CN106530820A - Electric vehicle valet automatic parking in-place charging system - Google Patents
Electric vehicle valet automatic parking in-place charging system Download PDFInfo
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- CN106530820A CN106530820A CN201710006078.8A CN201710006078A CN106530820A CN 106530820 A CN106530820 A CN 106530820A CN 201710006078 A CN201710006078 A CN 201710006078A CN 106530820 A CN106530820 A CN 106530820A
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- parking
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- parking stall
- wireless charging
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric vehicle valet automatic parking in-place charging system, which comprises a parking space detection and guidance system, an automatic parking in-place system, a wireless charging system and a mobile control terminal. The mobile control terminal is in wireless communication control connection with the parking space detection and guidance system; the parking space detection and guidance system obtains idle parking space information in a parking lot through communication among a positioning system, a parking space unit, a parking lot management system and a vehicle-mounted system, and the vehicle-mounted system controls and guides a vehicle to drive to a parking region of a target parking space. The automatic parking in-place system obtains a specific parking space, position information of a wireless charging device on the parking space and surrounding environment information through communication between the vehicle-mounted system and the parking space unit, the vehicle-mounted system calculates and generates a parking trajectory, and the vehicle-mounted system controls the vehicle to drive into a charging matching region of the target parking space. The wireless charging system charges a battery of the electric vehicle by means of electromagnetic induction between the wireless charging device on the parking space and a vehicle-mounted charging receiving plate of the vehicle.
Description
Technical field
The present invention relates to electric intelligent car technical field, and in particular to a kind of automatic parking of electric automobile enters a Charging
System, helps driver's control vehicle traveling to enter and specifies charging electric vehicle parking stall to be charged, can be according to the letter for receiving
Breath Automatic-searching free time charging parking stall, and vehicle traveling is automatically controlled into specifying charging parking stall to be charged, so that driving
Member's parks charging more operated quickly and conveniently.
Background technology
Perfect with growth in the living standard and road equipment, people are also continuously increased to the demand of vehicle, electronic vapour
Car is because gradually popularizing the advantages of its environment-friendly and energy-saving emission-reduction.The focus that wireless charging is studied as electric automobile, compared to wired
Charging has the advantages that space availability ratio height, strong adaptability, reliability are high, support unmanned management, is bound in the future become electricity
The main flow that motor-car charges.Wireless electric vehicle charging device, user are had all at part parking position typically now in parking lot
All it is artificially to moor to be charged vehicle into parking stall.But in order that during wireless charging vehicle vehicle-mounted charge unit and wireless charging
Electric installation is matched as far as possible, is needed storing cycle in suitable charged area.As wireless charging device is all arranged on underbody,
This is a very big test for user parks technology, almost it is difficult to accurately stop into suitable charged area.Therefore, if
There is a kind of generation visitor's automatic parking charging system of electric automobile, parking the time for driver can be saved with high degree, fast
It is again convenient, with extensive market prospects.
The content of the invention
The invention aims to help electric vehicle driver more quickly and accurately to moor be charged into parking stall,
And the objective automatic parking of a kind of electric automobile generation for providing enters a charging system, it is capable of the parking position of Automatic-searching free time, and controls
Vehicle accurately stops to be charged into wireless charging device matching area.
To achieve these goals, the present invention is employed the following technical solutions：
A kind of electric automobile generation objective automated parking system, including parking stall measure and guiding system, automatic parking enter a system,
Wireless charging system and mobile control end；Mobile control end is connected with parking stall measure and guiding system wireless Communication Control；Car
Position detection and guiding system are obtained by alignment system, parking stall unit, the communication between managing system of car parking and onboard system
Idle parking position information in parking lot, and the parking areas that guiding vehicle drives to target parking stall are controlled by onboard system；From
Dynamic VEHICLES MUST PARK WITHIN THE MARKED BAY system obtains wireless charging on specific parking stall and parking stall by the communication between onboard system and parking stall unit
The positional information and ambient condition information of device, and calculated by onboard system and generation is parked track, control vehicle traveling is entered
The charging matching area of target parking stall；Wireless charging system is charged with vehicle on-board by the wireless charging device on parking stall and is received
Electromagnetic induction between plate is to charging battery of electric vehicle.
Further, motion control of the onboard system according to the information realization for receiving to target vehicle, into car
Control vehicle to be charged behind position, including：
Vehicle-mounted sensing unit, including ultrasonic radar and camera, for obtain the information of parking position, peripheral obstacle and
Environmental information；
Vehicular mounted radio units, with managing system of car parking wireless communication connection, obtain between target vehicle and idle parking stall
Relative positioning information；It is connected with parking stall unit simultaneously, obtains determining between vehicle-mounted charge unit and the wireless charging device
Position information；
Vehicular control unit, according to the information for receiving, calculates and generates corresponding driving trace, control vehicle traveling；
Vehicle-mounted charge unit, realizes the charging of batteries of electric automobile with the wireless charging device by electromagnetic induction.
Further, the alignment system is used to realize the positioning between target vehicle and parking stall, and the wireless charging
Positioning between electric installation and the vehicle-mounted charge unit；Including：
Vehicle-mounted UWB positioning units, in vehicle-mounted charge unit；
Multiple UWB locating base stations, are separately mounted to four, parking lot corner, and with managing system of car parking network connection,
The wireless pulse signals that vehicle-mounted UWB positioning units according to receiving send calculate relative distance, and location information is transmitted
To managing system of car parking；
Multiple UWB micro-base stations, on 4 on parking stall corner and wireless charging device, UWB micro-base stations receive vehicle-mounted
The wireless pulse signals that UWB positioning units send calculate the distance between wireless charging device and vehicle-mounted charge receiver board, lead to
Cross the onboard system that parking stall unit is transmitted directly to target vehicle.
Further, the parking stall unit is arranged on below each parking stall, judges that parking stall is by the inductor on parking stall
It is no occupied, the status information of parking stall is sent to by managing system of car parking by wireless communication mode.
Further, the wireless charging device includes Power Supply Assembly and power supply board, and Power Supply Assembly is arranged on parking stall
Below, power supply board is arranged in the FX above each parking stall.
The invention provides a kind of electric automobile generation visitor's automatic parking enters a charging system, after user enters parking lot only
Needing the order parked and charges to be sent by mobile control end, by parking stall measure and guiding system, vehicle is according to receiving
Parking stall and vehicle between location information, with Automatic-searching to idle parking stall, and vehicle can be automatically controlled drive to target
Around parking stall, then according to the relative positioning information between the power supply board and vehicle-mounted charge receiver board of wireless charging device, pass through
Automatic parking enters a system and stops vehicle into suitable charged area.Automatically disconnect when charging is complete and charging, and control vehicle
Charging parking stall is left, the information obtained by onboard sensor automatically controls vehicle into common parking stall.When user needs to use car
When also only need to by mobile control end to vehicle send corresponding order vehicle will automatic running to before user plane.Electronic vapour
Generation visitor's automatic parking charging system of car, can save driver's time that VEHICLES MUST PARK WITHIN THE MARKED BAY charges with high degree so that day
Normal charging of parking becomes safer, operated quickly and conveniently.
Description of the drawings
Fig. 1 parks charging parking stall measure for electric automobile and guides systematic schematic diagram
Fig. 2 enters a systematic schematic diagram for electric automobile automatic parking
Fig. 3 is the structural framing figure that electric automobile generation objective automatic parking enters a charging system
Specific embodiment
Technical scheme is discussed in detail below in conjunction with accompanying drawing：
A kind of electric automobile generation visitor's automated parking system, including：Parking stall measure and guiding system, automatic parking enter position system
System, wireless charging system and mobile control end；Wherein, mobile control end and parking stall measure and guiding system wireless Communication Control
Connection；Parking stall measure and guiding system are by alignment system, parking stall unit, leading between managing system of car parking and onboard system
Interrogate to obtain parking position information idle in parking lot, and parking for target parking stall is driven to by onboard system control guiding vehicle
Region；Automatic parking enters a system by the communication between onboard system and parking stall unit, obtains on specific parking stall and parking stall
The positional information and ambient condition information of wireless charging device, and the track of parking of safety is calculated and generated by onboard system, control
Charging matching area of the vehicle traveling processed into target parking stall；Wireless charging system is by the wireless charging device and car on parking stall
Electromagnetic induction between vehicle-mounted charge receiver board is to charging battery of electric vehicle.
The onboard system is used to control charging system of entirely parking, according to the information realization for receiving to target vehicle
Motion control, into after parking stall controls vehicle and is charged, it can in addition contain by way of 4G and 3G with mobile control end (hand
Machine) communication connection, mainly include：Vehicle-mounted sensing unit, vehicular mounted radio units, vehicular control unit and vehicle-mounted charge unit.
The vehicle-mounted sensing unit includes that 12 road ultrasonic radars and 4 wide-angle imagings are first-class, can obtain parking position
Information, peripheral obstacle and environmental information, it is ensured that security during Vehicular automatic driving；
The vehicular mounted radio units are connected with managing system of car parking by in-plant RFDC, obtain mesh
Relative location information between mark vehicle and idle parking stall；It can in addition contain be connected with parking stall unit, vehicle-mounted charge list is obtained
Precise location information between unit and wireless charging device；
The vehicular control unit is calculated and generates corresponding driving trace, and control vehicle according to the information for receiving
Traveling, vehicle is accurately moored into the parking stall specified, vehicle is stopped into suitable charged area.
The vehicle-mounted charge unit refers to the charge control system of vehicle and the induction charging receiver board on vehicle, with
Power supply board in wireless charging device realizes the charging of batteries of electric automobile by electromagnetic induction technology.Charge control system is then controlled
The carrying out of Vehicular charging processed and disconnect.
The alignment system mainly realizes determining between target vehicle and parking stall by indoor short distance positioning technology (UWB)
Position, and the positioning between power supply board and vehicle-mounted charge receiver board, mainly include：UWB locating base stations, UWB micro-base stations and vehicle-mounted
UWB positioning units.
The vehicle-mounted UWB positioning units are arranged in vehicle-mounted charge receiver board, and wireless pulses can be constantly sent after activation
Signal, the then no longer sending signal when vehicle is started to charge up；
The UWB locating base stations are separately mounted to four, parking lot corner, and pass through netting twine side with managing system of car parking
Formula connects, and calculates accurate relative distance according to the wireless pulse signals that vehicle-mounted UWB positioning units send are received, and will be fixed
Position information transmission is to managing system of car parking；
The UWB micro-base stations are arranged on the power supply board of 4 corners on parking stall and wireless charging, its detection range ratio
UWB locating base stations are near, but more accurate.When vehicle is near parking stall, UWB micro-base stations can receive vehicle-mounted UWB positioning
The wireless pulse signals that unit sends calculate the accurate distance between power supply board and vehicle-mounted charge receiver board, then by parking stall
Unit is transmitted directly to the onboard system of target vehicle, realizes more accurately relative positioning.
The parking stall unit is arranged on below each parking stall, judges whether parking stall is occupied by the inductor on parking stall,
The status information of parking stall is sent to into managing system of car parking wirelessly.And the power supply that UWB micro-base stations are obtained
The relative positioning information of plate and vehicle-mounted charge receiver board and parking space information are sent to vehicle.
The managing system of car parking is wirelessly connected with parking stall unit, obtain each parking stall status information and
Positional information；It is connected with UWB locating base stations by wired mode, obtains the real-time positioning information of target vehicle；By wireless
Mode be connected with vehicle, the location information of the numerical map in parking lot, idle parking stall and target vehicle is sent to into vehicle.
The wireless charging system includes wireless charging device and vehicle-mounted charge receiver board.After vehicle stops into parking stall, supply
By electromagnetic induction charged technology between electroplax and vehicle-mounted charge receiver board, the charging of battery of electric vehicle is realized.The wireless charging
Electric installation includes Power Supply Assembly and power supply board, and Power Supply Assembly is arranged on below parking stall, and power supply board is then arranged on above each parking stall
FX in.
The present invention operation principle be：
As shown in Figure 1, Figure 3, electric automobile parks charging parking stall measure and guiding system is by alignment system, parking stall list
Unit, the parking position information communicated to obtain the free time between managing system of car parking and onboard system.User is only needed to vehicle
It is parked in the parking area in parking lot, then sends automatic parking to parking stall measure and guiding system with mobile control end and refer to
Order, parking stall measure system start activation, from managing system of car parking obtain the numerical map in current parking lot, idle parking stall and from
The location information of body.Managing system of car parking obtains the position letter of parking space state (whether occupied) and parking stall according to parking stall unit
Cease and send to managing system of car parking, the UWB locating base stations in alignment system according to vehicle-mounted UWB positioning units send it is wireless
Pulse signal determines the location information of target vehicle, and sends managing system of car parking to.Managing system of car parking will be received
Data Integration after combine current parking lot numerical map send jointly to vehicle.The onboard system of target vehicle then basis
The information for receiving, detects and determines the positional information of idle parking position.Truck space guiding system starts activation, determines target parking stall
Afterwards, information of the vehicular control unit according to target parking stall, calculates the driving path for generating a safety, automatically then by car
Set sensor obtain around environmental information (recognizing other vehicles and pedestrian), when front have vehicle or pedestrian can stop or
Get around, the control vehicle of safety drives to the parking areas that can be parked around target parking stall.
As shown in Figure 2 and Figure 3, automatic parking enters a system and is divided into moor into charging parking stall and mooring into common parking stall both of which.
When vehicle is reached around target parking stall, open automatic parking and enter a system.When mooring into charging parking stall, by vehicle-mounted camera and
Cartborne ultrasound ripple radar sensor recognizes the position of target parking stall and the wireless charging device on target parking stall；Parking stall unit will be obtained
The parking space state information for taking is sent to managing system of car parking, by the location information between the vehicle-mounted receiver board for obtaining and power supply board
It is transmitted directly to onboard system.When vehicle near when, by vehicle-mounted UWB positioning units and the positioning of the UWB micro-base stations on parking stall
Acquisition of information target parking space information is (parking stall width a and parking stall length b), relatively fixed between vehicle-mounted receiver board and earth's surface power supply board
(lateral separation d and fore-and-aft distance c), are sent to vehicular control unit by parking stall unit to position information.Vehicular control unit with reference to
On the information that receives, selection parked mode (Parallel parking is vertically parked) accordingly, and then plane-generating is parked rail automatically
Mark, with the help of radar for backing car, the control vehicle of safety suitably charges matching area into target parking stall so that vehicle-mounted to connect
Receive plate and power supply board being capable of successful match.After vehicle-mounted receiver board and power supply board successful match, to car by wireless charging system
Wireless charging is carried out, when charging is complete, vehicle disconnects charging, and the parking stall shape sent by managing system of car parking automatically
The common parking stall of state information and onboard sensor Automatic-searching ambient idle, and moored into selected common parking stall automatically.Moor into general
When being open to traffic, vehicular control unit only need to recognize the type and parking space information of parking stall according to onboard sensor, and select corresponding
Mode of parking directly is moored into parking stall.
Claims (5)
1. a kind of electric automobile is for objective automated parking system, it is characterised in that including parking stall measure and guiding system, automatic parking
Enter a system, wireless charging system and mobile control end；Mobile control end and parking stall measure and guiding system wireless communication control
System connection；Parking stall measure and guiding system are by alignment system, parking stall unit, between managing system of car parking and onboard system
Communication obtains the parking position information of free time in parking lot, and drives to parking for target parking stall by onboard system control guiding vehicle
Region；Automatic parking enters a system by the communication between onboard system and parking stall unit, obtains on specific parking stall and parking stall
The positional information and ambient condition information of wireless charging device, and calculated by onboard system and generation is parked track, control vehicle
Charging matching area of the traveling into target parking stall；Wireless charging system is by the wireless charging device and vehicle on-board on parking stall
Electromagnetic induction between charging receiver board is to charging battery of electric vehicle.
2. a kind of electric automobile as claimed in claim 1 is for objective automated parking system, it is characterised in that the onboard system root
According to motion control of the information realization for receiving to target vehicle, vehicle is controlled into after parking stall and be charged, including：
Vehicle-mounted sensing unit, including ultrasonic radar and camera, for obtaining information, peripheral obstacle and the environment of parking position
Information；
Vehicular mounted radio units, with managing system of car parking wireless communication connection, obtain the phase between target vehicle and idle parking stall
To location information；It is connected with parking stall unit simultaneously, obtains the positioning letter between vehicle-mounted charge unit and the wireless charging device
Breath；
Vehicular control unit, according to the information for receiving, calculates and generates corresponding driving trace, control vehicle traveling；
Vehicle-mounted charge unit, realizes the charging of batteries of electric automobile with the wireless charging device by electromagnetic induction.
3. a kind of electric automobile as claimed in claim 1 is for objective automated parking system, it is characterised in that the alignment system is used
In realizing determining between the positioning between target vehicle and parking stall, and the wireless charging device and the vehicle-mounted charge unit
Position；Including：
Vehicle-mounted UWB positioning units, in vehicle-mounted charge unit；
Multiple UWB locating base stations, are separately mounted to four, parking lot corner, and with managing system of car parking network connection, according to
The wireless pulse signals that the vehicle-mounted UWB positioning units for receiving send calculate relative distance, and location information is sent to stop
Parking lot management system；
Multiple UWB micro-base stations, on 4 on parking stall corner and wireless charging device, UWB micro-base stations receive vehicle-mounted UWB
The wireless pulse signals that positioning unit sends calculate the distance between wireless charging device and vehicle-mounted charge receiver board, by car
Bit location is transmitted directly to the onboard system of target vehicle.
4. a kind of electric automobile as claimed in claim 1 is for objective automated parking system, it is characterised in that the parking stall unit peace
It is mounted in below each parking stall, judges whether parking stall is occupied by the inductor on parking stall, by wireless communication mode by parking stall
Status information be sent to managing system of car parking.
5. a kind of electric automobile as claimed in claim 1 is for objective automated parking system, it is characterised in that the wireless charging
Electric installation includes Power Supply Assembly and power supply board, and Power Supply Assembly is arranged on below parking stall, and power supply board is arranged on above each parking stall
In FX.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006078.8A CN106530820A (en) | 2017-01-05 | 2017-01-05 | Electric vehicle valet automatic parking in-place charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006078.8A CN106530820A (en) | 2017-01-05 | 2017-01-05 | Electric vehicle valet automatic parking in-place charging system |
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| Publication Number | Publication Date |
|---|---|
| CN106530820A true CN106530820A (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710006078.8A Pending CN106530820A (en) | 2017-01-05 | 2017-01-05 | Electric vehicle valet automatic parking in-place charging system |
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Cited By (44)
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| CN106875736A (en) * | 2017-04-01 | 2017-06-20 | 江苏大学 | A kind of wireless automated parking system and method |
| CN106981215A (en) * | 2017-03-23 | 2017-07-25 | 北京联合大学 | A kind of automatic parking parking stall bootstrap technique of multi sensor combination formula |
| CN106990780A (en) * | 2017-03-28 | 2017-07-28 | 奇瑞汽车股份有限公司 | A kind of automatic charger navigation system and air navigation aid for driverless electric automobile |
| CN108128392A (en) * | 2017-11-20 | 2018-06-08 | 上海理工大学 | A kind of folding follows electric vehicle automatically |
| CN108749592A (en) * | 2018-03-22 | 2018-11-06 | 常熟共兴合创智能科技合伙企业（有限合伙） | Bus quick charge accurate positioning device based on UWB positioning |
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| CN110316182A (en) * | 2018-03-29 | 2019-10-11 | 深圳市航盛电子股份有限公司 | A kind of automated parking system and method |
| CN110347149A (en) * | 2019-05-24 | 2019-10-18 | 深圳乐行天下科技有限公司 | The method, apparatus and multi-robot system that control multi-robot system is recharged |
| CN110654373A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Automatic parking method and device and vehicle |
| CN110782696A (en) * | 2019-01-25 | 2020-02-11 | 长城汽车股份有限公司 | Control system for passenger-riding parking |
| CN110827572A (en) * | 2019-01-25 | 2020-02-21 | 长城汽车股份有限公司 | Path planning method and device for passenger-riding parking |
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN110945577A (en) * | 2017-07-21 | 2020-03-31 | 罗伯特·博世有限公司 | Apparatus and method for providing status information of automated valet parking system |
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