CN113359147A - Method and device for judging motion states of vehicle and target object - Google Patents
Method and device for judging motion states of vehicle and target object Download PDFInfo
- Publication number
- CN113359147A CN113359147A CN202010153332.9A CN202010153332A CN113359147A CN 113359147 A CN113359147 A CN 113359147A CN 202010153332 A CN202010153332 A CN 202010153332A CN 113359147 A CN113359147 A CN 113359147A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- vehicle body
- coordinate system
- moment
- body coordinate
- 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
Images
Classifications
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method and a device for judging the motion states of a vehicle and a target object, and belongs to the technical field of intelligent driving of vehicles. The method comprises the steps of firstly obtaining position information of corresponding target objects under vehicle body coordinate systems at different moments before and after the target object, then converting the position information of the vehicle body coordinate systems at different moments into the same vehicle body coordinate system according to the vehicle body self information and a vehicle motion model, and judging the state of the target object under the same vehicle body coordinate system according to the front and back different position information. According to the method, the judgment of the motion state of the target object can be realized only by acquiring the position information of the target object in the vehicle body coordinate system, acquiring the absolute position information of the vehicle and the target object without an additional positioning system and without complex coordinate conversion calculation, so that the difficulty is reduced, and the accuracy is improved.
Description
Technical Field
The invention relates to a method and a device for judging the motion states of a vehicle and a target object, and belongs to the technical field of intelligent driving of vehicles.
Background
In the running process of the automatic driving vehicle, surrounding obstacles and environmental information need to be sensed in real time, and judgment basis is provided for a decision-making system and a control execution system, so that the operations of lane changing, deceleration, parking and the like are executed. The sensed information includes information of the target position, the target motion state (whether the target is moving or stationary, what the speed of the motion is), the target type, and the like.
The automatic driving perception of the target is completed by detecting target information (position, speed and type) through sensors such as a laser radar, a millimeter wave radar or a vision camera and converting the target information into a vehicle body coordinate system. At this time, the speed information of the target object is the relative speed in the vehicle body coordinate system, and if the motion state of the target object is judged, the relative speed needs to be converted into the absolute speed. At present, the main idea of calculating the motion state of a target object is to convert target information sensed by a sensing sensor into an absolute coordinate system for judgment, firstly, the position of a vehicle body under the geodetic coordinate system is obtained according to a GNSS positioning system, after the sensor detects the target information, the position of the target relative to the vehicle body and the position of the vehicle body under the geodetic coordinate system are known, the target information is transmitted to the geodetic coordinate system, and then, the motion state of the target is judged according to the absolute information. For example, chinese patent application publication No. CN109143242A discloses an obstacle absolute velocity estimation method, which includes measuring an absolute velocity of a vehicle at a current time by using a combined navigation device, obtaining a relative velocity of an obstacle with respect to the vehicle at a second time by using a millimeter radar, and adding the absolute velocity of the vehicle at the current time and the corrected relative velocity of the obstacle at the current time to obtain the absolute velocity of the obstacle at the current time, so as to obtain a motion state of the obstacle. Although the method can judge the motion state of the target object, the method needs to rely on information output by combined navigation equipment (such as a GNSS system), needs to rely on an additional system, has higher system complexity, can receive shielding of urban buildings, overhead frames, tunnels and the like in the running process of an automatic driving vehicle, has larger GNSS positioning error, and greatly reduces the accuracy of the motion state of the target object obtained by the method.
Disclosure of Invention
The invention aims to provide a method and a device for judging the motion state of a vehicle and a target object, which are used for solving the problems of complex coordinate conversion and low accuracy in the current judgment of the motion state of the target object.
The present invention provides a method for determining a motion state of a target object, which comprises the following steps:
acquiring the positions of target objects in a vehicle body coordinate system at different moments, and acquiring the speeds of a left wheel and a right wheel of a vehicle and the distance between the left wheel and the right wheel of the vehicle within the interval time of two different moments;
calculating the turning angle and the driving distance of the vehicle in the time interval according to the vehicle motion model, the speeds of the left wheel and the right wheel of the vehicle and the distance between the left wheel and the right wheel of the vehicle so as to determine the coordinate conversion relation between the coordinate systems of the vehicle body at two different moments;
and converting the positions of the target objects in the vehicle body coordinate systems at two different moments into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the target objects in the converted same vehicle body coordinate system.
The invention also provides a device for judging the motion state of the target object, which comprises a memory, a processor and a computer program stored on the memory and operated on the processor, wherein the processor is coupled with the memory, and the method for judging the motion state of the target object is realized when the processor executes the computer program.
The method comprises the steps of firstly obtaining position information of corresponding target objects under vehicle body coordinate systems at different moments before and after the target object, then converting the position information of the vehicle body coordinate systems at different moments into the same vehicle body coordinate system according to the vehicle body self information and a vehicle motion model, and judging the state of the target object under the same vehicle body coordinate system according to the front and back different position information. According to the method, the judgment of the motion state of the target object can be realized only by acquiring the position information of the target object in the vehicle body coordinate system, acquiring the absolute position information of the vehicle and the target object without an additional positioning system and without complex coordinate conversion calculation, so that the difficulty is reduced, and the accuracy is improved.
Further, to realize the conversion of the same body coordinate system, the formula adopted in the conversion of the same body coordinate system is as follows:
Δx＝s·sin(θ2),Δy＝s·cos(θ2)
wherein (x)1,y1) Is the position of the object under the coordinate system of the vehicle body at the first moment, (x)1′,y1') is (x)1,y1) Converting to the position under the body coordinate system at the second moment, s is the moving distance of the vehicle from the first moment to the second moment, and theta1The angle the vehicle has turned from the first moment to the second moment.
Further, to accurately obtain the angle that the vehicle has turned through, the angle that the vehicle has turned through in the time interval is:
wherein theta is1Angle of vehicle turn, Δ t is time interval, vlSpeed, v, of the left wheel of the vehiclerIs the speed of the right wheel of the vehicle and l is the distance between the left and right wheels.
Furthermore, the invention also provides a basis for judging the motion state, and if the difference between the coordinate values of the target object at the front and the back different moments is larger than a set threshold value under the same vehicle body coordinate system, the target object is judged to be in the motion state in the time period.
Further, when the absolute speed of the target object is accurately judged and the target object is in a moving state, the method further comprises the step of calculating the moving speed of the target object according to coordinate values of the target object at two different moments in front and at two different moments in the same vehicle body coordinate system.
The invention also provides a vehicle, which comprises a perception sensor, a vehicle body information collector and a controller, wherein the perception sensor, the vehicle body information collector and the controller are arranged on a vehicle body, the perception sensor is used for acquiring the positions of target objects in a vehicle body coordinate system at different moments, and the vehicle body information collector is used for acquiring the speeds of the left wheel and the right wheel of the vehicle in the interval time of two different moments; the controller calculates the rotating angle and the running distance of the vehicle in the time interval according to the distance between the left wheel and the right wheel and the information acquired by the vehicle body information collector and the perception sensor, so as to determine the coordinate conversion relation between the vehicle body coordinate systems at two different moments; and converting the positions of the target objects in the vehicle body coordinate systems at two different moments into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the target objects in the converted same vehicle body coordinate system.
The method comprises the steps of firstly obtaining position information of corresponding target objects under vehicle body coordinate systems at different moments before and after the target object, then converting the position information of the vehicle body coordinate systems at different moments into the same vehicle body coordinate system according to the vehicle body self information and a vehicle motion model, and judging the state of the target object under the same vehicle body coordinate system according to the front and back different position information. According to the method, the judgment of the motion state of the target object can be realized only by acquiring the position information of the target object in the vehicle body coordinate system, acquiring the absolute position information of the vehicle and the target object without an additional positioning system and without complex coordinate conversion calculation, so that the difficulty is reduced, and the accuracy is improved.
Further, the perception sensor is a laser radar, a millimeter wave radar or a visual camera.
Further, the formula adopted under the same vehicle body coordinate system is converted into:
Δx＝s·sin(θ2),Δy＝s·cos(θ2)
wherein (x)1,y1) Is the position of the object under the coordinate system of the vehicle body at the first moment, (x)1′,y1') is (x)1,y1) Converting to the position under the body coordinate system at the second moment, s is the moving distance of the vehicle from the first moment to the second moment, and theta1The angle the vehicle has turned from the first moment to the second moment.
Further, the vehicle body information collector is an inertial sensor for accurately acquiring the vehicle body information.
Drawings
FIG. 1 is a schematic diagram of autonomous driving target perception in an embodiment of the present invention;
FIG. 2 is a schematic view of the movement of a vehicle in an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Method embodiment
The invention provides a method for judging the motion state of a target object, which aims at solving the problems of high complexity and low accuracy caused by adopting absolute coordinates for conversion in the process of judging the motion state of the target object at present. According to the method, only the position information of the target object in the vehicle body coordinate system and the information of the vehicle are required to be acquired, and the absolute position information of the vehicle and the target object is not required to be acquired by an additional positioning system. The following describes in detail a method for determining a moving state of an object according to the present invention, taking an autonomous vehicle as an example.
1. Position information and vehicle body information of the target object are obtained.
Suppose that the autonomous vehicle is at t1The position of the target object under the vehicle body coordinate system is measured to be (x) at any moment1,y1) At t2The position of the target object under the vehicle body coordinate system is measured to be (x) at any moment2,y2) Specifically, a position of the target object in the vehicle body coordinate system at the current time may be acquired by using a sensing sensor such as a laser radar, a millimeter wave radar, or a vision camera, as shown in fig. 1.
Will drive the vehicle automatically at t1To t2The vehicle body motion between the two is regarded as the rotation and translation motion of the vehicle body, and the rotation and translation of the vehicle body are calculated by using the vehicle body information (wheel speed, wheel track), and the vehicle t is assumed1～t2The speeds of the left wheel and the right wheel are v respectively1And vr(the period is short, the vehicle speed is considered to be constant), the distance between two wheels of the vehicle is l, and the vehicle speed t can be calculated from the vehicle motion model as shown in FIG. 21Move to time t2The angle of rotation and the distance of movement are respectively:
wherein theta is1For the angle of the vehicle turning, Δ t is the time interval, Δ t ═ t2-t1，vlSpeed, v, of the left wheel of the vehiclerIs the speed of the right wheel of the vehicle and l is the distance between the left and right wheels.
2. And (5) carrying out coordinate conversion.
According to vehicle t1Position under the time body coordinate system, vehicle t2Position in the time body coordinate system and the time t of the vehicle1Move to time t2The rotated angle and the moving distance convert the position information under the vehicle body coordinate system at different moments into the same vehicle body coordinate system.
t1Position (x) of the time-of-day body coordinate system1,y1) At t2Using (x) in the time of day vehicle body coordinate system1′,y1') due to the vehicle at t1To t2The time is short (generally not more than 0.1s), and the moving distance can be regarded as a straight line, namely, the moving distance in FIG. 2
Then (x)1′,y1') is:
Δx＝s·sin(θ2),Δy＝s·cos(θ2)
3. and judging the motion state of the target object.
The state of the target object is judged according to the positions of the front and the rear of the target object in the same vehicle body coordinate system, and the embodiment can judge the state of the target object according to the position of the target object at t2Time position and transition to t2Time t in time coordinate system1The motion state of the target object is determined by the position of the target object, and the specific calculation formula is as follows:
when any one of the delta _ x and the delta _ y is larger than a set threshold, the target object is judged to be in a motion state, otherwise, the target object is judged to be in a static state, and the size of the threshold can be determined according to the actual situation.
When the target object is determined to be in the motion state, in order to more accurately know the motion state of the target object, the present invention can also determine the component of the absolute velocity of the target object in the vehicle direction, and for the embodiment, the velocity component is:
wherein (V)x,Vy) Is the component of the absolute velocity of the target object in the direction of the vehicle at the moment.
Through the process, the absolute speed of the target object is calculated only through the perception sensor and the vehicle body information, the motion state of the target object can be judged without the assistance of an additional GNSS system or other systems, the system is simplified, the solving difficulty is reduced, the stability of the system is enhanced, and complex coordinate conversion is not needed.
Device embodiment
The object motion state judgment device comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor is coupled with the memory, and the judgment method of the object motion state is realized when the processor executes the computer program. The specific implementation process has been described in detail in the method embodiment, and is not described herein again.
Embodiments of the vehicle
The vehicle comprises a perception sensor, a vehicle body information collector and a controller which are arranged on a vehicle body, wherein the perception sensor and the vehicle body information collector are connected with the controller, the perception sensor is used for obtaining position information of a target object outside the vehicle, a laser radar, a millimeter wave radar or a vision camera is generally adopted, the vehicle body information collector is used for obtaining wheel speed information of the vehicle, an inertial sensor can be used for detecting the wheel speed information, the controller can calculate course angle and displacement change of vehicle motion according to the wheel speed information detected by the inertial sensor, the motion state of the target object is judged by the motion state judgment method of the target object according to the information obtained by the perception sensor, and the controller can adopt a whole vehicle controller of the vehicle, and can also be other controllers on the vehicle or newly-added devices capable of realizing a logic control function.
Claims (10)
1. A method for judging the motion state of a target object is characterized by comprising the following steps:
acquiring the positions of target objects in a vehicle body coordinate system at different moments, and acquiring the speeds of a left wheel and a right wheel of a vehicle and the distance between the left wheel and the right wheel of the vehicle within the interval time of two different moments;
calculating the turning angle and the driving distance of the vehicle in the time interval according to the vehicle motion model, the speeds of the left wheel and the right wheel of the vehicle and the distance between the left wheel and the right wheel of the vehicle so as to determine the coordinate conversion relation between the coordinate systems of the vehicle body at two different moments;
and converting the positions of the target objects in the vehicle body coordinate systems at two different moments into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the target objects in the converted same vehicle body coordinate system.
2. The method for determining a moving state of an object according to claim 1, wherein the formula used in converting the same vehicle body coordinate system is:
Δx＝s·sin(θ2),Δy＝s·cos(θ2)
wherein (x)1,y1) Is the position of the object under the coordinate system of the vehicle body at the first moment, (x)1′,y1') is (x)1,y1) Converting to the position under the body coordinate system at the second moment, s is the moving distance of the vehicle from the first moment to the second moment, and theta1The angle the vehicle has turned from the first moment to the second moment.
3. The method according to claim 1 or 2, wherein the angle through which the vehicle turns within the time interval is:
wherein theta is1Angle of vehicle turn, Δ t is time interval, vlSpeed, v, of the left wheel of the vehiclerIs the speed of the right wheel of the vehicle and l is the distance between the left and right wheels.
4. The method according to claim 1, wherein if a difference between coordinate values of the object at two different times before and after the object is greater than a predetermined threshold value in the same vehicle coordinate system, it is determined that the object is in a moving state within the time period.
5. The method for determining a moving state of an object according to claim 1 or 4, wherein when it is determined that the object is in a moving state, the method further comprises the step of calculating a moving speed of the object based on coordinate values of the object in the same body coordinate system at two different times before and after.
6. An apparatus for determining a motion state of an object, the apparatus comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor is coupled to the memory, and the processor executes the computer program to implement the method for determining a motion state of an object according to any one of claims 1 to 5.
7. A vehicle is characterized by comprising a perception sensor, a vehicle body information collector and a controller, wherein the perception sensor is arranged on a vehicle body and used for acquiring the positions of target objects in a vehicle body coordinate system at different moments; the controller calculates the rotating angle and the running distance of the vehicle in the time interval according to the distance between the left wheel and the right wheel and the information acquired by the vehicle body information collector and the perception sensor, so as to determine the coordinate conversion relation between the vehicle body coordinate systems at two different moments; and converting the positions of the target objects in the vehicle body coordinate systems at two different moments into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the target objects in the converted same vehicle body coordinate system.
8. The vehicle of claim 7, wherein the perception sensor is a lidar, a millimeter wave radar, or a vision camera.
9. The vehicle of claim 7, wherein the formula used in transforming the same body coordinate system is:
Δx＝s·sin(θ2),Δy＝s·cos(θ2)
wherein (x)1,y1) Is the position of the object under the coordinate system of the vehicle body at the first moment, (x)1′,y1') is (x)1,y1) Converting to the position under the body coordinate system at the second moment, s is the moving distance of the vehicle from the first moment to the second moment, and theta1The angle the vehicle has turned from the first moment to the second moment.
10. The vehicle of claim 7 or 9, characterized in that the vehicle body information collector is an inertial sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153332.9A CN113359147B (en) | 2020-03-06 | 2020-03-06 | Method and device for judging motion states of vehicle and target object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153332.9A CN113359147B (en) | 2020-03-06 | 2020-03-06 | Method and device for judging motion states of vehicle and target object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113359147A true CN113359147A (en) | 2021-09-07 |
| CN113359147B CN113359147B (en) | 2023-08-18 |
Family
ID=77524230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010153332.9A Active CN113359147B (en) | 2020-03-06 | 2020-03-06 | Method and device for judging motion states of vehicle and target object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113359147B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10253372A (en) * | 1997-03-13 | 1998-09-25 | Murata Mach Ltd | Recognition apparatus for position of moving body |
| JP2004038245A (en) * | 2002-06-28 | 2004-02-05 | Nissan Motor Co Ltd | Obstacle detector for vehicle |
| US20100017128A1 (en) * | 2007-06-05 | 2010-01-21 | Gm Global Technology Operations, Inc. | Radar, Lidar and camera enhanced methods for vehicle dynamics estimation |
| JP2012103858A (en) * | 2010-11-09 | 2012-05-31 | Toyota Motor Corp | Obstacle recognition device |
| CN104477169A (en) * | 2014-11-20 | 2015-04-01 | 郑州宇通客车股份有限公司 | Method of detecting steering angular velocity of vehicle |
| US20150239472A1 (en) * | 2014-02-21 | 2015-08-27 | Denso Corporation | Vehicle-installed obstacle detection apparatus having function for judging motion condition of detected object |
| CN106054174A (en) * | 2015-04-06 | 2016-10-26 | 通用汽车环球科技运作有限责任公司 | Fusion method for cross traffic application using radars and camera |
| US20170053533A1 (en) * | 2014-06-19 | 2017-02-23 | Hitachi Automotive Systems, Ltd. | Object Recognition Apparatus and Vehicle Travel Controller Using Same |
| CN108563227A (en) * | 2018-04-20 | 2018-09-21 | 武汉大学 | A kind of motion control method of the 2D wheeled robots based on movable castor |
| CN109987089A (en) * | 2018-11-29 | 2019-07-09 | 惠州华阳通用电子有限公司 | A kind of static-obstacle thing judgment method and device |
| CN110121451A (en) * | 2017-03-23 | 2019-08-13 | 日野自动车株式会社 | Leading vehicle decision maker and vehicle control system |
| CN110596694A (en) * | 2019-09-20 | 2019-12-20 | 吉林大学 | Complex environment radar multi-target tracking and road running environment prediction method |
-
2020
- 2020-03-06 CN CN202010153332.9A patent/CN113359147B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10253372A (en) * | 1997-03-13 | 1998-09-25 | Murata Mach Ltd | Recognition apparatus for position of moving body |
| JP2004038245A (en) * | 2002-06-28 | 2004-02-05 | Nissan Motor Co Ltd | Obstacle detector for vehicle |
| US20100017128A1 (en) * | 2007-06-05 | 2010-01-21 | Gm Global Technology Operations, Inc. | Radar, Lidar and camera enhanced methods for vehicle dynamics estimation |
| JP2012103858A (en) * | 2010-11-09 | 2012-05-31 | Toyota Motor Corp | Obstacle recognition device |
| US20150239472A1 (en) * | 2014-02-21 | 2015-08-27 | Denso Corporation | Vehicle-installed obstacle detection apparatus having function for judging motion condition of detected object |
| US20170053533A1 (en) * | 2014-06-19 | 2017-02-23 | Hitachi Automotive Systems, Ltd. | Object Recognition Apparatus and Vehicle Travel Controller Using Same |
| CN104477169A (en) * | 2014-11-20 | 2015-04-01 | 郑州宇通客车股份有限公司 | Method of detecting steering angular velocity of vehicle |
| CN106054174A (en) * | 2015-04-06 | 2016-10-26 | 通用汽车环球科技运作有限责任公司 | Fusion method for cross traffic application using radars and camera |
| CN110121451A (en) * | 2017-03-23 | 2019-08-13 | 日野自动车株式会社 | Leading vehicle decision maker and vehicle control system |
| CN108563227A (en) * | 2018-04-20 | 2018-09-21 | 武汉大学 | A kind of motion control method of the 2D wheeled robots based on movable castor |
| CN109987089A (en) * | 2018-11-29 | 2019-07-09 | 惠州华阳通用电子有限公司 | A kind of static-obstacle thing judgment method and device |
| CN110596694A (en) * | 2019-09-20 | 2019-12-20 | 吉林大学 | Complex environment radar multi-target tracking and road running environment prediction method |
Non-Patent Citations (2)
| Title |
|---|
| 冯浩;潘少猷;衡威威;张泽枫;: "基于一维直接线性变换的视频中车辆运动状态重建", 中国公路学报, no. 04, pages 245 - 253 * |
| 李勇: "基于激光雷达的智能车横向避障研究", 中国优秀硕士学位论文全文数据库工程科技Ⅱ辑, no. 04, pages 035 - 107 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113359147B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10414397B2 (en) | Operational design domain decision apparatus | |
| US11467596B2 (en) | Target abnormality determination device | |
| RU2645388C2 (en) | Device for identifying wrong recognition | |
| CN109017801B (en) | Method for determining yaw rate of target vehicle | |
| CN110867132B (en) | Environment sensing method, device, electronic equipment and computer readable storage medium | |
| CN111216792B (en) | Automatic driving vehicle state monitoring system and method and automobile | |
| TW202004704A (en) | State and position prediction of observed vehicles using optical tracking of wheel rotation | |
| CN106843212A (en) | Automatic Pilot is based on the emergency vehicle auxiliary directional system and method for yaw angle amendment | |
| Péter et al. | Vision and odometry based autonomous vehicle lane changing | |
| CN114200945B (en) | Safety control method of mobile robot | |
| CN114383598B (en) | Tunnel construction operation car and automatic driving system thereof | |
| CN114137975A (en) | Unmanned vehicle navigation deviation rectifying method based on ultrasonic-assisted fusion positioning | |
| US20090052779A1 (en) | Object recognizing apparatus | |
| KR102336071B1 (en) | Apparatus for determining position of vehicle and method thereof | |
| CN113359147B (en) | Method and device for judging motion states of vehicle and target object | |
| US20220204046A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
| KR102336070B1 (en) | Apparatus for determining position of vehicle and method thereof | |
| CN112415516B (en) | Method and device for sensing obstacle area in front of vehicle | |
| JP2018185156A (en) | Target position estimation method and target position estimation device | |
| CN114993310B (en) | Automatic positioning method for intelligent pile driver | |
| JP2668882B2 (en) | Autonomous traveling vehicle control device | |
| WO2022249610A1 (en) | Host vehicle position estimation device and host vehicle position estimation method | |
| CN112106065B (en) | Predicting the state and position of an observed vehicle using optical tracking of wheel rotation | |
| Hsu et al. | A path planning achievement of car following in motion control via lidar sensing | |
| CN113753079A (en) | Time alignment method used in vehicle state tracking process |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 6, Yutong Road, Guancheng Hui District, Zhengzhou, Henan 450061 Applicant after: Yutong Bus Co.,Ltd. Address before: No.1, Shibali Heyu Road, Guancheng Hui District, Zhengzhou City, Henan Province Applicant before: ZHENGZHOU YUTONG BUS Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |