CN105035075B - 一种用于自主平行泊车的路径规划方法 - Google Patents
一种用于自主平行泊车的路径规划方法 Download PDFInfo
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- CN105035075B CN105035075B CN201510353672.5A CN201510353672A CN105035075B CN 105035075 B CN105035075 B CN 105035075B CN 201510353672 A CN201510353672 A CN 201510353672A CN 105035075 B CN105035075 B CN 105035075B
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510353672.5A CN105035075B (zh) | 2015-06-24 | 2015-06-24 | 一种用于自主平行泊车的路径规划方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510353672.5A CN105035075B (zh) | 2015-06-24 | 2015-06-24 | 一种用于自主平行泊车的路径规划方法 |
Publications (2)
Publication Number | Publication Date |
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CN105035075A CN105035075A (zh) | 2015-11-11 |
CN105035075B true CN105035075B (zh) | 2018-08-21 |
Family
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Family Applications (1)
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CN201510353672.5A Active CN105035075B (zh) | 2015-06-24 | 2015-06-24 | 一种用于自主平行泊车的路径规划方法 |
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Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9916762B2 (en) * | 2016-01-07 | 2018-03-13 | Ford Global Technologies, Llc | Parallel parking system |
DE102016212505A1 (de) * | 2016-07-08 | 2018-01-11 | Robert Bosch Gmbh | Bestimmung von seitlich entfernten Parklücken |
CN106740818B (zh) * | 2016-12-19 | 2019-06-04 | 合肥工业大学 | 一种基于eps的自动泊车路线规划方法及*** |
CN108275146A (zh) * | 2017-01-05 | 2018-07-13 | 重庆长安汽车股份有限公司 | 全自动泊车车速分段控制***及方法 |
CN108534777A (zh) * | 2018-01-25 | 2018-09-14 | 江苏大学 | 一种平行泊车路径规划方法 |
CN110091866B (zh) * | 2018-01-29 | 2020-11-27 | 杭州海康汽车软件有限公司 | 泊车路径获取方法及装置 |
CN110091918B (zh) * | 2018-01-29 | 2021-12-31 | 杭州海康汽车软件有限公司 | 一种获取泊车路径的方法及装置 |
CN108791278B (zh) * | 2018-06-21 | 2020-08-21 | 重庆大学 | 侧方位泊车控制***及其控制方法 |
CN110687539B (zh) * | 2018-07-06 | 2021-04-13 | 广州小鹏汽车科技有限公司 | 一种车位检测方法、装置、介质和设备 |
JP7212556B2 (ja) * | 2019-03-15 | 2023-01-25 | 日立Astemo株式会社 | 車両制御装置 |
CN111307152B (zh) * | 2020-02-18 | 2022-02-11 | 中国科学院合肥物质科学研究院 | 一种自主泊车路径反向生成规划方法 |
CN113135180A (zh) * | 2021-05-27 | 2021-07-20 | 广州小鹏自动驾驶科技有限公司 | 一种车辆控制方法、装置、车辆和介质 |
CN113954822A (zh) * | 2021-10-19 | 2022-01-21 | 的卢技术有限公司 | 一种车辆侧方位自动泊车的方法 |
CN114013428A (zh) * | 2021-11-29 | 2022-02-08 | 江苏大学 | 一种基于分子间作用力的泊车路径动态规划方法 |
Citations (5)
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---|---|---|---|---|
DE102007036251A1 (de) * | 2007-08-02 | 2009-02-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterstützen von Ausparkvorgängen von Kraftfahrzeugen |
CN101898559A (zh) * | 2009-02-09 | 2010-12-01 | 通用汽车环球科技运作公司 | 用于自动泊车的路径规划 |
CN102658819A (zh) * | 2012-05-16 | 2012-09-12 | 涂亚庆 | 一种基于仿人智能控制的汽车自动泊车入位方法 |
CN102975715A (zh) * | 2012-12-17 | 2013-03-20 | 合肥工业大学 | 一种汽车及应用于该汽车的自动泊车***、自动泊车方法 |
CN103723144A (zh) * | 2013-12-30 | 2014-04-16 | 深圳市航盛电子股份有限公司 | 半自动泊车的方法及*** |
-
2015
- 2015-06-24 CN CN201510353672.5A patent/CN105035075B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007036251A1 (de) * | 2007-08-02 | 2009-02-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterstützen von Ausparkvorgängen von Kraftfahrzeugen |
CN101772446A (zh) * | 2007-08-02 | 2010-07-07 | 罗伯特·博世有限公司 | 用于支持汽车的离开停车位过程的方法和装置 |
CN101898559A (zh) * | 2009-02-09 | 2010-12-01 | 通用汽车环球科技运作公司 | 用于自动泊车的路径规划 |
CN102658819A (zh) * | 2012-05-16 | 2012-09-12 | 涂亚庆 | 一种基于仿人智能控制的汽车自动泊车入位方法 |
CN102975715A (zh) * | 2012-12-17 | 2013-03-20 | 合肥工业大学 | 一种汽车及应用于该汽车的自动泊车***、自动泊车方法 |
CN103723144A (zh) * | 2013-12-30 | 2014-04-16 | 深圳市航盛电子股份有限公司 | 半自动泊车的方法及*** |
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CN105035075A (zh) | 2015-11-11 |
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Inventor after: Zhu Hui Inventor after: Ye Linquan Inventor after: Liang Huawei Inventor after: Yuan Sheng Inventor after: Li Bichun Inventor after: Huang Xueyi Inventor before: Zhu Hui Inventor before: Ye Linquan Inventor before: Liang Huawei Inventor before: Yuan Sheng Inventor before: Li Bichun |
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