CN111016886A - 一种基于b样条理论的自动泊车路径规划方法 - Google Patents
一种基于b样条理论的自动泊车路径规划方法 Download PDFInfo
- Publication number
- CN111016886A CN111016886A CN201911316423.3A CN201911316423A CN111016886A CN 111016886 A CN111016886 A CN 111016886A CN 201911316423 A CN201911316423 A CN 201911316423A CN 111016886 A CN111016886 A CN 111016886A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parking
- parking space
- constraint
- path
- 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
- 238000000034 method Methods 0.000 title claims abstract description 24
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims abstract description 8
- 238000013459 approach Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Images
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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911316423.3A CN111016886B (zh) | 2019-12-19 | 2019-12-19 | 一种基于b样条理论的自动泊车路径规划方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911316423.3A CN111016886B (zh) | 2019-12-19 | 2019-12-19 | 一种基于b样条理论的自动泊车路径规划方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111016886A true CN111016886A (zh) | 2020-04-17 |
CN111016886B CN111016886B (zh) | 2021-07-30 |
Family
ID=70210470
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911316423.3A Active CN111016886B (zh) | 2019-12-19 | 2019-12-19 | 一种基于b样条理论的自动泊车路径规划方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111016886B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111674390A (zh) * | 2020-05-09 | 2020-09-18 | 惠州市德赛西威汽车电子股份有限公司 | 一种自动泊车路径规划的避障方法及泊车路径规划系统 |
CN112026752A (zh) * | 2020-08-12 | 2020-12-04 | 重庆长安汽车股份有限公司 | 自动泊车路径跟随处理方法、系统、车辆及存储介质 |
CN112078594A (zh) * | 2020-08-31 | 2020-12-15 | 纵目科技(上海)股份有限公司 | 一种智能泊车系统的曲率连续泊车路径规划装置和方法 |
CN112744213A (zh) * | 2021-01-07 | 2021-05-04 | 广州小鹏自动驾驶科技有限公司 | 一种自动泊车的方法和装置 |
CN113978452A (zh) * | 2021-11-10 | 2022-01-28 | 吉林大学 | 一种自动平行泊车路径规划方法 |
WO2023123711A1 (zh) * | 2021-12-28 | 2023-07-06 | 魔门塔(苏州)科技有限公司 | 一种自动泊车路径规划方法、装置、介质及设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102398596A (zh) * | 2010-09-07 | 2012-04-04 | 北京经纬恒润科技有限公司 | 泊车控制装置与系统以及泊车控制方法 |
CN105335797A (zh) * | 2015-11-03 | 2016-02-17 | 浙江大学 | 一种基于全联立动态优化框架的自主泊车轨迹优化方法 |
CN105857306A (zh) * | 2016-04-14 | 2016-08-17 | 中国科学院合肥物质科学研究院 | 一种用于多种泊车场景的车辆自主泊车路径规划方法 |
CN108891412A (zh) * | 2018-07-19 | 2018-11-27 | 吉林大学 | 一种平行泊车的路径规划方法 |
WO2019072449A1 (fr) * | 2017-10-10 | 2019-04-18 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Procede de conduite automatique sous contrainte d'un vehicule, notamment d'un bus dans un centre de remisage, et dispositif mettant en œuvre un tel procede |
CN110239526A (zh) * | 2019-06-05 | 2019-09-17 | 北京理工大学 | 一种基于准均匀b样条曲线的泊车路径规划方法 |
-
2019
- 2019-12-19 CN CN201911316423.3A patent/CN111016886B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102398596A (zh) * | 2010-09-07 | 2012-04-04 | 北京经纬恒润科技有限公司 | 泊车控制装置与系统以及泊车控制方法 |
CN105335797A (zh) * | 2015-11-03 | 2016-02-17 | 浙江大学 | 一种基于全联立动态优化框架的自主泊车轨迹优化方法 |
CN105857306A (zh) * | 2016-04-14 | 2016-08-17 | 中国科学院合肥物质科学研究院 | 一种用于多种泊车场景的车辆自主泊车路径规划方法 |
WO2019072449A1 (fr) * | 2017-10-10 | 2019-04-18 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Procede de conduite automatique sous contrainte d'un vehicule, notamment d'un bus dans un centre de remisage, et dispositif mettant en œuvre un tel procede |
CN108891412A (zh) * | 2018-07-19 | 2018-11-27 | 吉林大学 | 一种平行泊车的路径规划方法 |
CN110239526A (zh) * | 2019-06-05 | 2019-09-17 | 北京理工大学 | 一种基于准均匀b样条曲线的泊车路径规划方法 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111674390A (zh) * | 2020-05-09 | 2020-09-18 | 惠州市德赛西威汽车电子股份有限公司 | 一种自动泊车路径规划的避障方法及泊车路径规划系统 |
CN111674390B (zh) * | 2020-05-09 | 2021-07-02 | 惠州市德赛西威汽车电子股份有限公司 | 一种自动泊车路径规划的避障方法及泊车路径规划系统 |
CN112026752A (zh) * | 2020-08-12 | 2020-12-04 | 重庆长安汽车股份有限公司 | 自动泊车路径跟随处理方法、系统、车辆及存储介质 |
CN112026752B (zh) * | 2020-08-12 | 2021-08-06 | 重庆长安汽车股份有限公司 | 自动泊车路径跟随处理方法、系统、车辆及存储介质 |
CN112078594A (zh) * | 2020-08-31 | 2020-12-15 | 纵目科技(上海)股份有限公司 | 一种智能泊车系统的曲率连续泊车路径规划装置和方法 |
CN112744213A (zh) * | 2021-01-07 | 2021-05-04 | 广州小鹏自动驾驶科技有限公司 | 一种自动泊车的方法和装置 |
CN113978452A (zh) * | 2021-11-10 | 2022-01-28 | 吉林大学 | 一种自动平行泊车路径规划方法 |
CN113978452B (zh) * | 2021-11-10 | 2024-03-22 | 吉林大学 | 一种自动平行泊车路径规划方法 |
WO2023123711A1 (zh) * | 2021-12-28 | 2023-07-06 | 魔门塔(苏州)科技有限公司 | 一种自动泊车路径规划方法、装置、介质及设备 |
Also Published As
Publication number | Publication date |
---|---|
CN111016886B (zh) | 2021-07-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111016886B (zh) | 一种基于b样条理论的自动泊车路径规划方法 | |
CN113386795B (zh) | 一种自动驾驶车辆智能决策及局部轨迹规划方法及其决策系统 | |
CN110723141B (zh) | 一种车辆主动避撞系统及其避撞方式切换方法 | |
CN108032859B (zh) | 自动变道控制方法、装置和汽车 | |
CN113460033B (zh) | 一种自动泊车方法以及装置 | |
CN110696819B (zh) | 一种自动泊车路径规划方法及系统 | |
CN113848914B (zh) | 动态环境下碰撞系数人工势场法局部路径规划方法 | |
CN110850855A (zh) | 一种无线网络远程控车系统和方法 | |
WO2022016351A1 (zh) | 一种行驶决策选择方法以及装置 | |
CN110723142B (zh) | 一种智能汽车紧急避撞控制方法 | |
CN111038507A (zh) | 受传感器限制的车道变换 | |
CN205273455U (zh) | 基于多源异构信息融合的车联网车道巡航防碰撞系统 | |
CN115520218A (zh) | 自动驾驶车辆四点转弯轨迹规划方法 | |
CN109814115A (zh) | 一种垂直泊车的角度识别校正方法 | |
CN115129053A (zh) | 一种机场牵引运输车及其自动驾驶系统 | |
CN107544496A (zh) | 一种改进余弦换道模型的轨迹规划方法 | |
CN208061025U (zh) | 一种基于Dubins路径的无人驾驶车辆避障控制装置 | |
CN115214626B (zh) | 泊车控制方法、泊车控制装置、车辆及存储介质 | |
CN113830084B (zh) | 基于多车道车辆主动避撞的控制方法及车辆 | |
Li et al. | Anti-collision system design of vehicle lane change overtaking | |
CN113085568B (zh) | 一种双向行驶摆渡车的控制系统及双向行驶摆渡车 | |
CN115848363A (zh) | 一种避撞和降损轨迹规划方法 | |
US20220126830A1 (en) | Vehicle control device, vehicle control method, and non-transitory computer readable storage medium | |
CN114454873B (zh) | 一种商用车自动泊车控制系统及自动泊车方法 | |
CN211995540U (zh) | 一种考虑效益最大化的车道变更系统 |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210603 Address after: 330000 3rd floor, east of building B, No.1 R & D building, pioneer Software Park, 948 torch street, Nanchang hi tech Industrial Development Zone, Nanchang City, Jiangxi Province Applicant after: He Da Xin Technology Group Co.,Ltd. Address before: No.3 Yuanquan Avenue, Shangrao economic and Technological Development Zone, Jiangxi Province Applicant before: HANTENG AUTOMOBILE Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240308 Address after: 211800, No. 9-156, Buyue Road, Pukou Economic Development Zone, Pukou District, Nanjing City, Jiangsu Province Patentee after: Qingyan Intelligent Technology (Nanjing) Co.,Ltd. Country or region after: China Address before: 330000 3rd floor, east of building B, No.1 R & D building, pioneer Software Park, 948 torch street, Nanchang hi tech Industrial Development Zone, Nanchang City, Jiangxi Province Patentee before: He Da Xin Technology Group Co.,Ltd. Country or region before: China |
|
TR01 | Transfer of patent right |