CN106157635A - A kind of device judging vehicle position in track and determination methods - Google Patents
A kind of device judging vehicle position in track and determination methods Download PDFInfo
- Publication number
- CN106157635A CN106157635A CN201610579540.9A CN201610579540A CN106157635A CN 106157635 A CN106157635 A CN 106157635A CN 201610579540 A CN201610579540 A CN 201610579540A CN 106157635 A CN106157635 A CN 106157635A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- light source
- sensor
- semiconductor laser
- track
- 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
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of judge vehicle method and apparatus of position in track.For whole process with the track of center identification, the present invention uses and is capable of identify that the sensor group that lane center identifies, and judge the sensor group position relative to lane center tag line according to the signal of sensor each in sensor group, and then draw the vehicle position relative to lane center tag line.
Description
Technical field
The present invention relates to the fields such as transport information process, automobile navigation, auxiliary driving technology, particularly relate to a kind of judgement
The device of vehicle position in track and determination methods.
Background technology
If motor vehicles is along track straight-line travelling on road, its optimal position is always at the centrage in track
Upper traveling, as existing ripe motor vehicle control system on sale, does not comprise lane center on highway and marks for detection
The vehicle of will is the detection device of position in track, the most also without reference to the inspection being detection mark with lane center on highway
Survey method.
In today of information technology high development, automobile navigation, the auxiliary technology such as driving technology, unmanned technology are in succession
It is suggested, but wherein realizes the judgement to vehicle location mainly by means of technology such as GPS location, WiFi location, do not have among these
Relate to the detection of lane center mark, therefore can not judge lane information, less can determine that vehicle position in track；When
So, the company such as the Google of the U.S., domestic Baidu is all at exploitation pilotless automobile wheeled mobile robot, it is clear that this
Planting wheeled mobile robot is the position that can interpolate that lane information and vehicle in track, but this scheme cost is very
Height, need data message amount to be processed are very greatly, system hardware and software fault rate can be the highest, thus the processing maturation period of product also can be very
Long.
Summary of the invention
In order to solve the problem of above-mentioned existence, the present invention provides a kind of device judging vehicle position in track and judgement
Method, wherein judges that vehicle device of position in track includes two groups of Linear Array Realtime sensor groups, in the middle part of Linear Array Realtime sensor group
For the preferable semiconductor laser light source of directivity, it is only necessary to know the working condition of the light sensor of light source both sides, so that it may
To determine light source, thus judging accordingly, for reaching this purpose, the present invention provides a kind of and judges vehicle position in track
Device, has lane center tag line, described lane center tag line side to have empty sideline, described track inside track in the middle part of track
Center identification line opposite side has empty sideline outside track, and described device comprises vehicle front Linear Array Realtime sensor group, vehicle operating
Control system and rear vehicle end Linear Array Realtime sensor group, described vehicle operating control system is by connecting line and vehicle front linear array
Formula sensor group is connected with rear vehicle end Linear Array Realtime sensor group, and described vehicle front Linear Array Realtime sensor group is placed in vehicle bottom
Front end, described rear vehicle end Linear Array Realtime sensor group is placed in vehicle bottom rear end, described vehicle front Linear Array Realtime sensor group and
Rear vehicle end Linear Array Realtime sensor group is parallel with highway pavement, vertical with vehicle axis, and described vehicle front Linear Array Realtime senses
The middle part of device group is vehicle front semiconductor laser light source, after the middle part of described rear vehicle end Linear Array Realtime sensor group is vehicle
End semiconductor laser light source, described vehicle front semiconductor laser light source and rear vehicle end semiconductor laser light source both sides
Being respectively arranged with row's light sensor, described vehicle front semiconductor laser light source and rear vehicle end semiconductor laser light source are in
On the longitudinally perpendicular median plane of vehicle, the light sensor of both sides is symmetrically distributed in the longitudinally perpendicular median plane both sides of vehicle.
Further improvement of the present invention, the corresponding vehicle front axle front portion 20 of described vehicle front Linear Array Realtime sensor group distance
To 50 centimetres, corresponding 20 to 50 centimetres, the automobile back wheel axle front portion of described rear vehicle end Linear Array Realtime sensor group distance, the present invention can
According to vehicle, corresponding Linear Array Realtime sensor group is set in the position of vehicle bottom.
Further improvement of the present invention, vehicle often advance certain distance vehicle operating control system sample once, the present invention
Can use and often advance 5 meters of samplings once.
Further improvement of the present invention, described vehicle front semiconductor laser light source and rear vehicle end semiconductor laser
Light source both sides are respectively arranged with 12 light sensors, typically arrange the most enough uses of 12 light sensors.
The present invention is a kind of judges vehicle position judging method of the device of position in track:
The light that vehicle front semiconductor laser light source and rear vehicle end semiconductor laser light source operationally send is shaped
The width of its width ratio lane center tag line rear is big, after the plain asphalt road reflection on lane center tag line and both sides thereof
Act on light source that the light sensor of light source both sides is taken on certain light sensor in the reflection of lane center tag line
Time, owing to reflection light can drive more by force light sensitive diode or phototriode ON operation, the light on certain light sensor
When line derives from the reflection on plain asphalt road surface, owing to reflecting, light is more weak can not drive light sensitive diode or phototriode to lead
Logical work, so has only to know the working condition of the light sensor of light source both sides, it is possible to determine that light source is relative to track
The position of center identification line, and then can determine that vehicle motion track and the position relationship of lane center tag line and Developing Tendency thereof
Gesture.Vehicle operating control system moves a certain particular displacement amount by vehicle and the respective side edge light sensor of light source is turned on number
Carry out continuous sampling；
Concrete decision method is as follows:
Light sensor conducting on the right side of vehicle front semiconductor laser light source or rear vehicle end semiconductor laser light source
When number turns on number more than the light sensor on the left of corresponding light source, illustrate that vehicle bottom relevant source position is relative to car
For road center identification line overall to the left, now vehicle operating control system obtain information carry out pointing out or assist carry out corresponding
Operation；
Light sensor conducting on the right side of vehicle front semiconductor laser light source or rear vehicle end semiconductor laser light source
When number turns on number less than the light sensor on the left of corresponding light source, illustrate that vehicle bottom relevant source position is relative to car
For road center identification line overall to the right, now vehicle operating control system obtain information carry out pointing out or assist carry out corresponding
Operation；
Vehicle operating control system is passed relative to positional information and two Linear Array Realtimes of lane center tag line by two light sources
Distance between sensor group calculates the angle between vehicle body and lane center tag line, to vehicle operating control system to vehicle
Direction is adjusted providing reference data.
Further improvement of the present invention, vehicle often advance certain distance vehicle operating control system sample once, the present invention
Can use and often advance 5 meters of samplings once.
A kind of device judging vehicle position in track of the present invention and determination methods, this judgement vehicle position in track
Device, vehicle operating control system be connected with two winding displacement configuration sensor groups and form, corresponding Linear Array Realtime sensor group sets
Put parallel with highway pavement to the bottom of its automobile, vertical with vehicle axis, the working cell of middle just just at
On the longitudinally perpendicular median plane of vehicle, other work post unit of Linear Array Realtime sensor group be symmetrically distributed in vehicle longitudinally perpendicular in
Both sides, heart face, the working cell being in centre is the preferable semiconductor laser light source of directivity, and light source operationally sends
After light is shaped, the width of its width ratio lane center tag line is bigger, through lane center tag line and the plain asphalt on both sides thereof
Act on the light sensor of light source both sides after road reflection, when the light source on certain light sensor is in lane center mark
When knowing the reflection of line, owing to reflection light can drive more by force light sensitive diode or phototriode ON operation, when certain photosensitive biography
Light source on sensor is when the reflection on plain asphalt road surface, and owing to reflecting, light is more weak can not drive light sensitive diode or light
Quick triode ON works, and so we have only to know the working condition of the light sensor of light source both sides, it is possible to determine
Light source is relative to the position of lane center tag line.
Accompanying drawing explanation
The road driveway schematic diagram that Fig. 1 identifies with lane center；
Fig. 2 Linear Array Realtime sensor group ideal position schematic diagram in track；
Fig. 3 Linear Array Realtime sensor group position in track schematic diagram to the left；
Fig. 4 Linear Array Realtime sensor group position in track schematic diagram to the right；
Fig. 5 two-wire configuration sensor group ideal position schematic diagram in track；
Fig. 6 two-wire configuration sensor group instruction vertical axis intersects left avertence schematic diagram in a forward direction；
Fig. 7 two-wire configuration sensor group instruction vertical axis intersects right avertence schematic diagram in a forward direction；
Fig. 8 two-wire configuration sensor group instruction vertical axis the most parallel left avertence schematic diagram；
Fig. 9 two-wire configuration sensor group instruction vertical axis the most parallel right avertence schematic diagram；
Concrete component names is as follows:
1, lane center tag line；2, empty sideline inside track；3, empty sideline outside track；4, vehicle front Linear Array Realtime sensor
Group；5, vehicle operating control system；6, vehicle front semiconductor laser light source；7 ~ 30, light sensor；31, rear vehicle end
Linear Array Realtime sensor group；32, rear vehicle end semiconductor laser light source.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:
The present invention provides a kind of device judging vehicle position in track and determination methods, wherein judges vehicle position in track
The device put includes two groups of Linear Array Realtime sensor groups, is directivity preferable semiconductor laser light in the middle part of Linear Array Realtime sensor group
Source, it is only necessary to know the working condition of the light sensor of light source both sides, it is possible to determine light source position, thus carry out corresponding
Judge.
A kind of judge vehicle method and apparatus of position in track for whole process with the highway that lane center identifies, as
Shown in Fig. 1, lane center tag line 1, described lane center tag line 1 side in the middle part of track, is had to have empty sideline 2, institute inside track
Stating lane center tag line 1 opposite side has empty sideline 3: Fig. 2 ~ Fig. 9 outside track to be all exaggerated lane center tag line,
If being upwards normal vehicle operation direction, in Fig. 2, vehicle front Linear Array Realtime sensor group 4 is placed in vehicle bottom front end, front axle
About 20 to five ten centimetres, front portion, parallel with highway pavement, vertical with vehicle axis, vehicle front Linear Array Realtime sensor group 4
Comprising 25 working cells being arranged in a row, space size shared by each working cell is the same, the working cell of such middle
Just just on the longitudinally perpendicular median plane of vehicle, other 24 working cells are symmetrically distributed in the longitudinally perpendicular center of vehicle
Both sides, face.The working cell being in centre is the preferable semiconductor laser light source of directivity, 12, the right of light source job note
Unit is 12 light sensors difference numbered 7 ~ 18, and working cell, 12, the left side of light source is also 12 light sensors difference
Numbered 19 ~ 30.If lane center tag line 1 is the hot-melt coating being doped into easy reflectorized material and Chinese white, anti-to light
Penetrating characteristic good, the both sides of center identification line 1 are then the plain asphalt road surface that light-reflecting property is very poor, and light source operationally sends
Light shaped after the width of its width ratio lane center tag line 1 bigger, general through lane center tag line 1 and both sides thereof
Act on the light sensor of light source 6 both sides after logical asphalt pavement reflection, when the light source on certain light sensor is in car
During the reflection of road center identification line 1, owing to reflection light can drive more by force light sensitive diode or phototriode ON operation, when
Light source on certain light sensor is when the reflection on plain asphalt road surface, and owing to reflecting, light is more weak can not drive photosensitive two
Pole pipe or phototriode ON operation, so we have only to know the working condition of the light sensor of light source 6 both sides, just
May determine that light source 6, certain point on the longitudinally perpendicular median plane of vehicle front can be represented, relative to lane center tag line 1
Position, concrete determination methods is as follows:
Light sensor on the right side of light source, as a example by light sensitive diode, conducting number is led more than the light sensor on the left of light source
During logical number, illustrate that vehicle bottom light source position is to the left for lane center tag line 1, see Fig. 3；When light source is right
When sidelight dependent sensor conducting number turns on number less than the light sensor on the left of light source, illustrate that vehicle bottom light source institute is in place
Put for lane center tag line 1 to the right, see Fig. 4.
Vehicle operating control system 5 of the present invention uses that to move a certain particular displacement amount by vehicle photosensitive to the left side of light source 6
Sensor conducts number carries out continuous sampling, i.e. set a distance sampling, and this sentences as a example by vehicle often advances five meters and sample once.If the
On the left of during n sampling, light sensor conducting number is three, and i.e. 19,20,21 3 light sensor conductings, (n+1) is secondary
On the left of during sampling, light sensor conducting number is four, i.e. 19,20,21,22 four light sensor conductings, then vehicle is described
The advance distance light source position of five meters just creates the skew of a working cell width to the right, if a working cell width
Degree is one centimetre, then can be approximately considered: under current road conditions, and keeps current steering wheel position constant, and vehicle is every
Advancing five meters, for lane center tag line 1, light source position creates the skew of the most about a centimetre.If the
(n+1) light sensor conducting number when sampling than n-th few on the left of during secondary sampling, then light source position just creates
The skew of the most about one centimetre；On the left of during other adjacent double samplings, light sensor turns on the light source institute corresponding to number change
In position, drift condition will not enumerate, and the distance of other adjacent double samplings is not a situation the most no longer string of five meters
Lift.
Vehicle operating control system 5 of the present invention uses and moves a certain particular displacement amount photosensitive biography in left side to light source by vehicle
Sensor conducting number carries out continuous sampling, according to the result of repeatedly continuous sampling, uses the side such as SPL, Bezier
Method, it is possible to simulate the light source movement locus relative to lane center tag line 1, illustrate: be equivalent to lane center herein
Tag line 1 is X-axis, and with track instruction vehicle traffic direction for X positive direction, Y-axis is vertical with X-axis, and it is left that Y-axis positive direction points to track
Side, lane center tag line 1 is probably bending, but in the coordinate system it is regarded as straight.
Vehicle operating control system 5 of the present invention uses that to move a certain particular displacement amount by vehicle photosensitive to the right side of light source 6
Sensor conducts number carries out continuous sampling, the most still often advances 5 meters by vehicle as a example by sampling once.If it is right during n-th sampling
Sidelight dependent sensor conducting number is three, the conducting of i.e. 7,8,9 three light sensors, during (n+1) secondary sampling on the right side of photosensitive
Sensor conducts number is four, i.e. 7,8,9,10 four light sensor conductings, if a working cell width is one centimetre,
Then can be approximately considered: under current road conditions, and keep current steering wheel position constant, vehicle often advances five meters, phase
For lane center tag line 1, light source position creates the skew of the most about a centimetre.If (n+1) secondary sampling
Light sensor conducting number when sampling than n-th few one time on the right side of, then light source position just creates the most about one li
The skew of rice.On the right side of during other adjacent double samplings, the light source position corresponding to light sensor conducting number change offsets
Situation will not enumerate, and the distance of other adjacent double samplings is not that the situation of five meters also will not enumerate.
Vehicle operating control system 5 of the present invention uses that to move a certain particular displacement amount by vehicle photosensitive to the right side of light source 6
Sensor conducts number carries out continuous sampling, according to the result of repeatedly continuous sampling, uses the side such as SPL, Bezier
Method, it is possible to simulate the light source movement locus relative to lane center tag line 1, illustrate: be equivalent to lane center herein
Tag line 1 is X-axis, and with track instruction vehicle traffic direction for X positive direction, Y-axis is vertical with X-axis, and it is left that Y-axis positive direction points to track
Side, lane center tag line 1 is probably bending, but in the coordinate system it is regarded as straight.
Vehicle operating control system 5 of the present invention uses and moves a certain particular displacement amount left and right sides light to light source by vehicle
Dependent sensor conducting number carries out continuous sampling, the most still often advances 5 meters by vehicle as a example by sampling once.If during n-th sampling
Left side light sensor conducting number than right side light sensor turn on many one of number, during (n+1) secondary sampling on the left of photosensitive
Sensor conducts number turns on few one of number than right side light sensor, if a working cell width is one centimetre, then may be used
Being approximately considered: under current road conditions, and keep current steering wheel position constant, vehicle often advances five meters, relative to
For lane center tag line 1, light source position creates the skew of the most about a centimetre.Left side during other adjacent double samplings
The light source position drift condition corresponding to change of the difference of right side light sensor conducting number will not enumerate, other
The distance of adjacent double sampling is not that the situation of five meters also will not enumerate.
Vehicle operating control system 5 of the present invention uses and moves a certain particular displacement amount left and right sides to light source 6 by vehicle
Light sensor conducting number carries out continuous sampling, draws multiple data, according to the left and right sides light of repeatedly continuous sampling gained
The difference of dependent sensor conducting number, uses the method such as SPL, Bezier, it is possible to simulate light source 6 relative to car
The movement locus of road center identification line 1, illustrates: be equivalent to lane center tag line 1 as X-axis herein, indicates vehicle with track
Traffic direction is X positive direction, and Y-axis is vertical with X-axis, and Y-axis positive direction is pointed on the left of track, and lane center tag line 1 is probably curved
Bent, but in the coordinate system it is regarded as straight.
The present invention in vehicle bottom rear end, about 20 to five ten centimetres, hind axle front portion, install additional and vehicle front Linear Array Realtime
The rear vehicle end Linear Array Realtime sensor group 31 that sensor group 4 is identical, as it is shown in figure 5, rear vehicle end Linear Array Realtime sensor group 31 is also
Comprising 25 working cells being arranged in a row, space size shared by each working cell is the same, and the working cell of middle is permissible
Represent certain point on the longitudinally perpendicular median plane of rear vehicle end, for the preferable semiconductor laser light source of directivity, be in vehicle and indulge
In vertical central plane, other 24 working cells are light sensor, are symmetrically distributed in the longitudinally perpendicular median plane two of vehicle
Limit；Vehicle front Linear Array Realtime sensor group 4 enough provides front part of vehicle light source relative to lane center mark the most at any one time
The positional information of line 1, it is relative that rear vehicle end Linear Array Realtime sensor group 31 can provide rear vehicle end semiconductor laser light source 32
In the positional information of lane center tag line 1, such system just can pass through such two positional informationes and two Linear Array Realtimes
Distance between sensor group calculates the angle between vehicle body and lane center tag line 1, and adjusting to direction of traffic provides real
Time reference data.As shown in Figure 6, rear vehicle end semiconductor laser light source 32 and vehicle front semiconductor laser light source 6
Line about becomes 5 ° of angles with lane center tag line 1, points to left front, track, as it is shown in fig. 7, rear vehicle end semiconductor laser light
Source 32 about becomes 5 ° of angles with lane center tag line 1, before pointing to the right side, track with the line of vehicle front semiconductor laser light source 6
Side；And in Fig. 8 Yu Fig. 9, rear vehicle end semiconductor laser light source 32 and the line of vehicle front semiconductor laser light source 6
Parallel with lane center tag line 1, vehicle forward direction is consistent with direction, track i.e. at present, and simply in Fig. 8, vehicle is to the left, Fig. 9
Middle vehicle is to the right.
The present invention can suitably increase light sensor number and semiconductor laser light source number according to actual needs, it is possible to
Reducing the dimension of each light sensor, semiconductor laser light source, this change can improve accuracy of detection.
The present invention may be used without the sensor of other information that can read lane center tag line 1, concrete sensor class
Type is also relevant with the labeling method of lane center tag line 1.
The above, be only presently preferred embodiments of the present invention, is not the limit that the present invention makees any other form
System, and any amendment made according to the technical spirit of the present invention or equivalent variations, still fall within present invention model required for protection
Enclose.
Claims (6)
1. judge vehicle device of position in track, in the middle part of track, have lane center tag line (1), described lane center
There is empty sideline (2) inside track tag line (1) side, and described lane center tag line (1) opposite side has empty sideline outside track
(3), described device comprises vehicle front Linear Array Realtime sensor group (4), vehicle operating control system (5) and rear vehicle end Linear Array Realtime
Sensor group (31), it is characterised in that: described vehicle operating control system (5) is sensed with vehicle front Linear Array Realtime by connecting line
Device group (4) and rear vehicle end Linear Array Realtime sensor group (31), described vehicle front Linear Array Realtime sensor group (4) is placed in vehicle bottom
Front end, described rear vehicle end Linear Array Realtime sensor group (31) is placed in vehicle bottom rear end, described vehicle front Linear Array Realtime sensor
Group (4) is parallel with highway pavement with rear vehicle end Linear Array Realtime sensor group (31) vertical with vehicle axis, described vehicle front
The middle part of Linear Array Realtime sensor group (4) is vehicle front semiconductor laser light source (6), described rear vehicle end Linear Array Realtime sensor
The middle part of group (31) is rear vehicle end semiconductor laser light source (32), described vehicle front semiconductor laser light source (6) and
Rear vehicle end semiconductor laser light source (32) both sides are respectively arranged with row's light sensor, described vehicle front semiconductor laser light
Source (6) and rear vehicle end semiconductor laser light source (32) are on the longitudinally perpendicular median plane of vehicle, the light sensor of both sides
Device is symmetrically distributed in the longitudinally perpendicular median plane both sides of vehicle.
The most according to claim 1 a kind of judge vehicle device of position in track, it is characterised in that: before described vehicle
Corresponding 20 to 50 centimetres, the vehicle front axle front portion of end line configuration sensor group (4) distance, described rear vehicle end Linear Array Realtime sensor
Corresponding 20 to 50 centimetres, the automobile back wheel axle front portion of group (31) distance.
The most according to claim 1 a kind of judge vehicle device of position in track, it is characterised in that: vehicle often advances
Certain distance vehicle operating control system (5) is sampled once.
The most according to claim 1 a kind of judge vehicle device of position in track, it is characterised in that: before described vehicle
End semiconductor laser light source (6) and rear vehicle end semiconductor laser light source (32) both sides are respectively arranged with 12 light sensors.
5. one kind judges vehicle position judging method of the device of position in track, it is characterised in that:
The light that vehicle front semiconductor laser light source (6) and rear vehicle end semiconductor laser light source (32) operationally send
After shaped, the width of its width ratio lane center tag line (1) is big, through lane center tag line (1) and the common drip on both sides thereof
The light sensor acting on light source both sides after blue or green road reflection is taken in the light source on certain light sensor in lane center
During the reflection of tag line (1), owing to reflection light can drive more by force light sensitive diode or phototriode ON operation, when certain light
Light source on dependent sensor is when the reflection on plain asphalt road surface, and owing to reflecting, light is more weak can not drive light sensitive diode
Or phototriode ON operation, so have only to know the working condition of the light sensor of light source both sides, it is possible to determine
Light source moves a certain particular displacement amount pair relative to the position of lane center tag line, vehicle operating control system (5) by vehicle
The respective side edge light sensor conducting number of light source (6) carries out continuous sampling；
Concrete decision method is as follows
When vehicle front semiconductor laser light source (6) or rear vehicle end semiconductor laser light source (32) right side light sensor
When conducting number turns on number more than the light sensor on the left of corresponding light source, vehicle bottom relevant source position phase is described
For lane center tag line (1) to the left, now vehicle operating control system (5) information of obtaining carry out pointing out or assist into
The corresponding operation of row；
When vehicle front semiconductor laser light source (6) or rear vehicle end semiconductor laser light source (32) right side light sensor
When conducting number turns on number less than the light sensor on the left of corresponding light source, vehicle bottom relevant source position phase is described
For lane center tag line (1) to the right, now vehicle operating control system (5) information of obtaining carry out pointing out or assist into
The corresponding operation of row；
Vehicle operating control system (5) by two light sources relative to the positional information of lane center tag line and two Linear Array Realtimes
Distance between sensor group calculates the angle between vehicle body and lane center tag line (1), to vehicle operating control system
It is adjusted direction of traffic providing reference data.
The most according to claim 1 a kind of judge vehicle position judging method of the device of position in track, its feature
It is: vehicle often advance certain distance vehicle operating control system (5) is sampled once.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610579540.9A CN106157635B (en) | 2016-07-22 | 2016-07-22 | A kind of device and judgment method judging vehicle position in track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610579540.9A CN106157635B (en) | 2016-07-22 | 2016-07-22 | A kind of device and judgment method judging vehicle position in track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106157635A true CN106157635A (en) | 2016-11-23 |
| CN106157635B CN106157635B (en) | 2018-08-07 |
Family
ID=58059846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610579540.9A Active CN106157635B (en) | 2016-07-22 | 2016-07-22 | A kind of device and judgment method judging vehicle position in track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106157635B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108538137A (en) * | 2018-06-19 | 2018-09-14 | 江苏省交通技师学院 | Road roller tracks actual training device and method |
| CN108634937A (en) * | 2018-05-18 | 2018-10-12 | 浙江百安医疗科技有限公司 | Basin bottom organ prolapse apparatus for evaluating |
| CN108926350A (en) * | 2018-05-18 | 2018-12-04 | 浙江百安医疗科技有限公司 | Basin bottom organ prolapse assesses device and application method |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN109299769A (en) * | 2018-07-18 | 2019-02-01 | 深圳市海梁科技有限公司 | A kind of change wavelength bar code, semiconductor laser navigation system and automatic driving vehicle |
| CN112559659A (en) * | 2020-12-10 | 2021-03-26 | 首都师范大学 | Electronic map generation method and device, and driving data acquisition method and device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1755394A (en) * | 2004-10-01 | 2006-04-05 | 株式会社电装 | Vehicular radar system |
| CN1763485A (en) * | 2004-10-19 | 2006-04-26 | 黄启瑞 | Automotive run-off-road pre-alarming system |
| JP2007310595A (en) * | 2006-05-17 | 2007-11-29 | Denso Corp | Traveling environment recognition system |
| CN103052976A (en) * | 2011-06-08 | 2013-04-17 | 丰田自动车株式会社 | Lane departure avoidance assistance device, separator display method, and program |
| CN103533229A (en) * | 2012-07-05 | 2014-01-22 | 现代摩比斯株式会社 | Method and apparatus for recognizing lane |
| CN104272363A (en) * | 2012-04-27 | 2015-01-07 | 株式会社电装 | Boundary-line-detecting device, boundary-line-deviation-detecting device, and boundary-line-detecting program |
| CN105045266A (en) * | 2015-08-07 | 2015-11-11 | 东南（福建）汽车工业有限公司 | Vehicle automatic tracking method |
| CN204832959U (en) * | 2015-08-07 | 2015-12-02 | 东南（福建）汽车工业有限公司 | Automatic mark device of seeking of vehicle |
| US9255805B1 (en) * | 2013-07-08 | 2016-02-09 | Google Inc. | Pose estimation using long range features |
| CN105329161A (en) * | 2014-06-27 | 2016-02-17 | 比亚迪股份有限公司 | Method and device for detecting vehicle deviation from lane |
| CN105528588A (en) * | 2015-12-31 | 2016-04-27 | 百度在线网络技术（北京）有限公司 | Lane line recognition method and device |
| CN105667518A (en) * | 2016-02-25 | 2016-06-15 | 福州华鹰重工机械有限公司 | Lane detection method and device |
-
2016
- 2016-07-22 CN CN201610579540.9A patent/CN106157635B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1755394A (en) * | 2004-10-01 | 2006-04-05 | 株式会社电装 | Vehicular radar system |
| CN1763485A (en) * | 2004-10-19 | 2006-04-26 | 黄启瑞 | Automotive run-off-road pre-alarming system |
| JP2007310595A (en) * | 2006-05-17 | 2007-11-29 | Denso Corp | Traveling environment recognition system |
| CN103052976A (en) * | 2011-06-08 | 2013-04-17 | 丰田自动车株式会社 | Lane departure avoidance assistance device, separator display method, and program |
| CN104272363A (en) * | 2012-04-27 | 2015-01-07 | 株式会社电装 | Boundary-line-detecting device, boundary-line-deviation-detecting device, and boundary-line-detecting program |
| CN103533229A (en) * | 2012-07-05 | 2014-01-22 | 现代摩比斯株式会社 | Method and apparatus for recognizing lane |
| US9255805B1 (en) * | 2013-07-08 | 2016-02-09 | Google Inc. | Pose estimation using long range features |
| CN105329161A (en) * | 2014-06-27 | 2016-02-17 | 比亚迪股份有限公司 | Method and device for detecting vehicle deviation from lane |
| CN105045266A (en) * | 2015-08-07 | 2015-11-11 | 东南（福建）汽车工业有限公司 | Vehicle automatic tracking method |
| CN204832959U (en) * | 2015-08-07 | 2015-12-02 | 东南（福建）汽车工业有限公司 | Automatic mark device of seeking of vehicle |
| CN105528588A (en) * | 2015-12-31 | 2016-04-27 | 百度在线网络技术（北京）有限公司 | Lane line recognition method and device |
| CN105667518A (en) * | 2016-02-25 | 2016-06-15 | 福州华鹰重工机械有限公司 | Lane detection method and device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108634937A (en) * | 2018-05-18 | 2018-10-12 | 浙江百安医疗科技有限公司 | Basin bottom organ prolapse apparatus for evaluating |
| CN108926350A (en) * | 2018-05-18 | 2018-12-04 | 浙江百安医疗科技有限公司 | Basin bottom organ prolapse assesses device and application method |
| CN108538137A (en) * | 2018-06-19 | 2018-09-14 | 江苏省交通技师学院 | Road roller tracks actual training device and method |
| CN108538137B (en) * | 2018-06-19 | 2024-04-05 | 江苏省交通技师学院 | Road roller tracking training device and method |
| CN109299769A (en) * | 2018-07-18 | 2019-02-01 | 深圳市海梁科技有限公司 | A kind of change wavelength bar code, semiconductor laser navigation system and automatic driving vehicle |
| CN109299769B (en) * | 2018-07-18 | 2022-03-01 | 深圳市海梁科技有限公司 | Variable wavelength bar code, semiconductor laser navigation system and unmanned vehicle |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN109213172B (en) * | 2018-09-26 | 2021-06-04 | 同济大学 | Multi-sensor logistics navigation system based on optical navigation device |
| CN112559659A (en) * | 2020-12-10 | 2021-03-26 | 首都师范大学 | Electronic map generation method and device, and driving data acquisition method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106157635B (en) | 2018-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106157635A (en) | A kind of device judging vehicle position in track and determination methods | |
| US11755024B2 (en) | Navigation by augmented path prediction | |
| US11148664B2 (en) | Navigation in vehicle crossing scenarios | |
| US20210311490A1 (en) | Crowdsourcing a sparse map for autonomous vehicle navigation | |
| US10248124B2 (en) | Localizing vehicle navigation using lane measurements | |
| EP4345419A2 (en) | Systems and methods for vehicle navigation | |
| US20210323537A1 (en) | Automatic Parking Method and Device | |
| US20220289239A1 (en) | Sign backside mapping and navigation | |
| CN103256937B (en) | The method of route matching and device | |
| CN102460535B (en) | Method for judging vehicle traveling position and vehicle traveling position judgment device | |
| EP3887762A2 (en) | Lane mapping and navigation | |
| WO2021231906A1 (en) | Systems and methods for vehicle navigation involving traffic lights and traffic signs | |
| CN206075134U (en) | A kind of tunnel automatic guided vehicle and guidance system | |
| CN103019240B (en) | A kind of AGV dolly plane positioning navigational system and method | |
| JP2022504728A (en) | Positioning methods, routing methods, devices, robots and storage media | |
| WO2019111498A1 (en) | Lane network data generation device, lane network data generation program, and storage medium | |
| US11920950B2 (en) | System and method for generating precise road lane map data | |
| US10345107B2 (en) | Automated vehicle sensor selection based on map data density and navigation feature density | |
| CN111710159A (en) | Intersection vehicle path planning method and device based on virtual lane line | |
| US11768085B2 (en) | Map tile optimization based on tile connectivity | |
| US20230127230A1 (en) | Control loop for navigating a vehicle | |
| CN101866017B (en) | Magnetic positioning method of traffic vehicle based on displacement cyclic unique code | |
| CN101726303A (en) | Navigation method and device | |
| WO2017175719A1 (en) | Position acquisiition system | |
| CN104679006A (en) | Automatic tracking recognition indicating system and indicating method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |