CN110646799A - Vehicle sensor combined detection system and method - Google Patents
Vehicle sensor combined detection system and method Download PDFInfo
- Publication number
- CN110646799A CN110646799A CN201910932879.6A CN201910932879A CN110646799A CN 110646799 A CN110646799 A CN 110646799A CN 201910932879 A CN201910932879 A CN 201910932879A CN 110646799 A CN110646799 A CN 110646799A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- radar
- information
- real time
- situation information
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005516 engineering process Methods 0.000 claims abstract description 32
- 238000004364 calculation method Methods 0.000 claims abstract description 16
- 238000010276 construction Methods 0.000 claims abstract description 7
- 239000002245 particle Substances 0.000 claims description 37
- 238000012545 processing Methods 0.000 claims description 16
- 238000005070 sampling Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 230000006870 function Effects 0.000 description 12
- 230000008447 perception Effects 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 5
- 230000000295 complement effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle sensor combined detection system and a method, which comprises the following steps: the radar detection unit is used for detecting the situation information around the vehicle in real time by utilizing a radar technology and sending the situation information to the calculation unit and the display unit; the computing unit is used for judging whether early warning is needed or not in real time according to the situation information and sending early warning information to the display unit when early warning is needed; the early warning information comprises congestion, trouble-making and construction; and the display unit is used for displaying the situation information and the early warning information in real time. The invention acquires the complex road condition situation information all weather, all day long and all around through the multi-sensor combined working mode, and feeds back the road condition situation information which endangers the driving safety of the automobile to the driver quickly and timely.
Description
Technical Field
The invention relates to the technical field of driving navigation, in particular to a vehicle sensor combined detection system and a vehicle sensor combined detection method.
Background
The automatic driving and advanced driving auxiliary technology utilizes a vehicle-mounted sensor to sense the situation of the road condition in real time, thereby achieving the purpose of path planning or auxiliary judgment, and being an effective means for reducing the incidence rate of traffic accidents and improving the driving safety. However, this technique is not yet mature, and the sensors used in the system are also very expensive. Furthermore, in many special cases it is difficult to leave the driver's overall control of the driving environment.
Disclosure of Invention
Aiming at the problems, the invention provides a vehicle sensor combined detection system and a vehicle sensor combined detection method, which utilize the concept of software radio to redesign a radar, adopt a software radar and a laser radar of an S wave band to carry out combined detection on the surrounding environment of a vehicle, and correct a particle filter algorithm on the basis of repeated tests in order to meet the requirement of actual road conditions, thereby enhancing the adaptability of the radar in a complex environment, reducing the cost, solving the problem of visual blind areas of drivers on the basis of saving space, and realizing the precise detection of the road conditions without dead angles.
The invention specifically comprises the following steps:
a vehicle sensor cluster detection system comprising:
the radar detection unit is used for detecting the situation information around the vehicle in real time by utilizing a radar technology and sending the situation information to the calculation unit and the display unit;
the computing unit is used for judging whether early warning is needed or not in real time according to the situation information and sending early warning information to the display unit when early warning is needed; the early warning information comprises congestion, trouble-making and construction;
and the display unit is used for displaying the situation information and the early warning information in real time.
Further, the radar detection unit adopts a laser radar and a continuous wave radar to carry out combined detection on the surrounding environment of the vehicle to obtain the surrounding situation information of the vehicle; the method realizes the dead-angle-free detection of distance dimension and space dimension, realizes the intercommunication of multi-source heterogeneous data on the basis of meeting the function of a common vehicle-mounted collision avoidance radar, and completes the near, medium and long-distance early warning.
Furthermore, the radar detection unit consists of an antenna and a processing board, a programmable computing unit is embedded in the processing board and used for storing and operating system codes to realize the function of a software radar; compared with the traditional radar detection system, the radar is redesigned, the invention utilizes the idea of software radio, defines hardware by software, can adjust the whole function only by modifying system codes, and saves a large amount of hardware facilities; the radar is only composed of the antenna and the processing board, so that the configuration space is effectively saved, and meanwhile, the cost and the maintenance cost are saved.
Further, the radar detection unit comprises a particle filter calculation module, which is used for obtaining the surrounding situation information of the vehicle according to the surrounding environment information of the vehicle obtained in real time by utilizing the radar technology;
the particle filter calculation module obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information acquired in real time by utilizing a radar technology; sampling is carried out on the known prior probability distribution to obtain particles, and particle updating is obtained through the probability distribution;
in order to meet the actual road condition requirement, the calculation model and particle update of the particle filter algorithm are corrected on the basis of repeated tests, and the adaptability of the radar in a complex environment is greatly enhanced.
The system further comprises a camera device, a radar detection unit and a control unit, wherein the camera device is used for collecting images of the surrounding environment of the vehicle and detecting and identifying the surrounding environment of the vehicle by matching with the radar detection unit according to a target identification algorithm; the camera sensor commonly used by the current vehicle is reserved, and the radar and the camera device are matched for use, so that the near, medium and far all-around seamless situation perception of the vehicle is realized, and the problems of invisible and unclear identification of the vehicle are solved.
A vehicle sensor combination detection method, comprising:
detecting the surrounding situation information of the vehicle in real time by utilizing a radar technology;
judging whether early warning is needed or not in real time according to the situation information, and returning early warning information to a vehicle driver when the early warning is needed; the early warning information comprises congestion, trouble-making and construction.
Further, the detecting the surrounding situation information of the vehicle in real time by using the radar technology specifically includes: the method comprises the following steps of performing combined detection on the surrounding environment of a vehicle by adopting a laser radar and a continuous wave radar to obtain surrounding situation information of the vehicle; the method realizes the dead-angle-free detection of distance dimension and space dimension, realizes the intercommunication of multi-source heterogeneous data on the basis of meeting the function of a common vehicle-mounted collision avoidance radar, and completes the near, medium and long-distance early warning.
Furthermore, the laser radar and the continuous wave radar are composed of an antenna and a processing board, a programmable computing unit is embedded in the processing board, and the computing unit is used for storing and operating system codes to realize the function of the software radar; compared with the traditional radar detection system, the radar is redesigned, the invention utilizes the idea of software radio, defines hardware by software, can adjust the whole function only by modifying system codes, and saves a large amount of hardware facilities; the radar is only composed of the antenna and the processing board, so that the configuration space is effectively saved, and meanwhile, the cost and the maintenance cost are saved.
Further, the detecting the surrounding situation information of the vehicle in real time by using the radar technology specifically includes:
acquiring vehicle surrounding environment information in real time by utilizing a radar technology, and calculating the environment information by utilizing a particle filter algorithm to obtain vehicle surrounding situation information;
the particle filter algorithm obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information preliminarily obtained by utilizing a radar technology; sampling is carried out on the known prior probability distribution to obtain particles, and particle updating is obtained through the probability distribution;
in order to meet the actual road condition requirement, the calculation model and particle update of the particle filter algorithm are corrected on the basis of repeated tests, and the adaptability of the radar in a complex environment is greatly enhanced.
Further, when the situation information around the vehicle is detected in real time by utilizing the radar technology, the method further comprises the following steps:
acquiring images of the surrounding environment of the vehicle, and detecting and identifying the surrounding environment of the vehicle by matching with the radar technology according to a target identification algorithm; the camera sensor commonly used by the current vehicle is reserved, and the radar and the camera device are matched for use, so that the near, medium and far all-around seamless situation perception of the vehicle is realized, and the problems of invisible and unclear identification of the vehicle are solved.
The invention has the beneficial effects that:
the invention acquires the complex road condition situation information all weather, all day long and all around through the multi-sensor combined working mode, and feeds back the road condition situation information which endangers the driving safety of the automobile to the driver quickly and timely. By using the idea of software radio and defining hardware by software, the radar only consists of an antenna and a processing board, thereby effectively saving configuration space and simultaneously saving cost and maintenance cost. The calculation model and the particle update of the particle filter algorithm are corrected, and the adaptability of the radar in a complex environment is greatly enhanced. The camera sensor commonly used by the current automobile is reserved, a mature target identification algorithm is utilized, effective target detection and identification are carried out by matching with radar detection results under the condition of good weather conditions, and through the matching use of two types of radars and the camera, the vehicle realizes a near, medium and far all-around seamless situation perception system, and the problem that the vehicle is invisible and is not clearly identified is solved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a block diagram of a vehicle sensor cluster detection system according to an embodiment of the present invention;
FIG. 2 is a block diagram of another exemplary vehicle sensor cluster detection system in accordance with the present invention;
fig. 3 is a flowchart of a vehicle sensor combination detection method according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Referring to fig. 1, a vehicle sensor combination detection system according to an embodiment of the present invention includes:
the radar detection unit 11 is used for detecting the situation information around the vehicle in real time by utilizing a radar technology and sending the situation information to the calculation unit 12 and the display unit 13;
the computing unit 12 is configured to determine whether an early warning is needed in real time according to the situation information, and send early warning information to the display unit 13 when the early warning is needed; the early warning information comprises congestion, trouble-making and construction;
and the display unit 13 is used for displaying the situation information and the early warning information in real time.
Preferably, the radar detection unit 11 performs combined detection on the vehicle surroundings by using a laser radar and a continuous wave radar to obtain vehicle surrounding situation information; the method realizes the dead-angle-free detection of distance dimension and space dimension, realizes the intercommunication of multi-source heterogeneous data on the basis of meeting the function of a common vehicle-mounted collision avoidance radar, and completes the near, medium and long-distance early warning.
The laser radar is responsible for sensing 360-degree all-directional situation information within 8 meters and is mainly used for accurately avoiding obstacles in complex and narrow spaces; the continuous wave radar is used for detecting information such as the distance and the direction of a target of 8-200 meters in real time; the advantages of the combination use are complementary, and the seamless perception of the vehicle to the near, medium and far distance situations can be realized.
Preferably, the radar detection unit 11 is composed of an antenna and a processing board, a programmable computing unit is embedded in the processing board, and the programmable computing unit is used for storing and operating system codes to realize a software radar function; compared with the traditional radar detection system, the radar is redesigned, the invention utilizes the idea of software radio, defines hardware by software, can adjust the whole function only by modifying system codes, and saves a large amount of hardware facilities; at present, software radio is still in the just-emerging stage, the method is novel, the innovation is strong, the radar only consists of an antenna and a processing board, the configuration space is effectively saved, and meanwhile, the cost and the maintenance cost are saved.
Preferably, the radar detection unit 11 includes a particle filter calculation module, configured to obtain vehicle surrounding situation information according to vehicle surrounding environment information obtained in real time by using a radar technology;
the particle filter calculation module obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information acquired in real time by utilizing a radar technology; sampling is carried out on the known prior probability distribution to obtain particles, and particle updating is obtained through the probability distribution;
in order to meet the actual road condition requirement, the calculation model and particle update of the particle filter algorithm are corrected on the basis of repeated tests, and the adaptability of the radar in a complex environment is greatly enhanced.
Preferably, as shown in fig. 2, the system further includes a camera 14, configured to collect an image of the vehicle surroundings, and detect and identify the vehicle surroundings in cooperation with the radar detection unit 11 according to a target identification algorithm; the camera sensor commonly used by the current vehicle is reserved, and the radar and the camera device 14 are matched for use, so that the near, medium and far omnibearing seamless situation perception around the vehicle is realized, and the problems of invisible and unclear identification of the vehicle are solved.
As shown in fig. 3, an embodiment of a vehicle sensor combination detection method according to the present invention includes:
s31: detecting the surrounding situation information of the vehicle in real time by utilizing a radar technology;
s32: judging whether early warning is needed or not in real time according to the situation information, and returning early warning information to a vehicle driver when the early warning is needed; the early warning information comprises congestion, trouble-making and construction.
Preferably, the detecting the situation information around the vehicle in real time by using the radar technology specifically includes: the method comprises the following steps of performing combined detection on the surrounding environment of a vehicle by adopting a laser radar and a continuous wave radar to obtain surrounding situation information of the vehicle; the method realizes the dead-angle-free detection of distance dimension and space dimension, realizes the intercommunication of multi-source heterogeneous data on the basis of meeting the function of a common vehicle-mounted collision avoidance radar, and completes the near, medium and long-distance early warning.
The laser radar is responsible for sensing 360-degree all-directional situation information within 8 meters and is mainly used for accurately avoiding obstacles in complex and narrow spaces; the continuous wave radar is used for detecting information such as the distance and the direction of a target of 8-200 meters in real time; the advantages of the combination use are complementary, and the seamless perception of the vehicle to the near, medium and far distance situations can be realized.
Preferably, the laser radar and the continuous wave radar are composed of an antenna and a processing board, a programmable computing unit is embedded in the processing board, and the computing unit is used for storing and operating system codes to realize the function of the software radar; compared with the traditional radar detection system, the radar is redesigned, the invention utilizes the idea of software radio, defines hardware by software, can adjust the whole function only by modifying system codes, and saves a large amount of hardware facilities; the radar is only composed of the antenna and the processing board, so that the configuration space is effectively saved, and meanwhile, the cost and the maintenance cost are saved.
Preferably, the detecting the situation information around the vehicle in real time by using the radar technology specifically includes:
acquiring vehicle surrounding environment information in real time by utilizing a radar technology, and calculating the environment information by utilizing a particle filter algorithm to obtain vehicle surrounding situation information;
the particle filter algorithm obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information preliminarily obtained by utilizing a radar technology; sampling is carried out on the known prior probability distribution to obtain particles, and particle updating is obtained through the probability distribution;
in order to meet the actual road condition requirement, the calculation model and particle update of the particle filter algorithm are corrected on the basis of repeated tests, and the adaptability of the radar in a complex environment is greatly enhanced.
Preferably, when the situation information around the vehicle is detected in real time by using the radar technology, the method further comprises the following steps:
acquiring images of the surrounding environment of the vehicle, and detecting and identifying the surrounding environment of the vehicle by matching with the radar technology according to a target identification algorithm; the camera sensor commonly used by the current vehicle is reserved, and the radar and the camera device are matched for use, so that the near, medium and far all-around seamless situation perception of the vehicle is realized, and the problems of invisible and unclear identification of the vehicle are solved.
The invention acquires the complex road condition situation information all weather, all day long and all around through the multi-sensor combined working mode, and feeds back the road condition situation information which endangers the driving safety of the automobile to the driver quickly and timely. By using the idea of software radio and defining hardware by software, the radar only consists of an antenna and a processing board, thereby effectively saving configuration space and simultaneously saving cost and maintenance cost. The calculation model and the particle update of the particle filter algorithm are corrected, and the adaptability of the radar in a complex environment is greatly enhanced. The camera sensor commonly used by the current automobile is reserved, a mature target identification algorithm is utilized, effective target detection and identification are carried out by matching with radar detection results under the condition of good weather conditions, and through the matching use of two types of radars and the camera, the vehicle realizes a near, medium and far all-around seamless situation perception system, and the problem that the vehicle is invisible and is not clearly identified is solved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A vehicle sensor cluster detection system, comprising:
the radar detection unit is used for detecting the situation information around the vehicle in real time by utilizing a radar technology and sending the situation information to the calculation unit and the display unit;
the computing unit is used for judging whether early warning is needed or not in real time according to the situation information and sending early warning information to the display unit when early warning is needed; the early warning information comprises congestion, trouble-making and construction;
and the display unit is used for displaying the situation information and the early warning information in real time.
2. The system of claim 1, wherein the radar detection unit employs a combination of lidar and continuous wave radar to detect the vehicle surroundings and obtain vehicle surrounding situation information.
3. The system of claim 2, wherein the radar detection unit is comprised of an antenna and a processing board having a programmable computing unit embedded therein, the programmable computing unit configured to store and execute system code to implement software radar functionality.
4. The system of claim 3, wherein the radar detection unit includes a particle filter calculation module for obtaining vehicle surrounding situation information from vehicle surrounding environment information acquired in real time using radar technology;
the particle filter calculation module obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information acquired in real time by utilizing a radar technology; and sampling is carried out on the known prior probability distribution to obtain particles, and particle update is obtained through the probability distribution.
5. The system of claim 4, further comprising a camera device for capturing images of the surroundings of the vehicle and cooperating with the radar detection unit to detect and identify the surroundings of the vehicle according to a target identification algorithm.
6. A vehicle sensor cluster detection method, comprising:
detecting the surrounding situation information of the vehicle in real time by utilizing a radar technology;
judging whether early warning is needed or not in real time according to the situation information, and returning early warning information to a vehicle driver when the early warning is needed; the early warning information comprises congestion, trouble-making and construction.
7. The method according to claim 6, wherein the detecting the surrounding situation information of the vehicle in real time by using the radar technology specifically comprises:
and performing combined detection on the surrounding environment of the vehicle by adopting the laser radar and the continuous wave radar to obtain the surrounding situation information of the vehicle.
8. The method of claim 7, wherein the lidar and continuous wave radar are comprised of an antenna and a processing board having embedded therein a programmable computing unit for storing and executing system code to implement software radar functionality.
9. The method according to claim 8, wherein the detecting the surrounding situation information of the vehicle in real time by using the radar technology specifically comprises:
acquiring vehicle surrounding environment information in real time by utilizing a radar technology, and calculating the environment information by utilizing a particle filter algorithm to obtain vehicle surrounding situation information;
the particle filter algorithm obtains an environment-adaptive state transition model through linear fitting according to vehicle surrounding environment information preliminarily obtained by utilizing a radar technology; and sampling is carried out on the known prior probability distribution to obtain particles, and particle update is obtained through the probability distribution.
10. The method of claim 9, wherein while detecting the situational information about the vehicle in real time using radar technology, the method further comprises:
and acquiring images of the surrounding environment of the vehicle, and detecting and identifying the surrounding environment of the vehicle by matching with the radar technology according to a target identification algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932879.6A CN110646799A (en) | 2019-09-29 | 2019-09-29 | Vehicle sensor combined detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932879.6A CN110646799A (en) | 2019-09-29 | 2019-09-29 | Vehicle sensor combined detection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110646799A true CN110646799A (en) | 2020-01-03 |
Family
ID=69011956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910932879.6A Pending CN110646799A (en) | 2019-09-29 | 2019-09-29 | Vehicle sensor combined detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110646799A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100164706A1 (en) * | 2008-12-30 | 2010-07-01 | Industrial Technology Research Institute | System and method for detecting surrounding environment |
| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A control method, controller and terminal for radar detection |
-
2019
- 2019-09-29 CN CN201910932879.6A patent/CN110646799A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100164706A1 (en) * | 2008-12-30 | 2010-07-01 | Industrial Technology Research Institute | System and method for detecting surrounding environment |
| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A control method, controller and terminal for radar detection |
Non-Patent Citations (2)
| Title |
|---|
| 夏栋 等: "基于通用计算机的雷达后端软件化", 《2011 ASIA-PACIFIC YOUTH CONFERENCE ON COMMUNICATION》 * |
| 迟凤阳 等: "《水下组合导航及其滤波算法》", 30 November 2018 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12044776B2 (en) | Multisensor data fusion method and apparatus to obtain static and dynamic environment features | |
| CN109747643B (en) | Information fusion method of intelligent vehicle sensing system | |
| US8180561B2 (en) | Vehicle-installation obstacle detection apparatus | |
| CN110430401A (en) | Vehicle blind zone method for early warning, prior-warning device, MEC platform and storage medium | |
| CN104217590A (en) | On-board traffic density estimator | |
| CN113460046B (en) | Automatic speed control system and operation method thereof | |
| CN109996212A (en) | Vehicle blind zone information acquisition method, car-mounted terminal and storage equipment | |
| KR20200101324A (en) | Variable range and frame-rate radar operation for automated vehicles | |
| US12243324B2 (en) | Visual guidance system and method | |
| CN111417993B (en) | Method and device for providing a position of at least one object | |
| US12106583B2 (en) | Vehicular lane marker determination system with lane marker estimation based in part on a LIDAR sensing system | |
| CN110889409B (en) | Method, device, equipment and storage medium for monitoring and optimizing automobile radar | |
| CN114084129A (en) | Fusion-based vehicle automatic driving control method and system | |
| CN113884090A (en) | Intelligent platform vehicle environment perception system and its data fusion method | |
| JP2025069401A (en) | Observation equipment | |
| US11435191B2 (en) | Method and device for determining a highly precise position and for operating an automated vehicle | |
| JP6500607B2 (en) | Vehicle position determination device and vehicle position determination method | |
| CN115909806A (en) | Collision early warning method and device and road side equipment | |
| JP2017117105A (en) | Line-of-sight judgment device | |
| CN117238143B (en) | Traffic data fusion method, system and device based on radar double-spectrum camera | |
| AU2010355231B2 (en) | Method and control unit for controlling a display of a proximity warning system | |
| CN110646799A (en) | Vehicle sensor combined detection system and method | |
| US20200192401A1 (en) | Method and device for determining a highly-precise position and for operating an automated vehicle | |
| US10423166B2 (en) | Method and apparatus for furnishing a signal for operating at least two vehicles along a first trajectory | |
| JP6500606B2 (en) | Vehicle position determination device and vehicle position determination method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200103 |
|
| RJ01 | Rejection of invention patent application after publication |