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Automated Valet Parking and Charging for e-Mobility: Results of the V-Charge Project

机译:自动代客停车和用于电子机动性的充电:V-Chard项目的结果

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Automated valet parking services provide great potential to increase the attractiveness of electric vehicles by mitigating their two main current deficiencies: reduced driving ranges and prolonged refueling times. The European research project V-Charge aims at providing this service on designated parking lots using close-to-market sensors only. For this purpose the project developed a prototype capable of performing fully automated navigation in mixed traffic on designated parking lots and GPS-denied parking garages with cameras and ultrasonic sensors only. This paper summarizes the work of the project, comprising advances in network communication and parking space scheduling, multi-camera calibration, semantic mapping concepts, visual localization and motion planning. The project pushed visual localization, environment perception and automated parking to centimetre precision. The developed infrastructure-based camera calibration and semi-supervised semantic mapping concepts greatly reduce maintenance efforts. Results are presented from extensive month-long field tests.
机译:自动代客泊车服务通过减轻其两个主要目前的缺陷来增加电动汽车的吸引力:减少驾驶范围和长期加油时段。欧洲研究项目V-Charge旨在仅使用近距离传感器在指定的停车场提供此服务。为此,该项目开发了一种技术,能够在指定的停车场和GPS拒绝的停车车库中进行充分自动化导航,仅使用相机和超声波传感器。本文总结了该项目的工作,包括网络通信和停车空间调度,多摄像机校准,语义映射概念,视觉定位和运动规划的进步。该项目推动了视觉本地化,环境感知和自动停车到厘米精度。基于开发的基础设施的相机校准和半监控语义映射概念大大减少了维护工作。结果来自广泛的月长的现场测试。

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