JP7327725B2 - 車両ドッキング方法、装置、電子デバイス及び可読記憶媒体 - Google Patents

車両ドッキング方法、装置、電子デバイス及び可読記憶媒体 Download PDF

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JP7327725B2
JP7327725B2 JP2022536534A JP2022536534A JP7327725B2 JP 7327725 B2 JP7327725 B2 JP 7327725B2 JP 2022536534 A JP2022536534 A JP 2022536534A JP 2022536534 A JP2022536534 A JP 2022536534A JP 7327725 B2 JP7327725 B2 JP 7327725B2
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vehicle
docking
connection device
control command
platform
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JP2023524329A (ja
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ユ、ニン
ジュアン、デンシアン
ワン、ゼシュ
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Apollo Intelligent Connectivity Beijing Technology Co Ltd
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Apollo Intelligent Connectivity Beijing Technology Co Ltd
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    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/10—Buses
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/805—Azimuth angle
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/60—Azimuth angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/143—Busses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/06—Automatic manoeuvring for parking

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Motorcycle And Bicycle Frame (AREA)
JP2022536534A 2021-04-16 2021-11-18 車両ドッキング方法、装置、電子デバイス及び可読記憶媒体 Active JP7327725B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202110412364.0 2021-04-16
CN202110412364.0A CN114394098B (zh) 2021-04-16 2021-04-16 车辆停靠的方法、装置、电子设备和可读存储介质
PCT/CN2021/131514 WO2022217916A1 (zh) 2021-04-16 2021-11-18 车辆停靠的方法、装置、电子设备和可读存储介质

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JP2023524329A JP2023524329A (ja) 2023-06-12
JP7327725B2 true JP7327725B2 (ja) 2023-08-16

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JP (1) JP7327725B2 (ko)
KR (1) KR20220144355A (ko)
CN (1) CN114394098B (ko)
WO (1) WO2022217916A1 (ko)

Citations (2)

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JP2011526858A (ja) 2008-07-01 2011-10-20 プロテラ インコーポレイテッド 電気車両用充電ステーション
CN110968086A (zh) 2018-09-30 2020-04-07 郑州宇通客车股份有限公司 一种车辆进站控制方法及系统

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DE8902668U1 (de) * 1988-09-29 1989-07-27 Digitron AG, Brügg, Bern Positioniervorrichtung zur maßgenauen Übergabe von Werkstücken
CN205934751U (zh) * 2016-03-11 2017-02-08 林会明 Brt站台用智能踏板
CN108873739A (zh) * 2017-05-09 2018-11-23 法雷奥汽车内部控制（深圳）有限公司 用于车辆的车载自动停车系统
KR102120108B1 (ko) * 2017-05-12 2020-06-09 엘지전자 주식회사 자율주행 차량 및 그 제어 방법
DE102017213165B3 (de) * 2017-07-31 2019-01-24 Continental Automotive Gmbh Verfahren zum Steuern eines automatisiert fahrenden Fahrzeugs an einer Ampelanlage
CN107915110A (zh) * 2017-12-13 2018-04-17 四川九鼎智远知识产权运营有限公司 一种动态同步公交车系统
KR20190073692A (ko) * 2017-12-19 2019-06-27 삼원에프에이 (주) 정차확인용 카메라를 이용한 버스정류장 정차 위치 확인 방법
DE102018204006A1 (de) * 2018-03-15 2019-09-19 Robert Bosch Gmbh Verfahren und System zur sicheren Kollisionsvermeidung von infrastrukturseitig überwachten Fahrzeugen
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CN111123902B (zh) * 2018-10-11 2023-08-25 宇通客车股份有限公司 一种车辆进站方法及车站
KR20200046155A (ko) * 2018-10-16 2020-05-07 주식회사 만도 차량 제어 장치 및 차량 제어 방법
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CN112622933B (zh) * 2020-12-24 2022-07-08 北京百度网讯科技有限公司 车辆停靠点的确定方法及装置

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JP2011526858A (ja) 2008-07-01 2011-10-20 プロテラ インコーポレイテッド 電気車両用充電ステーション
CN110968086A (zh) 2018-09-30 2020-04-07 郑州宇通客车股份有限公司 一种车辆进站控制方法及系统

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JP2023524329A (ja) 2023-06-12
KR20220144355A (ko) 2022-10-26
CN114394098A (zh) 2022-04-26
WO2022217916A1 (zh) 2022-10-20
CN114394098B (zh) 2023-06-23

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