CN113359147B - 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
- CN113359147B CN113359147B CN202010153332.9A CN202010153332A CN113359147B CN 113359147 B CN113359147 B CN 113359147B CN 202010153332 A CN202010153332 A CN 202010153332A CN 113359147 B CN113359147 B CN 113359147B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- vehicle body
- coordinate system
- body coordinate
- target object
- 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.)
- Active
Links
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
Abstract
The invention relates to a method and a device for judging the motion state of a vehicle and a target object, and belongs to the technical field of intelligent driving of vehicles. According to the method, firstly, the position information of the corresponding target object under the vehicle body coordinate system at different times before and after the target object is acquired, then the position information of the vehicle body coordinate system at different times is converted into the same vehicle body coordinate system according to the vehicle body self information and the vehicle motion model, and the judgment of the state of the target object is realized under the same vehicle body coordinate system according to the different position information before and after the target object. According to the method, the position information of the target object under the vehicle body coordinate system is only required to be acquired, an additional positioning system is not required to acquire the absolute position information of the vehicle and the target object, complex coordinate conversion calculation is not required, the judgment of the motion state of the target object can be realized, 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 state 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 barriers and environmental information need to be perceived in real time, and judgment basis is provided for a decision system and a control execution system, so that the operations of lane changing, speed reduction, parking and the like are executed. The perceived 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, etc.
The sensing of the automatic driving on the target is completed by detecting the information (position, speed and type) of the target through a laser radar, a millimeter wave radar or a vision camera and the like, and then converting the information into a vehicle body coordinate system. At this time, the speed information of the object is the relative speed under the vehicle body coordinate system, and if the motion state of the object is judged, the relative speed is 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 to judge, firstly, the position of a vehicle body under a 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 a method for estimating absolute speed of an obstacle, which firstly uses a combined navigation device to measure the absolute speed of a motor vehicle at a current time, then uses a millimeter radar to obtain the relative speed of the obstacle relative to the motor vehicle at a second time, and adds the absolute speed of the motor vehicle at the current time and the corrected relative speed of the obstacle at the current time to obtain the absolute speed of the obstacle at the current time, so as to obtain the movement state of the obstacle. Although the method can judge the motion state of the target object, the information output by means of combined navigation equipment (such as a GNSS system) is needed, an additional system is needed, the complexity of the system is high, in addition, the automatic driving vehicle can be shielded by urban buildings, overhead tunnels and the like in the running process, the GNSS positioning error is large, and the accuracy of the motion state of the target object obtained by the method is greatly reduced.
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 invention provides a method for judging the motion state of a target object for solving the technical problems, which comprises the following steps:
acquiring positions of targets at different moments in a vehicle body coordinate system, and acquiring speeds of left and right wheels of a vehicle and distances between the left and right wheels within interval time of front and rear two different moments;
calculating the rotated 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 two different vehicle body coordinate systems;
and converting the positions of the targets in two different vehicle body coordinate systems into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the targets in the converted same vehicle body coordinate system.
The invention also provides a judging device of the object motion state, which comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor is coupled with the memory, and the judging method of the object motion state is realized when the processor executes the computer program.
According to the method, firstly, the position information of the corresponding target object under the vehicle body coordinate system at different times before and after the target object is acquired, then the position information of the vehicle body coordinate system at different times is converted into the same vehicle body coordinate system according to the vehicle body self information and the vehicle motion model, and the judgment of the state of the target object is realized under the same vehicle body coordinate system according to the different position information before and after the target object. According to the method, the position information of the target object under the vehicle body coordinate system is only required to be acquired, an additional positioning system is not required to acquire the absolute position information of the vehicle and the target object, complex coordinate conversion calculation is not required, the judgment of the motion state of the target object can be realized, the difficulty is reduced, and the accuracy is improved.
Further, in order to realize the conversion of the same vehicle body coordinate system, the formula adopted under the conversion of the same vehicle body coordinate system is as follows:
Δx＝s·sin(θ 2 ),Δy＝s·cos(θ 2 )
wherein (x) 1 ,y 1 ) For the position of the target object in the vehicle body coordinate system at the first moment, (x) 1 ′,y 1 ') is (x) 1 ,y 1 ) Converting to a position under a second moment body coordinate system, wherein s is the movement distance of the vehicle from the first moment to the second moment, and theta 1 Is the angle through which the vehicle turns from the first moment to the second moment.
Further, in order to accurately obtain the angle through which the vehicle turns, the angle through which the vehicle turns in the time interval is:
wherein θ is 1 For the angle of rotation of the vehicle, Δt is the time interval, v l V is the speed of the left wheel of the vehicle r The speed of the right wheel of the vehicle is represented by l, and the distance between the left wheel and the right wheel is represented by l.
Furthermore, the invention also provides a judgment basis of the motion state, and if the difference of the coordinate values of the target object at the front and rear different moments is larger than a set threshold value in the same vehicle body coordinate system, the target object is judged to be in the motion state in the period.
Further, in order to accurately judge the absolute speed of the object, when the object is in a moving state, the method further comprises the step of calculating the moving speed of the object according to coordinate values of the object at the same vehicle body coordinate system at the front and rear different moments.
The invention also provides a vehicle, which comprises a perception sensor, a vehicle body information collector and a controller, wherein the perception sensor is arranged on the vehicle body, the perception sensor is used for acquiring the positions of different time targets in a vehicle body coordinate system, and the vehicle body information collector is used for acquiring the speeds of left and right wheels of the vehicle in the interval time of front and rear two different moments; the sensing sensor and the vehicle body information collector are connected with the controller, and the controller calculates the rotated angle and the driving 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 sensing sensor, so as to determine the coordinate conversion relation between two vehicle body coordinate systems at different moments; and converting the positions of the targets in two different vehicle body coordinate systems into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the targets in the same vehicle body coordinate system after conversion.
According to the method, firstly, the position information of the corresponding target object under the vehicle body coordinate system at different times before and after the target object is acquired, then the position information of the vehicle body coordinate system at different times is converted into the same vehicle body coordinate system according to the vehicle body self information and the vehicle motion model, and the judgment of the state of the target object is realized under the same vehicle body coordinate system according to the different position information before and after the target object. According to the method, the position information of the target object under the vehicle body coordinate system is only required to be acquired, an additional positioning system is not required to acquire the absolute position information of the vehicle and the target object, complex coordinate conversion calculation is not required, the judgment of the motion state of the target object can be realized, the difficulty is reduced, and the accuracy is improved.
Further, the sensing sensor is a laser radar, a millimeter wave radar or a vision camera.
Further, the formula adopted under the same vehicle body coordinate system is converted into:
Δx＝s·sin(θ 2 ),Δy＝s·cos(θ 2 )
wherein (x) 1 ,y 1 ) For the position of the target object in the vehicle body coordinate system at the first moment, (x) 1 ′,y 1 ') is (x) 1 ,y 1 ) Converting to a position under a second moment body coordinate system, wherein s is the movement distance of the vehicle from the first moment to the second moment, and theta 1 Is the angle through which the vehicle turns from the first moment to the second moment.
Further, in order to accurately acquire the vehicle body information acquisition device, the vehicle body information acquisition device is an inertial sensor.
Drawings
FIG. 1 is a schematic illustration of autonomous driving target awareness in an embodiment of the present invention;
fig. 2 is a schematic diagram of the movement of a vehicle in an embodiment of the invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Method embodiment
The invention provides a method for judging the motion state of a target object, which aims at the problems of high complexity and low accuracy caused by adopting absolute coordinates to convert in the current process of judging the motion state of the target object. The method only needs to acquire the position information of the object under the vehicle body coordinate system and the vehicle self information, and does not need an additional positioning system to acquire the absolute position information of the vehicle and the object. The following describes in detail a method for determining the motion state of an object according to the present invention, taking an autonomous vehicle as an example.
1. Position information and body information of the object are obtained.
If the autonomous vehicle is at t 1 The position of the object in the vehicle body coordinate system measured at the moment is (x 1 ,y 1 ) At t 2 The position of the object in the vehicle body coordinate system measured at the moment is (x 2 ,y 2 ) Specifically, a sensing sensor such as a laser radar, a millimeter wave radar or a vision camera can be used to obtain the position of the target object under the vehicle body coordinate system at the current moment, as shown in fig. 1.
At t, the automatic driving vehicle 1 To t 2 The movement of the vehicle body therebetween is regarded as rotational and translational movement of the vehicle body, and the vehicle body information (wheel speed,Wheel track) calculates the rotation and translation of the vehicle body, assuming vehicle t 1 ～t 2 The speeds of the left wheel vehicle and the right wheel vehicle in time are v respectively 1 And v r (the period is short, the vehicle speed is considered to be unchanged), the distance between two wheels of the vehicle is l, and the slave time t of the vehicle can be calculated according to the vehicle motion model as shown in FIG. 2 1 Move to time t 2 The rotated angle and the moving distance are respectively as follows:
wherein θ is 1 For the angle the vehicle is turning through, Δt is the time interval, Δt=t 2 -t 1 ，v l V is the speed of the left wheel of the vehicle r The speed of the right wheel of the vehicle is represented by l, and the distance between the left wheel and the right wheel is represented by l.
2. And performing coordinate conversion.
According to vehicle t 1 Position in time vehicle body coordinate system and vehicle t 2 Position in time body coordinate system and vehicle from time t 1 Move to time t 2 The 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.
t 1 Position (x) of time body coordinate system 1 ,y 1 ) At t 2 Under the time vehicle body coordinate system (x) 1 ′,y 1 ') indicates that, since the vehicle is at t 1 To t 2 The distance of movement can be considered as a straight line, i.e. in fig. 2, with a short time (typically not more than 0.1 s)Then (x) 1 ′,y 1 ') is expressed as:
Δx＝s·sin(θ 2 ),Δy＝s·cos(θ 2 )
3. and judging the motion state of the target object.
According to the front and rear positions of the object under the same vehicle body coordinate system, the state of the object is judged, and the embodiment can be based on the position of the object at t 2 Time position and transition to t 2 Time t in time coordinate system 1 The motion state of the target object is determined according to the position of the target object, and a calculation formula is specifically adopted as follows:
when any one of the delta_x and delta_y values is larger than a set threshold value, 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 value can be determined according to actual conditions.
When the object is judged to be in a motion state, in order to know the motion state of the object more accurately, the invention can also determine the component of the absolute speed of the object in the vehicle direction, and for the embodiment, the speed component is as follows:
wherein (V) x ,V y ) Is the component of the absolute velocity of the object in the direction of the vehicle at that moment.
According to the method, the absolute speed of the target is calculated only through the sensing sensor and the vehicle body information, the motion state of the target 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 judging device comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor is coupled with the memory, and the judging 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 will not be described here again.
Embodiments of a vehicle
The vehicle comprises a perception sensor, a vehicle body information acquisition device and a controller, wherein the perception sensor, the vehicle body information acquisition device and the controller are arranged on a vehicle body, the perception sensor and the vehicle body information acquisition device are connected with the controller, the perception sensor is used for acquiring the position information of an object outside the vehicle, generally, a laser radar, a millimeter wave radar or a vision camera is adopted, the vehicle body information acquisition device is used for acquiring the wheel speed information of the vehicle, an inertial sensor is adopted for detection, the controller can calculate the course angle and displacement change of the movement of the vehicle according to the wheel speed information detected by the inertial sensor, the object movement state judgment method is adopted for judging the object movement state according to the information acquired by the perception sensor, and the controller can be a whole vehicle controller of the vehicle or other controllers on the vehicle or newly added devices capable of realizing the logic control function.
Claims (8)
1. The method for judging the motion state of the target object is characterized by comprising the following steps of:
acquiring positions of targets at different moments in a vehicle body coordinate system, and acquiring speeds of left and right wheels of a vehicle and distances between the left and right wheels within interval time of front and rear two different moments;
calculating the rotated angle and the driving distance of the vehicle in the interval time 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 two different vehicle body coordinate systems;
converting the positions of the targets in two different vehicle body coordinate systems into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the targets in the converted same vehicle body coordinate system;
the formula adopted under the same vehicle body coordinate system is converted as follows:
Δx＝s·sin(θ 2 ),Δy＝s·cos(θ 2 )
wherein (x) 1 ,y 1 ) For the position of the target object in the vehicle body coordinate system at the first moment, (x) 1 ′,y 1 ') is (x) 1 ,y 1 ) Converting to a position under a second moment body coordinate system, wherein s is the movement distance of the vehicle from the first moment to the second moment, and theta 1 Is the angle through which the vehicle turns from the first moment to the second moment.
2. The method according to claim 1, wherein the angle rotated by the vehicle in the interval time is:
wherein θ is 1 For the angle of rotation of the vehicle, deltat is the interval time, v l V is the speed of the left wheel of the vehicle r The speed of the right wheel of the vehicle is represented by l, and the distance between the left wheel and the right wheel is represented by l.
3. The method according to claim 1, wherein if the difference between the coordinate values of the object at two different times is greater than a set threshold value in the same vehicle body coordinate system, the object is determined to be in a moving state in the period.
4. A method for determining a moving state of a target object according to claim 1 or 3, wherein when it is determined that the target object is in the moving state, the method further comprises a step of calculating a moving speed of the target object based on coordinate values of the target object in the same vehicle body coordinate system at two different times.
5. A device for determining the movement state of an object, characterized in that the device comprises a memory and a processor, and a computer program stored on the memory and running on the processor, the processor being coupled to the memory, the processor implementing the method for determining the movement state of an object according to any one of claims 1-4 when executing the computer program.
6. The vehicle is characterized by comprising a sensing sensor, a vehicle body information collector and a controller, wherein the sensing sensor is arranged on a vehicle body and is used for acquiring the positions of targets in a vehicle body coordinate system at different times, and the vehicle body information collector is used for acquiring the speeds of left and right wheels of the vehicle in the interval time of front and rear two different moments; the sensing sensor and the vehicle body information collector are connected with the controller, and the controller calculates the rotated angle and the driving distance of the vehicle in the interval time according to the distance between the left wheel and the right wheel and the information acquired by the vehicle body information collector and the sensing sensor, so as to determine the coordinate conversion relation between two vehicle body coordinate systems at different moments; converting the positions of the targets in two different vehicle body coordinate systems into the same vehicle body coordinate system according to the coordinate conversion relation, and judging the motion state of the targets in the converted same vehicle body coordinate system;
the formula adopted under the same vehicle body coordinate system is converted as follows:
Δx＝s·sin(θ 2 ),Δy＝s·cos(θ 2 )
wherein (x) 1 ,y 1 ) For the position of the target object in the vehicle body coordinate system at the first moment, (x) 1 ′,y 1 ') is (x) 1 ,y 1 ) Converting to a position under a second moment body coordinate system, wherein s is the movement distance of the vehicle from the first moment to the second moment, and theta 1 Is the angle through which the vehicle turns from the first moment to the second moment.
7. The vehicle of claim 6, wherein the sensor is a lidar, millimeter wave radar or vision camera.
8. The vehicle of claim 6 or 7, wherein the 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 CN113359147A (en) | 2021-09-07 |
| CN113359147B true 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 (9)
| 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 |
| 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 |
| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8855848B2 (en) * | 2007-06-05 | 2014-10-07 | GM Global Technology Operations LLC | Radar, lidar and camera enhanced methods for vehicle dynamics estimation |
| JP2015155878A (en) * | 2014-02-21 | 2015-08-27 | 株式会社デンソー | Obstacle detection device for vehicle |
| EP3159866B1 (en) * | 2014-06-19 | 2022-04-13 | Hitachi Astemo, Ltd. | Object recognition apparatus and vehicle travel controller using same |
-
2020
- 2020-03-06 CN CN202010153332.9A patent/CN113359147B/en active Active
Patent Citations (9)
| 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 |
| 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 |
| 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 (1)
| Title |
|---|
| 基于激光雷达的智能车横向避障研究;李勇;中国优秀硕士学位论文全文数据库工程科技Ⅱ辑(第04期);C035-107 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113359147A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10414397B2 (en) | Operational design domain decision apparatus | |
| CN108536149B (en) | Unmanned vehicle obstacle avoidance control method based on Dubins path | |
| CN109017801B (en) | Method for determining yaw rate of target vehicle | |
| CN107672589B (en) | A kind of track of vehicle real-time predicting method and device based on GPR Detection Data | |
| US10766492B2 (en) | Driving assistance method and driving assistance device | |
| US10754347B2 (en) | Vehicle control device | |
| RU2645388C2 (en) | Device for identifying wrong recognition | |
| US8170739B2 (en) | Path generation algorithm for automated lane centering and lane changing control system | |
| CN107179530B (en) | Device for determining an offset of a detection device mounted on a vehicle | |
| CN111216792B (en) | Automatic driving vehicle state monitoring system and method and automobile | |
| WO2013027803A1 (en) | Autonomous driving control system for vehicle | |
| CN110867132B (en) | Environment sensing method, device, electronic equipment and computer readable storage medium | |
| CN112106065A (en) | Predicting the state and position of an observed vehicle 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 | |
| CN111016886B (en) | Automatic parking path planning method based on B spline theory | |
| CN105865461A (en) | Automobile positioning system and method based on multi-sensor fusion algorithm | |
| US20220227387A1 (en) | Vehicle control device | |
| CN112498347A (en) | Method and apparatus for real-time lateral control and steering actuation evaluation | |
| CN113342001B (en) | Planning method for robot walking path | |
| Péter et al. | Vision and odometry based autonomous vehicle lane changing | |
| CN112706746A (en) | System and method for detecting and compensating for camera yaw angle offset for autonomous vehicles | |
| WO2022113472A1 (en) | Vehicle control device and vehicle control method | |
| CN114137975A (en) | Unmanned vehicle navigation deviation rectifying method based on ultrasonic-assisted fusion positioning | |
| US11195349B2 (en) | External-world recognition system | |
| JP6663622B2 (en) | Imaging device |
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 |
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. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |