CN112904363B - 一种自动驾驶车辆对接拖车自动托挂钩的方法 - Google Patents
一种自动驾驶车辆对接拖车自动托挂钩的方法 Download PDFInfo
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- CN112904363B CN112904363B CN202110068304.1A CN202110068304A CN112904363B CN 112904363 B CN112904363 B CN 112904363B CN 202110068304 A CN202110068304 A CN 202110068304A CN 112904363 B CN112904363 B CN 112904363B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
Description
数据序号 | 数据类型 | 数据内容 | 备注 |
0 | Header | 消息头 | |
1 | float32 | 挂钩点x坐标 | |
2 | float32 | 挂钩点y坐标 | |
3 | float32 | 拖车斜率 | |
4 | float32 | 挂钩点距离 |
Claims (11)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110068304.1A CN112904363B (zh) | 2021-01-19 | 2021-01-19 | 一种自动驾驶车辆对接拖车自动托挂钩的方法 |
PCT/CN2022/072334 WO2022156630A1 (zh) | 2021-01-19 | 2022-01-17 | 一种用于车辆对接拖车的挂接方法和挂接系统 |
Applications Claiming Priority (1)
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CN202110068304.1A CN112904363B (zh) | 2021-01-19 | 2021-01-19 | 一种自动驾驶车辆对接拖车自动托挂钩的方法 |
Publications (2)
Publication Number | Publication Date |
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CN112904363A CN112904363A (zh) | 2021-06-04 |
CN112904363B true CN112904363B (zh) | 2023-04-25 |
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CN202110068304.1A Active CN112904363B (zh) | 2021-01-19 | 2021-01-19 | 一种自动驾驶车辆对接拖车自动托挂钩的方法 |
Country Status (2)
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CN (1) | CN112904363B (zh) |
WO (1) | WO2022156630A1 (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112904363B (zh) * | 2021-01-19 | 2023-04-25 | 北京九曜智能科技有限公司 | 一种自动驾驶车辆对接拖车自动托挂钩的方法 |
CN113805194B (zh) * | 2021-07-30 | 2024-03-29 | 上海西井科技股份有限公司 | 无人车功能组件的复合导航系统、方法、设备及存储介质 |
CN114115236A (zh) * | 2021-10-29 | 2022-03-01 | 中国航空工业集团公司洛阳电光设备研究所 | 一种基于激光雷达的飞机牵引车自动对接导航装置及方法 |
CN116428996B (zh) * | 2023-06-06 | 2023-09-01 | 北京斯年智驾科技有限公司 | 一种吊具高度的检测方法和检测装置 |
CN116413735B (zh) * | 2023-06-12 | 2023-09-22 | 九曜智能科技(浙江)有限公司 | 牵引车和被牵引目标的跟踪对接方法和电子设备 |
CN116424331B (zh) * | 2023-06-13 | 2023-09-22 | 九曜智能科技(浙江)有限公司 | 牵引车和被牵引目标的对接方法和电子设备 |
CN116443012B (zh) * | 2023-06-13 | 2023-09-22 | 九曜智能科技(浙江)有限公司 | 牵引车和并排被牵引目标的对接方法和电子设备 |
CN116945826B (zh) * | 2023-08-17 | 2024-01-30 | 合肥马格勒斯汽车科技发展有限公司 | 一种供电拖车控制方法、系统、存储介质及智能终端 |
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CN112141890A (zh) * | 2020-08-19 | 2020-12-29 | 太原重工股份有限公司 | 用于起重机的自动脱挂钩方法和系统 |
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DE102006056408B4 (de) * | 2006-11-29 | 2013-04-18 | Universität Koblenz-Landau | Verfahren zum Bestimmen einer Position, Vorrichtung und Computerprogrammprodukt |
US11179981B2 (en) * | 2012-07-05 | 2021-11-23 | Uusi, Llc | Vehicle trailer connect system |
GB201312038D0 (en) * | 2013-07-04 | 2013-08-21 | Jaguar Land Rover Ltd | Trailer parameter identification system |
DE102017112786A1 (de) * | 2017-06-09 | 2018-12-13 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Charakterisieren eines an ein Zugfahrzeug angehängten Anhängers, Fahrerassistenzsystem sowie Gespann |
DE102017119968B4 (de) * | 2017-08-31 | 2020-06-18 | Saf-Holland Gmbh | Anhänger und System zur Identifikation eines Anhängers und zur Unterstützung eines Ankupplungsprozesses an eine Zugmaschine |
US10987984B2 (en) * | 2017-09-25 | 2021-04-27 | Continental Automotive Systems, Inc. | Automated trailer hitching using image coordinates |
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US10870323B2 (en) * | 2018-07-18 | 2020-12-22 | Ford Global Technologies, Llc | Compensation for trailer coupler geometry in automatic hitch operation |
CN111366947B (zh) * | 2018-12-26 | 2022-04-22 | 武汉万集信息技术有限公司 | 导航激光雷达对场景的识别方法、装置及系统 |
CN112904363B (zh) * | 2021-01-19 | 2023-04-25 | 北京九曜智能科技有限公司 | 一种自动驾驶车辆对接拖车自动托挂钩的方法 |
-
2021
- 2021-01-19 CN CN202110068304.1A patent/CN112904363B/zh active Active
-
2022
- 2022-01-17 WO PCT/CN2022/072334 patent/WO2022156630A1/zh unknown
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CN1678983A (zh) * | 2002-06-13 | 2005-10-05 | 纳夫科姆技术公司 | 移动拖车跟踪系统和方法 |
CN206106841U (zh) * | 2016-09-22 | 2017-04-19 | 苏州安井自动化设备有限公司 | Agv料车牵引的自动挂接机构 |
CN108663967A (zh) * | 2017-03-27 | 2018-10-16 | 通用汽车环球科技运作有限责任公司 | 用于提供拖车信息的方法和设备 |
CN110636753A (zh) * | 2017-05-18 | 2019-12-31 | 凯斯纽荷兰(中国)管理有限公司 | 用于拖拉机和机具之间的自动连接的系统和方法 |
CN108278981A (zh) * | 2018-02-11 | 2018-07-13 | 北京主线科技有限公司 | 检测无人驾驶挂车轴偏角的装置及其检测方法 |
CN112004696A (zh) * | 2018-05-01 | 2020-11-27 | 大陆汽车系统公司 | 牵引车辆和拖车的对准 |
CN110471058A (zh) * | 2018-05-09 | 2019-11-19 | 福特全球技术公司 | 用于拖车属性的自动检测的系统和方法 |
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CN112141890A (zh) * | 2020-08-19 | 2020-12-29 | 太原重工股份有限公司 | 用于起重机的自动脱挂钩方法和系统 |
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CN112904363A (zh) | 2021-06-04 |
WO2022156630A1 (zh) | 2022-07-28 |
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Application publication date: 20210604 Assignee: Zhongguancun Technology Leasing Co.,Ltd. Assignor: Beijing Jiuquan Intelligent Technology Co.,Ltd. Contract record no.: X2023980040993 Denomination of invention: A Method for Docking Autonomous Vehicles with Trailer Automatic Hitch Granted publication date: 20230425 License type: Exclusive License Record date: 20230901 |
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Denomination of invention: A Method for Docking Autonomous Vehicles with Trailer Automatic Hitch Effective date of registration: 20230904 Granted publication date: 20230425 Pledgee: Zhongguancun Technology Leasing Co.,Ltd. Pledgor: Beijing Jiuquan Intelligent Technology Co.,Ltd. Registration number: Y2023980055220 |