公开(公告)号：US11904938B2

公开(公告)日：2024-02-20

申请号：US17048285

申请日：2019-04-16

Applicant: Ohio University

Inventor： Jianchao Zhu ,  Letian Lin

IPC: B62D15/02 ,  G05D1/02 ,  G05D1/00

CPC classification number: B62D15/0285 ,  G05D1/021 ,  G05D2201/02

Abstract: Systems, methods, and computer program products for guiding vehicles. A vehicle control system detects obstacles and avoids contact between the vehicle, and the obstacles by solving a path planning problem using a four-phase system. In a parking scenario, switching control laws are used to drive the vehicle to a target line, and a forward path segment and a reverse path segment defined. The two path segments are connected along the target line to define a path for entering or exiting the parking space. Objects in a driving environment may be avoided by identifying an obstacle corner, defining an avoidance circle (62), (185) around the obstacle corner, and determining a path that allows the vehicle to avoid penetrating the avoidance circle. A line-of-sight guidance method may be used to follow the path by defining target points on the path at a lookout distance l, and steering the vehicle using the target points.

公开(公告)号：US20210163068A1

公开(公告)日：2021-06-03

申请号：US17048285

申请日：2019-04-16

Applicant: Ohio University

Inventor： Jianchao Zhu ,  Letian Lin

IPC: B62D15/02 ,  G05D1/02

Abstract: Systems, methods, and computer program products for guiding vehicles. A vehicle control system detects obstacles and avoids contact between the vehicle, and the obstacles by solving a path planning problem using a four-phase system. In a parking scenario, switching control laws are used to drive the vehicle to a target line, and a forward path segment and a reverse path segment defined. The two path segments are connected along the target line to define a path for entering or exiting the parking space. Objects in a driving environment may be avoided by identifying an obstacle corner, defining an avoidance circle (62), (185) around the obstacle corner, and determining a path that allows the vehicle to avoid penetrating the avoidance circle. A line-of-sight guidance method may be used to follow the path by defining target points on the path at a lookout distance l, and steering the vehicle using the target points.