the development of product intelligence, autonomous vehicles gradually come into public view, with the ability to be achieved by current autonomous driving being rated at L0-L5. The sanitation vehicle has the characteristics of relatively low running speed and relatively fixed operation scene, and the automatic driving technology can not only meet certain operation requirements but also be continuously tested and optimized when being landed on the ground under the scene, so that the sanitation vehicle has a better application prospect. Meanwhile, the road sweeping problem of the sweeper truck is expected to be developed and researched by means of related technologies and products.
Patent document CN109383513A discloses an automatic driving control method and system for a sanitation sweeper, which collects the position of a vehicle, the actual speed, the state of a signal lamp at an intersection and the remaining time of the signal lamp for keeping the state in real time during the automatic driving process, and obtains the distance between the position of the vehicle and the intersection; when the vehicle is in a green light state, calculating the ratio of the distance to the remaining time of the green light, and if the ratio is greater than the actual vehicle speed, controlling the vehicle to run in an accelerated manner so as to pass through the intersection before the green light changes; when the vehicle is in the red light, the ratio of the distance to the remaining time of the red light is calculated, and if the ratio is smaller than the actual vehicle speed, the vehicle is controlled to run at a reduced speed so as to pass through the intersection after the red light is changed into the green light.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an edge cleaning method and system of a sweeper.
The invention provides an edge cleaning method of a sweeper, which comprises the following steps:
a distance acquisition step: acquiring distance information between the sweeper and a road edge;
a direction control step: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range.
Preferably, the distance acquiring step includes:
acquiring first distance information of the sweeping vehicle from a road edge through a distance detection device arranged on the sweeping vehicle, and acquiring second distance information of the sweeping vehicle from the road edge on a map through a positioning device;
and judging whether the error between the first distance information and the second distance information is within a preset error range, if so, fusing the distance information and the second distance information to obtain the distance information, and if not, stopping the operation of the sweeper or stopping the operation and feeding back the distance information to a background server.
Preferably, the distance detection apparatus includes: any one or any plurality of laser radar, camera and ultrasonic radar.
Preferably, the direction controlling step includes:
and when the distance information is smaller than the preset range, the sweeper is controlled to be away from the road edge.
Preferably, the direction controlling step includes:
and when the distance information is smaller than the preset range, controlling a cleaning device of the sweeper to adjust the position.
According to the invention, the edge sweeping system of the sweeper comprises:
a distance acquisition module: acquiring distance information between the sweeper and a road edge;
a direction control module: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range.
Preferably, the distance acquisition module includes:
acquiring first distance information of the sweeping vehicle from a road edge through a distance detection device arranged on the sweeping vehicle, and acquiring second distance information of the sweeping vehicle from the road edge on a map through a positioning device;
and judging whether the error between the first distance information and the second distance information is within a preset error range, if so, fusing the distance information and the second distance information to obtain the distance information, and if not, stopping the operation of the sweeper or stopping the operation and feeding back the distance information to a background server.
Preferably, the distance detection apparatus includes: any one or any plurality of laser radar, camera and ultrasonic radar.
Preferably, the direction control module includes:
and when the distance information is smaller than the preset range, the sweeper is controlled to be away from the road edge.
Preferably, the direction control module includes:
and when the distance information is smaller than the preset range, controlling a cleaning device of the sweeper to adjust the position.
Compared with the prior art, the invention has the following beneficial effects:
through combining the autopilot technique with traditional motor sweeper, provide the scheme that an autopilot cleaned, saved the human cost, the precision of the operation of improvement.
Through the distance of real-time detection motor sweeper and curbstone to compare this distance with predetermineeing safe operation distance, when actual distance and predetermineeing the distance and have the error, in time adjust the direction of travel of motor sweeper, thereby guaranteed the safe operation of motor sweeper.
The obtained distance information of the sweeper and the road edge is used for adjusting the position of the cleaning device, so that the cleaning device can be timely contracted to effectively avoid the situation that the cleaning device collides the road edge when the distance between the sweeper and the road edge is smaller than the safe operation distance.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a flowchart of the distance acquisition step of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the invention provides an edge cleaning method of a sweeper truck, comprising the following steps:
a distance acquisition step: acquiring distance information between the sweeper and a road edge;
a direction control step: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range. And when the distance information is smaller than the preset range, the sweeper is controlled to be away from the road edge.
Wherein the preset range of the distance between the sweeping vehicle and the road edge is determined according to the relative position of the sweeping device and the sweeping vehicle. The cleaning device comprises a main brush, an edge brush and the like, wherein the cleaning device extends out from the accommodating position during operation to perform operation, and the preset range is mainly determined according to the difference value between the edge position of the extended cleaning device and the relative position of the sweeper.
As shown in fig. 2, the distance acquiring step includes:
first distance information of the cleaning vehicle from the road edge is acquired through a distance detection device arranged on the cleaning vehicle, and second distance information of the cleaning vehicle from the road edge on the map is acquired through a positioning device. And judging whether the error between the first distance information and the second distance information is within a preset error range, if so, fusing the distance information and the second distance information to obtain the distance information, and if not, stopping the operation of the sweeper and feeding back the distance information to the background server.
The data fusion adopts a traditional data fusion method, for example, a kelman filtering method is adopted for data fusion, or priorities are set for distance information acquired by distance detection equipment and distance information on a map, for example, the distance information acquired by the distance detection equipment is used as a credible value, or the distance information on the map is used as a credible value, or a certain weight proportion is set for the distance information acquired by the distance detection equipment and the distance information on the map, and a corresponding result is taken as a credible value.
The distance detection apparatus includes: the road scene information can be acquired by sensors such as a laser radar, a camera, an ultrasonic radar and a millimeter wave radar, the information collected by the sensors is subjected to information fusion and then is sent to the vehicle control unit, and the vehicle control unit is used for controlling the operation of the sweeper. The method comprises the steps of obtaining the distance between a vehicle and a road edge by using a laser radar configured on the sweeper, comparing the actual distance with a preset safe operation distance for edge cleaning, and controlling the sweeper to turn when the actual distance is greater than the preset distance so as to maintain the actual distance at the preset distance. And when the actual distance is smaller than the preset distance, controlling the sweeper to steer to keep the actual distance at the preset distance.
Besides the distance between the vehicle and the road edge is obtained through the laser radar, road image information can be collected through a camera arranged on the vehicle and sent to the image analysis module, and the distance between the road edge and the sweeper is further obtained by identifying the road edge and the sweeper from the image analysis module. Meanwhile, the sweeper can also send ultrasonic waves through the configured ultrasonic radar, and the distance is calculated and determined according to the time of the ultrasonic waves to and from the sweeper and the road edge. Or the distance between the sweeper and the road edge is acquired through other sensors. Meanwhile, the distance information acquired by each sensor can be sent to the information fusion module for fusion processing, so that the distance between the sweeper and the road edge can be determined more accurately.
The method comprises the steps that a sweeper acquires a high-precision map of a cleaning road section, distance information between the sweeper and a road edge is acquired from the high-precision map, the acquired distance between the sweeper and the road edge is corrected with the distance information on the high-precision map, when the error of the two distances is smaller than a preset error range value, the two distances are fused, an actual distance is determined, when the error of the two distances is larger than the preset error range value, the sweeper stops working, and the error information is fed back to a background server.
The sweeper can control the sweeper while controlling the sweeper, such as adjusting the opening, closing, rotation and rotation speed of the sweeping disc by controlling a motor of the sweeping disc, and adjusting the operation position by controlling the telescopic device of the sweeping disc.
When the acquired distance between the sweeper and the road edge is smaller than the preset distance, the sweeping device is controlled to adjust the position, so that the sweeping device is contracted, and the situation that the sweeping device is damaged due to the fact that the sweeping device is excessively close to the road edge is avoided. And when the acquired distance between the sweeper and the road edge is greater than the preset distance, determining whether to extend or keep the sweeping device in the original state according to the requirement.
The sweeper controls the advancing direction of the vehicle through the vehicle control unit, and the vehicle control unit controls a vehicle steering system, so that the vehicle turns left or right. The sweeper has various cleaning operation modes such as an automatic track-seeking cleaning mode and a lane cleaning mode, and after the sweeper starts the road edge cleaning mode, the distance between the sweeper and the road edge is adjusted through the scheme, so that the sweeper can keep moving at a preset distance.
On the basis of the above-mentioned edge cleaning method for the sweeper, the present invention further provides an edge cleaning system for the sweeper, comprising:
a distance acquisition module: acquiring distance information between the sweeper and a road edge;
a direction control module: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An edge-sweeping method of a sweeper truck, comprising:
a distance acquisition step: acquiring distance information between the sweeper and a road edge;
a direction control step: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range.
2. The method of sweeping a sweeper truck according to claim 1, wherein the distance acquiring step includes:
acquiring first distance information of the sweeping vehicle from a road edge through a distance detection device arranged on the sweeping vehicle, and acquiring second distance information of the sweeping vehicle from the road edge on a map through a positioning device;
and judging whether the error between the first distance information and the second distance information is within a preset error range, if so, fusing the distance information and the second distance information to obtain the distance information, and if not, stopping the operation of the sweeper or stopping the operation and feeding back the distance information to a background server.
3. The edge-sweeping method of a sweeper truck according to claim 2, characterized in that the distance detecting apparatus includes: any one or any plurality of laser radar, camera and ultrasonic radar.
4. The method of sweeping an edge of a sweeper truck of claim 1, wherein the direction controlling step includes:
and when the distance information is smaller than the preset range, the sweeper is controlled to be away from the road edge.
5. The method of sweeping an edge of a sweeper truck of claim 1, wherein the direction controlling step includes:
and when the distance information is smaller than the preset range, controlling a cleaning device of the sweeper to adjust the position.
6. An edge-sweeping system for a sweeper, comprising:
a distance acquisition module: acquiring distance information between the sweeper and a road edge;
a direction control module: and controlling the traveling direction of the sweeper according to the acquired distance information, so that the distance between the sweeper and the road edge is kept within a preset range.
7. The edge-sweeping system of a sweeper truck of claim 6, wherein the distance acquisition module includes:
acquiring first distance information of the sweeping vehicle from a road edge through a distance detection device arranged on the sweeping vehicle, and acquiring second distance information of the sweeping vehicle from the road edge on a map through a positioning device;
and judging whether the error between the first distance information and the second distance information is within a preset error range, if so, fusing the distance information and the second distance information to obtain the distance information, and if not, stopping the operation of the sweeper or stopping the operation and feeding back the distance information to a background server.
8. The edge-sweeping system of a sweeper truck of claim 7, wherein the distance detection apparatus includes: any one or any plurality of laser radar, camera and ultrasonic radar.
9. The edge-sweeping system of a sweeper truck of claim 6, wherein the directional control module includes:
and when the distance information is smaller than the preset range, the sweeper is controlled to be away from the road edge.
10. The edge-sweeping system of a sweeper truck of claim 6, wherein the directional control module includes:
and when the distance information is smaller than the preset range, controlling a cleaning device of the sweeper to adjust the position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906015.7A CN110673606A (en) | 2019-09-24 | 2019-09-24 | Edge cleaning method and system of sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906015.7A CN110673606A (en) | 2019-09-24 | 2019-09-24 | Edge cleaning method and system of sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110673606A true CN110673606A (en) | 2020-01-10 |
Family
ID=69077507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910906015.7A Withdrawn CN110673606A (en) | 2019-09-24 | 2019-09-24 | Edge cleaning method and system of sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110673606A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112081046A (en) * | 2020-09-10 | 2020-12-15 | 芜湖酷哇机器人产业技术研究院有限公司 | Intelligent cleaning device and method suitable for sanitation vehicle |
| CN113863195A (en) * | 2021-11-03 | 2021-12-31 | 安徽酷哇机器人有限公司 | Edge cleaning method and sweeper |
| CN113882300A (en) * | 2021-10-19 | 2022-01-04 | 长沙中联重科环境产业有限公司 | Sweeping disc adjusting device, sweeping adjusting system and control method of sweeping device |
| CN114137964A (en) * | 2021-11-09 | 2022-03-04 | 长沙中联重科环境产业有限公司 | Vehicle attitude and sweeping disc and road edge following control method, device and equipment and special vehicle |
| CN114253275A (en) * | 2021-12-27 | 2022-03-29 | 东风悦享科技有限公司 | Path tracking control adjustment method for expressway unmanned sweeper |
| CN114137964B (en) * | 2021-11-09 | 2024-05-31 | 长沙中联重科环境产业有限公司 | Vehicle posture and sweeping disc and road edge following control method, device, equipment and special vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005332055A (en) * | 2004-05-18 | 2005-12-02 | Fuji Heavy Ind Ltd | Autonomous traveling cleaning robot |
| CN103696381A (en) * | 2013-12-20 | 2014-04-02 | 长沙中联重科环卫机械有限公司 | Control method, control device, control system and sweeping vehicle for road edge cleaning |
| CN106767853A (en) * | 2016-12-30 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of automatic driving vehicle high-precision locating method based on Multi-information acquisition |
| CN107981782A (en) * | 2017-12-27 | 2018-05-04 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN108027609A (en) * | 2016-07-26 | 2018-05-11 | 深圳市赛亿科技开发有限公司 | House keeper robot and control method |
| CN108845343A (en) * | 2018-07-03 | 2018-11-20 | 河北工业大学 | The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map |
| CN109581345A (en) * | 2018-11-28 | 2019-04-05 | 深圳大学 | Object detecting and tracking method and system based on millimetre-wave radar |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
| CN109828581A (en) * | 2019-02-27 | 2019-05-31 | 同济大学 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
-
2019
- 2019-09-24 CN CN201910906015.7A patent/CN110673606A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005332055A (en) * | 2004-05-18 | 2005-12-02 | Fuji Heavy Ind Ltd | Autonomous traveling cleaning robot |
| CN103696381A (en) * | 2013-12-20 | 2014-04-02 | 长沙中联重科环卫机械有限公司 | Control method, control device, control system and sweeping vehicle for road edge cleaning |
| CN108027609A (en) * | 2016-07-26 | 2018-05-11 | 深圳市赛亿科技开发有限公司 | House keeper robot and control method |
| CN106767853A (en) * | 2016-12-30 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of automatic driving vehicle high-precision locating method based on Multi-information acquisition |
| CN107981782A (en) * | 2017-12-27 | 2018-05-04 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN108845343A (en) * | 2018-07-03 | 2018-11-20 | 河北工业大学 | The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map |
| CN109581345A (en) * | 2018-11-28 | 2019-04-05 | 深圳大学 | Object detecting and tracking method and system based on millimetre-wave radar |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
| CN109828581A (en) * | 2019-02-27 | 2019-05-31 | 同济大学 | A kind of Multimode Intelligent electric cleaning car with automated driving system |
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112081046A (en) * | 2020-09-10 | 2020-12-15 | 芜湖酷哇机器人产业技术研究院有限公司 | Intelligent cleaning device and method suitable for sanitation vehicle |
| CN113882300A (en) * | 2021-10-19 | 2022-01-04 | 长沙中联重科环境产业有限公司 | Sweeping disc adjusting device, sweeping adjusting system and control method of sweeping device |
| CN113863195A (en) * | 2021-11-03 | 2021-12-31 | 安徽酷哇机器人有限公司 | Edge cleaning method and sweeper |
| CN114137964A (en) * | 2021-11-09 | 2022-03-04 | 长沙中联重科环境产业有限公司 | Vehicle attitude and sweeping disc and road edge following control method, device and equipment and special vehicle |
| CN114137964B (en) * | 2021-11-09 | 2024-05-31 | 长沙中联重科环境产业有限公司 | Vehicle posture and sweeping disc and road edge following control method, device, equipment and special vehicle |
| CN114253275A (en) * | 2021-12-27 | 2022-03-29 | 东风悦享科技有限公司 | Path tracking control adjustment method for expressway unmanned sweeper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110673606A (en) | Edge cleaning method and system of sweeper | |
| US11462022B2 (en) | Traffic signal analysis system | |
| CN109649393B (en) | Path planning method and device for automatically driving lane change | |
| CN110386148B (en) | Control method and device for automatic driving vehicle and vehicle | |
| US10239539B2 (en) | Vehicle travel control method and vehicle travel control device | |
| CN106458214B (en) | The method of driver assistance system of the operation for automatically manipulating motor vehicle and corresponding motor vehicle | |
| CN111469836A (en) | Obstacle avoidance method and device based on vehicle-mounted unit and road side unit, and storage medium | |
| CN106681318A (en) | Vehicle safety control system and method for lane line detection temporary loss in automatic drive | |
| WO2018134296A1 (en) | System and method of using crowd-sourced driving path data in an autonmous or semi-autonomous driving system | |
| EP3575174B1 (en) | Object position history playback for automated vehicle transition from autonomous-mode to manual-mode | |
| US10930153B2 (en) | Vehicle external notification device | |
| CN110389589A (en) | Intelligent driving vehicle obstacle-avoidance system and method | |
| US9875416B2 (en) | Situation analysis for a driver assistance system | |
| DE102013208763A1 (en) | Method and device for recognizing a starting intention of a holding vehicle | |
| EP3528231A1 (en) | Vehicle travel control method and vehicle travel control device | |
| CN110673595B (en) | Method and system for avoiding obstacle during automatic driving of vehicle and vehicle | |
| RU2719083C1 (en) | Method for controlling movement and device for controlling movement of vehicle | |
| CN112918472A (en) | Vehicle driving assistance system, vehicle using the same, and corresponding method and medium | |
| CN111103882A (en) | Autonomous following control method for unmanned electric vehicle | |
| CN113496612B (en) | Operation management device and operation management method for autonomous vehicle | |
| WO2023213200A1 (en) | Method for vehicle-to-vehicle encounters and related apparatus | |
| CN117091617A (en) | Path planning method, device, equipment and storage medium based on passable area | |
| CN113370994A (en) | Automatic driving behavior decision method based on surrounding vehicle behaviors | |
| RU2791347C1 (en) | Parking assistance method and a parking assistance device | |
| CN111469841B (en) | Curve target selection method, vehicle-mounted equipment and storage medium |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200110 |