device for vehicles with an engine to play and reklamezwecken, which meant that the vehicle when hitting an obstacle from the obstacle itself again leaves.

• 1. 用于在铁路交通中、尤其在轨道交通中进行障碍物识别的方法、设备和铁路车辆、尤其轨道车辆 [P] . 中国专利： CN110087970A . 2019-08-02
• 2. 车辆障碍物检测设备和车辆障碍物检测系统 [P] . 中国专利： CN105008955B . 2017.02.22
• 3. VEHICLE PERIPHERY OBSTACLE DISPLAY DEVICE AND VEHICLE PERIPHERY OBSTACLE DISPLAY METHOD [P] . 世界知识产权组织专利： WO2012144053A1 . 2012-10-26

  机译： 车辆周边障碍物显示装置和车辆周边障碍物显示方法

• 4. IMAGE DISPLAY DEVICE AND METHOD CAPABLE OF PREVENTING A VEHICLE FROM COLLIDING WITH AN OBSTACLE SINCE THE DISTANCE BETWEEN THE OUTER LINE OF THE VEHICLE AND THE OBSTACLE AROUND THE VEHICLE IS MONITORED IN REAL TIME [P] . 韩国专利： KR20110121478A . 2011-11-07

  机译： 由于车辆的外线与周围的障碍物之间的距离被实时监控，因此能够防止车辆与障碍物碰撞的图像显示装置和方法

• 5. Vehicle obstacle detection device, road obstacle detection method, and vehicle with road obstacle detection device [P] . 日本专利： JP4887849B2 . 2012-02-29

  机译： 车辆障碍物检测装置，道路障碍物检测方法以及具有道路障碍物检测装置的车辆

• 1. Dynamic A* path finding algorithm and 3D lidar based obstacle avoidance strategy for autonomous vehicles [J] . Wang Xiaohua, Ma Pin, Wang Hua, 高技术通讯（英文版） . 2020,第004期
• 2. Application of A* Algorithm for Real-time Path Re-planning of an Unmanned Surface Vehicle Avoiding Underwater Obstacles [J] . Thanapong Phanthong, Toshihiro Maki, Tamaki Ura, 船舶与海洋工程学报（英文版） . 2014,第001期
• 3. An Adaptive Obstacle Avoidance Algorithm for Unmanned Surface Vehicle in Complicated Marine Environments [J] . Rubo Zhang, Pingpeng Tang, Yumin Su, 自动化学报：英文版 . 2014,第004期
• 4. An Adaptive Obstacle Avoidance Algorithm for Unmanned Surface Vehicle in Complicated Marine Environments [J] . Rubo Zhang, Pingpeng Tang, Yumin Su, 自动化学报（英文版） . 2014,第004期
• 5. Invisible water obstacle recognition and obstacle avoidance algorithm based on vehicle dynamics [C] . Chen Yang, Hongliang Wang, Dawei Pi, CAA International Conference on Vehicular Control and Intelligence . 2020
• 6. Autonomous Vehicle Navigation and Obstacle Avoidance Along a Predetermined Vector [D] . Pfeifer, Elijah Killian. 2021
• 7. Obstacle Detection and Safely Navigate the Autonomous Vehicle from Unexpected Obstacles on the Driving Lane [O] . Malik Haris, Jin Hou 2020
• 8. Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applications of Case Based Organizational Memory Supported by the PAbMM Architecture Martín, María de los Ángeles, Diván, Mario José Adv. Sci. Technol. Eng. Syst. J. 2(3), 12-23 (2017); View Description Low Probability of Interception Beampattern Using Frequency Diverse Array Antenna Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. 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• 1. Convolutional neural network based detection and judgement of environmental obstacle in vehicle operation [J] . Guanqiu Qi1 ,Huan Wang2 ,Matthew Haner1 . 智能技术学报 . 2019,第002期