秦兆博博士-湖南大学智能车辆课题组HIVE

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秦兆博博士

姓名：秦兆博

职称：副研究员

邮箱：qzb@hnu.edu.cn

研究领域

自动驾驶、车辆动力学与控制、混合动力汽车

学术成果

发表论文

1.Qin, Z, Chen, X., Hu, M., Chen, L., & Fan, J. (2020). A novel path planning methodology for automated valet parking based on directional graph search and geometry curve. Robotics and Autonomous Systems, 132, 103606.

2.Qin, Z, Chen, L., Fan, J., Xu, B., Hu, M., & Chen, X. (2021). An improved real-time slip model identification method for autonomous tracked vehicles using forward trajectory prediction compensation. IEEE Transactions on Instrumentation and Measurement, 70, 1-12.

3.陈亮,秦兆博,孔伟伟&陈鑫.(2021).基于最优前轮侧偏力的智能汽车LQR横向控制.清华大学学报(自然科学版)(09),906-912.

4.边有钢,杨依琳,胡满江,杜长坤,徐彪&秦兆博.(2022).基于双向多车跟随式拓扑的混合车辆队列稳定性研究.中国公路学报(03),66-77.

5.陈鑫鹏,徐彪,胡满江,秦兆博&边有钢.(2021).一种基于等步长分层拓展的混合A~*路径规划方法.控制与信息技术(01),17-22+29.

6.杨依琳,边有钢,胡满江,杜长坤,徐彪&秦兆博.(2021).混合交通环境车辆队列协同控制.控制与信息技术(01),9-16.

7.Qin, Z.,Luo, Y. , Pan, Z. , Li, K. , & Peng, H. . (2016). Optimal Design of Hybrid Track-type Dozers with Two-planetary-gear Sets and Clutches. 13th International Symposium on Advanced Vehicle Control, AVEC'16.

8.秦兆博,罗禹贡,张东好,陈龙, &李克强. (2017).液压混合动力履带推土机行星齿轮传动系统的设计.清华大学学报.

9.Qin, Z.,Zhang, D., Han, Y., & Luo, Y. (2017). Dynamic coordinated control of a downhill safety assistance system for hybrid electric buses. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 231(8), 1034-1045.

10.Qin, Z.,Luo, Y., Li, K., & Peng, H. (2017, October). A new powertrain design approach for power-split hybrid tracked vehicles. In Dynamic Systems and Control Conference (Vol. 58288, p. V002T17A002). American Society of Mechanical Engineers.

11.Qin, Z.,Luo, Y., Li, K., & Peng, H. (2017). Optimal design of a novel hybrid Electric powertrain for tracked vehicles. Energies, 10(12), 2141.

12.秦兆博,罗禹贡,解来卿,陈文强, &李克强. (2018).基于行星传动的双模混合动力履带车辆传动系统结构设计.清华大学学报.

13.Qin, Z.,Luo, Y., Li, K., Pan, Z., & Peng, H. (2018). Optimal design of power-split hybrid tracked vehicles using two planetary gears. International Journal of Vehicle Design, 77(1-2), 43-66.

14.Qin, Z.,Luo, Y., Zhuang, W., Pan, Z., Li, K., & Peng, H. (2018). Simultaneous optimization of topology, control and size for multi-mode hybrid tracked vehicles. Applied energy, 212, 1627-1641.

15.Qin, Z.,Luo, Y., Cao, Z., & Li, K. (2018). A Novel Three-Planetary-Gear Power-Split Hybrid Powertrain for Tracked Vehicles (No. 2018-01-1003). SAE Technical Paper.

16.Qin, Z., Luo, Y., Li, K., & Peng, H. (2018). Optimal design of single-mode power-split hybrid tracked vehicles. Journal of Dynamic Systems, Measurement, and Control, 140(10).

17.Qin, Z., Luo, Y., et al. (2020) A novel power management strategy for hybrid off-road vehicles. Control Engineering Practice, 101: 104452.

18.Qin, Z.,Chen, X., Hu, M., Chen, L., & Fan, J. (2020). A novel path planning methodology for automated valet parking based on directional graph search and geometry curve. Robotics and Autonomous Systems, 132, 103606.

19.Chen, X.,Qin, Z., Fan, J., Zhou, H., & Chen, L. (2020). An Efficient Path Planning Methodology Based on the Starting Region Selection (No. 2020-01-0118). SAE Technical Paper.

20.Luo, Y., Luo, J., &Qin, Z.(2016). Model-independent self-tuning fault-tolerant control method for 4WID EV. International Journal of Automotive Technology, 17(6), 1091-1100.

21.Kong, W., Luo, Y.,Qin, Z., Qi, Y., & Lian, X. (2019). Comprehensive Fault Diagnosis and Fault-Tolerant Protection of In-Vehicle Intelligent Electric Power Supply Network. IEEE Transactions on Vehicular Technology, 68(11), 10453-10464.

22.Chen, L., Bian, M., Luo, Y.,Qin, Z.,& Li, K. (2015). Tire-road friction estimation based on frequency characteristics of in-wheel electric drive system. In EVS28 international electric vehicle symposium and exhibition (pp. 1-11).

23.Chen, L., Bian, M., Luo, Y.,Qin, Z.,& Li, K. (2016). Tire–road friction coefficient estimation based on the resonance frequency of in-wheel motor drive system. Vehicle System Dynamics, 54(1), 1-19.

24.Chen, L., Luo, Y., Bian, M.,Qin, Z.,& Li, K. (2016, December). The relationship between the resonance frequency of a steering system and the tire-road friction coefficient. In Advanced Vehicle Control: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC'16), September 13-16, 2016, Munich, Germany (p. 397). CRC Press.

25.解来卿,罗禹贡,刘成祺,秦兆博, &李克强. (2016).基于CAN总线分析的增程式电动汽车控制策略研究.汽车技术, 12.

26.Chen, L., Luo, Y., Bian, M.,Qin, Z.,Luo, J., & Li, K. (2017). Estimation of tire-road friction coefficient based on frequency domain data fusion. Mechanical Systems and Signal Processing, 85, 177-192.

27.Luo, Y., Li, S., Zhang, S.,Qin, Z.,& Li, K. (2017). Green light optimal speed advisory for hybrid electric vehicles. Mechanical Systems and Signal Processing, 87, 30-44.

28.Luo, Y., Yang, G., Xu, M.,Qin, Z., & Li, K. (2019). Cooperative lane-change maneuver for multiple automated vehicles on a highway. Automotive Innovation, 2(3), 157-168.

发明专利

1.秦兆博,韩沐林,边有钢,谢国涛,王晓伟,秦晓辉,徐彪,秦洪懋,胡满江,丁荣军.基于大型停车场场景下寻找停车位的装置和方法[P].中国：CN113506457B,2022-05-24.

2.秦兆博,陈鑫,尚敬,胡云卿,刘海涛,秦洪懋,徐彪,王晓伟,谢国涛,边有钢,秦晓辉,胡满江,丁荣军.一种泊车路径规划方法和装置[P].中国：CN113335270B,2022-05-03.

3.秦兆博,陈亮,王晓伟,秦晓辉,谢国涛,徐彪,边有钢,胡满江,陈鑫,丁荣军.一种基于位置和姿态的自适应MPC泊车横向控制方法[P].中国：CN110687797B,2022-04-19.

4.秦兆博,陈鑫,谢国涛,边有钢,徐彪,王晓伟,秦晓辉,秦洪懋,胡满江,梁旺,丁荣军.一种面向泊车场景的地图简化系统[P].中国：CN112799393B,2022-04-19.

5.秦兆博,韩沐林,秦洪懋,边有钢,王晓伟,谢国涛,秦晓辉,徐彪,胡满江,丁荣军.一种基于停车场场景下智能车辆行为决策方法及系统[P].中国：CN112810604B,2022-04-05.

6.秦兆博,陈亮,徐彪,秦晓辉,秦洪懋,胡满江,边有钢,王晓伟,谢国涛,丁荣军.一种车辆纵向控制方法和装置[P].中国：CN113335309B,2022-04-05.

7.秦兆博,陈亮,胡满江,徐彪,秦洪懋,秦晓辉,边有钢,王晓伟,谢国涛,丁荣军.一种基于多状态参数协同估计的横向控制方法及系统[P].中国：CN113341997B,2022-04-05.

8.秦兆博,陈亮,秦洪懋,胡满江,徐彪,王晓伟,谢国涛,秦晓辉,边有钢,陈鑫,丁荣军.融合后轮反馈与滑模控制的智能汽车横向控制方法[P].中国：CN112506047B,2022-03-29.

9.秦兆博,陈鑫,边有钢,秦晓辉,胡满江,徐彪,秦洪懋,谢国涛,王晓伟,丁荣军.一种基于贝塞尔曲线的转向路段路径规划方法[P].中国：CN113419534B,2022-03-08.

10.秦兆博,陈亮,秦洪懋,边有钢,秦晓辉,谢国涛,王晓伟,徐彪,胡满江,丁荣军.一种路径跟踪前馈控制方法和装置[P].中国：CN113428142B,2022-03-08.

11.秦兆博,梁旺,谢国涛,王晓伟,秦晓辉,徐彪,边有钢,秦洪懋,胡满江,丁荣军.一种无人车辆极限工况下横纵向耦合控制方法[P].中国：CN112693449B,2022-02-15.

12.秦兆博,陈鑫,丁荣军,徐彪,秦晓辉,胡满江,王晓伟,谢国涛,边有钢,陈亮.基于图搜索和几何曲线融合的路径规划方法[P].中国：CN111158366B,2021-11-05.

13.秦兆博,胡云卿,尚敬,刘海涛,秦洪懋,胡满江,陈亮,丁荣军,秦晓辉,徐彪,谢国涛,王晓伟,边有钢,陈鑫.一种基于Fiala刷子轮胎模型的多点预瞄LQR横向控制方法[P].中国：CN111399380B,2021-10-22.

14.秦兆博,陈鑫,丁荣军,徐彪,秦晓辉,胡满江,王晓伟,谢国涛,边有钢,陈亮.一种基于区域叠加构建三维可行泊车起始空间的方法[P].中国：CN111688679B,2021-05-11.

15.秦兆博,陈鑫,边有钢,胡满江,徐彪,秦晓辉,谢国涛,王晓伟,陈亮,丁荣军.一种基于碰撞情况分析的自动泊车起始区域确定方法[P].中国：CN110775053B,2021-04-20.

16.秦兆博,胡满江,徐彪,秦晓辉,谢国涛,王晓伟.一种混联式混合动力车辆的发动机工作点优化方法[P].中国：CN109910867B,2020-11-27.

17.秦兆博,陈亮,徐彪,边有钢,王晓伟,谢国涛,秦晓辉,秦洪懋,胡满江,丁荣军.一种智能履带车辆滑动参数实时估计方法[P].中国：CN111703432A,2020-09-25.

18.秦兆博,陈鑫,胡满江,边有钢,王晓伟,谢国涛,秦晓辉,徐彪,陈亮,丁荣军.一种基于最佳泊车起始点的路径规划方法[P].中国：CN111397623A,2020-07-10.

19.罗禹贡,秦兆博,张东好,李克强,张书玮,陈龙,解来卿,李升波,连小珉,王建强,郑四发,杨殿阁.一种基于行星传动的液压式混合动力车辆传动系统[P].中国：CN105667292A,2016-06-15.

20.罗禹贡,秦兆博,张东好,李克强,张书玮,陈龙,解来卿,王建强,李升波,连小珉,杨殿阁,郑四发.一种基于行星传动的履带车辆及其传动系统[P].中国：CN105922856A,2016-09-07.

21.陈鑫,秦兆博,徐彪,秦晓辉,王晓伟,谢国涛,边有钢,胡满江,梁旺,丁荣军.一种基于JPS和Hybrid A*的全局路径规划方法[P].中国：CN111397624A,2020-07-10.

22.徐彪,王俊懿,秦兆博,胡满江,王晓伟,谢国涛,秦晓辉,边有钢,尹冲,丁荣军.一种车辆倒车路径跟踪控制方法[P].中国：CN110955250A,2020-04-03.

23.谢国涛,严康健,秦兆博,秦晓辉,王晓伟,边有钢,胡满江,徐彪,丁荣军.一种路面特征参数自动提取方法及系统[P].中国：CN111239757A,2020-06-05.

24.徐彪,王俊懿,胡满江,秦兆博,边有钢,谢国涛,秦晓辉,王晓伟,尹冲,丁荣军.一种车辆路径跟踪控制方法[P].中国：CN110989625A,2020-04-10.

25.李克强,张书玮,罗禹贡,秦兆博,陈龙,向勇,连小珉,王建强,杨殿阁,郑四发.一种基于多目标优化的电动车辆出行规划方法[P].中国：CN104331743A,2015-02-04.

26.罗禹贡,谢来卿,张书玮,秦兆博,陈龙,张东好,刘成祺,杨刚,胡束芒,冯桂璇,李珊.一种混合动力车辆的结构优化设计方法[P].中国：CN105292112A,2016-02-03.

27.李克强,陈龙,罗禹贡,秦兆博,张书玮,解来卿,王建强,连小珉,郑四发,杨殿阁.基于碰撞变形深度的汽车主动安全系统有效性的预测方法[P].中国：CN105808857B,2019-01-04.

28.陈文强,李克强,罗禹汞,秦兆博,张书玮,陈龙,解来卿,陈锐,王庭晗.一种基于设备白名单管理的车联网链路安全认证方法和系统[P].中国：CN106534071A,2017-03-22.

29.胡满江,李俊妮,边有钢,秦兆博,谢国涛,王晓伟,徐彪,秦晓辉,孙宁.基于车载通信的防后车追尾预警与控制方法及系统[P].中国：CN111127920A,2020-05-08.

30.谢国涛,汪东升,秦晓辉,秦兆博,王晓伟,边有钢,胡满江,徐彪,严康健,丁荣军.一种车载毫米波雷达在线标定方法[P].中国：CN111025250A,2020-04-17.

31.徐彪,杨帆,边有钢,胡满江,秦兆博,秦晓辉,王晓伟,谢国涛,钟志华.一种结构化道路局部路径规划方法[P].中国：CN110766220A,2020-02-07.

32.胡满江,张宏宇,王晓伟,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种智慧路灯杆及具有其的智慧交通系统[P].中国：CN210462932U,2020-05-05.

33.徐彪,陈晓龙,边有钢,胡满江,秦兆博,王晓伟,秦晓辉,谢国涛,丁荣军.一种露天矿区交叉路口车辆通行控制方法[P].中国：CN111243303A,2020-06-05.

34.边有钢,李崇康,胡满江,秦晓辉,秦兆博,谢国涛,王晓伟,徐彪,丁荣军.一种保障交通流稳定的车辆编队控制方法和系统[P].中国：CN111047853A,2020-04-21.

35.王晓伟,张宏宇,胡满江,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种基于路灯杆的智慧交通控制方法及系统[P].中国：CN111210629A,2020-05-29.

36.谢国涛,胡满江,唐峻峰,徐彪,秦兆博,秦晓辉,王晓伟,边有钢,丁荣军.一种自动卸货的智能网联运载装备传感器保护系统[P].中国：CN111366181A,2020-07-03.

37.胡满江,卜令坤,边有钢,秦晓辉,秦兆博,王晓伟,谢国涛,徐彪,秦洪懋,丁荣军.一种基于前馈-反馈控制的车辆编队方法和系统[P].中国：CN111332290A,2020-06-26.

软件著作权

1.秦兆博,徐彪，胡满江，秦晓辉，谢国涛，王晓伟，边有钢.实时垂直、斜向、平行泊车路径规划软件v1.0 [CP/CD].著作权登记号: 2020SR0292247.

2.徐彪,秦兆博,胡满江,王晓伟,边有钢,谢国涛,秦晓辉.车辆局部路径规划软件v1.0 [CP/CD].著作权登记号: 2020SR0292435.

3.王晓伟,胡满江,秦兆博,边有钢,徐彪，秦晓辉，谢国涛.面向封闭区域的高精度地图软件v1.0 [CP/CD].著作权登记号: 2020SR0292532.

4.胡满江,王晓伟，秦兆博,边有钢，徐彪，秦洪懋，秦晓辉，谢国涛.车辆管理系统软件v1.0 [CP/CD].著作权登记号: 2020SR0829670.

5.秦晓辉,谢国涛,胡满江,秦兆博,边有钢,王晓伟,徐彪.激光SLAM特征点提取软件v1.0 [CP/CD].著作权登记号: 2020SR0292433.

6.谢国涛,秦晓辉,胡满江,徐彪，秦兆博,边有钢，王晓伟.激光雷达外参标定软件v1.0 [CP/CD].著作权登记号: 2020SR0292186.

关闭打印

秦兆博 博士

研究领域

学术成果

1.Qin, Z, Chen, X., Hu, M., Chen, L., & Fan, J. (2020). A novel path planning methodology for automated valet parking based on directional graph search and geometry curve. Robotics and Autonomous Systems, 132, 103606.

2.Qin, Z, Chen, L., Fan, J., Xu, B., Hu, M., & Chen, X. (2021). An improved real-time slip model identification method for autonomous tracked vehicles using forward trajectory prediction compensation. IEEE Transactions on Instrumentation and Measurement, 70, 1-12.

3.陈亮,秦兆博,孔伟伟&陈鑫.(2021).基于最优前轮侧偏力的智能汽车LQR横向控制.清华大学学报(自然科学版)(09),906-912.

4.边有钢,杨依琳,胡满江,杜长坤,徐彪&秦兆博.(2022).基于双向多车跟随式拓扑的混合车辆队列稳定性研究.中国公路学报(03),66-77.

5.陈鑫鹏,徐彪,胡满江,秦兆博&边有钢.(2021).一种基于等步长分层拓展的混合A~*路径规划方法.控制与信息技术(01),17-22+29.

6.杨依琳,边有钢,胡满江,杜长坤,徐彪&秦兆博.(2021).混合交通环境车辆队列协同控制.控制与信息技术(01),9-16.

7.Qin, Z.,Luo, Y. , Pan, Z. , Li, K. , & Peng, H. . (2016). Optimal Design of Hybrid Track-type Dozers with Two-planetary-gear Sets and Clutches. 13th International Symposium on Advanced Vehicle Control, AVEC'16.

8.秦兆博,罗禹贡,张东好,陈龙, &李克强. (2017).液压混合动力履带推土机行星齿轮传动系统的设计.清华大学学报.

9.Qin, Z.,Zhang, D., Han, Y., & Luo, Y. (2017). Dynamic coordinated control of a downhill safety assistance system for hybrid electric buses. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 231(8), 1034-1045.

10.Qin, Z.,Luo, Y., Li, K., & Peng, H. (2017, October). A new powertrain design approach for power-split hybrid tracked vehicles. In Dynamic Systems and Control Conference (Vol. 58288, p. V002T17A002). American Society of Mechanical Engineers.

11.Qin, Z.,Luo, Y., Li, K., & Peng, H. (2017). Optimal design of a novel hybrid Electric powertrain for tracked vehicles. Energies, 10(12), 2141.

12.秦兆博,罗禹贡,解来卿,陈文强, &李克强. (2018).基于行星传动的双模混合动力履带车辆传动系统结构设计.清华大学学报.

13.Qin, Z.,Luo, Y., Li, K., Pan, Z., & Peng, H. (2018). Optimal design of power-split hybrid tracked vehicles using two planetary gears. International Journal of Vehicle Design, 77(1-2), 43-66.

14.Qin, Z.,Luo, Y., Zhuang, W., Pan, Z., Li, K., & Peng, H. (2018). Simultaneous optimization of topology, control and size for multi-mode hybrid tracked vehicles. Applied energy, 212, 1627-1641.

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1.秦兆博,韩沐林,边有钢,谢国涛,王晓伟,秦晓辉,徐彪,秦洪懋,胡满江,丁荣军.基于大型停车场场景下寻找停车位的装置和方法[P].中国：CN113506457B,2022-05-24.

2.秦兆博,陈鑫,尚敬,胡云卿,刘海涛,秦洪懋,徐彪,王晓伟,谢国涛,边有钢,秦晓辉,胡满江,丁荣军.一种泊车路径规划方法和装置[P].中国：CN113335270B,2022-05-03.

3.秦兆博,陈亮,王晓伟,秦晓辉,谢国涛,徐彪,边有钢,胡满江,陈鑫,丁荣军.一种基于位置和姿态的自适应MPC泊车横向控制方法[P].中国：CN110687797B,2022-04-19.

4.秦兆博,陈鑫,谢国涛,边有钢,徐彪,王晓伟,秦晓辉,秦洪懋,胡满江,梁旺,丁荣军.一种面向泊车场景的地图简化系统[P].中国：CN112799393B,2022-04-19.

5.秦兆博,韩沐林,秦洪懋,边有钢,王晓伟,谢国涛,秦晓辉,徐彪,胡满江,丁荣军.一种基于停车场场景下智能车辆行为决策方法及系统[P].中国：CN112810604B,2022-04-05.

6.秦兆博,陈亮,徐彪,秦晓辉,秦洪懋,胡满江,边有钢,王晓伟,谢国涛,丁荣军.一种车辆纵向控制方法和装置[P].中国：CN113335309B,2022-04-05.

7.秦兆博,陈亮,胡满江,徐彪,秦洪懋,秦晓辉,边有钢,王晓伟,谢国涛,丁荣军.一种基于多状态参数协同估计的横向控制方法及系统[P].中国：CN113341997B,2022-04-05.

8.秦兆博,陈亮,秦洪懋,胡满江,徐彪,王晓伟,谢国涛,秦晓辉,边有钢,陈鑫,丁荣军.融合后轮反馈与滑模控制的智能汽车横向控制方法[P].中国：CN112506047B,2022-03-29.

9.秦兆博,陈鑫,边有钢,秦晓辉,胡满江,徐彪,秦洪懋,谢国涛,王晓伟,丁荣军.一种基于贝塞尔曲线的转向路段路径规划方法[P].中国：CN113419534B,2022-03-08.

10.秦兆博,陈亮,秦洪懋,边有钢,秦晓辉,谢国涛,王晓伟,徐彪,胡满江,丁荣军.一种路径跟踪前馈控制方法和装置[P].中国：CN113428142B,2022-03-08.

11.秦兆博,梁旺,谢国涛,王晓伟,秦晓辉,徐彪,边有钢,秦洪懋,胡满江,丁荣军.一种无人车辆极限工况下横纵向耦合控制方法[P].中国：CN112693449B,2022-02-15.

12.秦兆博,陈鑫,丁荣军,徐彪,秦晓辉,胡满江,王晓伟,谢国涛,边有钢,陈亮.基于图搜索和几何曲线融合的路径规划方法[P].中国：CN111158366B,2021-11-05.

13.秦兆博,胡云卿,尚敬,刘海涛,秦洪懋,胡满江,陈亮,丁荣军,秦晓辉,徐彪,谢国涛,王晓伟,边有钢,陈鑫.一种基于Fiala刷子轮胎模型的多点预瞄LQR横向控制方法[P].中国：CN111399380B,2021-10-22.

14.秦兆博,陈鑫,丁荣军,徐彪,秦晓辉,胡满江,王晓伟,谢国涛,边有钢,陈亮.一种基于区域叠加构建三维可行泊车起始空间的方法[P].中国：CN111688679B,2021-05-11.

15.秦兆博,陈鑫,边有钢,胡满江,徐彪,秦晓辉,谢国涛,王晓伟,陈亮,丁荣军.一种基于碰撞情况分析的自动泊车起始区域确定方法[P].中国：CN110775053B,2021-04-20.

16.秦兆博,胡满江,徐彪,秦晓辉,谢国涛,王晓伟.一种混联式混合动力车辆的发动机工作点优化方法[P].中国：CN109910867B,2020-11-27.

17.秦兆博,陈亮,徐彪,边有钢,王晓伟,谢国涛,秦晓辉,秦洪懋,胡满江,丁荣军.一种智能履带车辆滑动参数实时估计方法[P].中国：CN111703432A,2020-09-25.

18.秦兆博,陈鑫,胡满江,边有钢,王晓伟,谢国涛,秦晓辉,徐彪,陈亮,丁荣军.一种基于最佳泊车起始点的路径规划方法[P].中国：CN111397623A,2020-07-10.

19.罗禹贡,秦兆博,张东好,李克强,张书玮,陈龙,解来卿,李升波,连小珉,王建强,郑四发,杨殿阁.一种基于行星传动的液压式混合动力车辆传动系统[P].中国：CN105667292A,2016-06-15.

20.罗禹贡,秦兆博,张东好,李克强,张书玮,陈龙,解来卿,王建强,李升波,连小珉,杨殿阁,郑四发.一种基于行星传动的履带车辆及其传动系统[P].中国：CN105922856A,2016-09-07.

21.陈鑫,秦兆博,徐彪,秦晓辉,王晓伟,谢国涛,边有钢,胡满江,梁旺,丁荣军.一种基于JPS和Hybrid A*的全局路径规划方法[P].中国：CN111397624A,2020-07-10.

22.徐彪,王俊懿,秦兆博,胡满江,王晓伟,谢国涛,秦晓辉,边有钢,尹冲,丁荣军.一种车辆倒车路径跟踪控制方法[P].中国：CN110955250A,2020-04-03.

23.谢国涛,严康健,秦兆博,秦晓辉,王晓伟,边有钢,胡满江,徐彪,丁荣军.一种路面特征参数自动提取方法及系统[P].中国：CN111239757A,2020-06-05.

24.徐彪,王俊懿,胡满江,秦兆博,边有钢,谢国涛,秦晓辉,王晓伟,尹冲,丁荣军.一种车辆路径跟踪控制方法[P].中国：CN110989625A,2020-04-10.

25.李克强,张书玮,罗禹贡,秦兆博,陈龙,向勇,连小珉,王建强,杨殿阁,郑四发.一种基于多目标优化的电动车辆出行规划方法[P].中国：CN104331743A,2015-02-04.

26.罗禹贡,谢来卿,张书玮,秦兆博,陈龙,张东好,刘成祺,杨刚,胡束芒,冯桂璇,李珊.一种混合动力车辆的结构优化设计方法[P].中国：CN105292112A,2016-02-03.

27.李克强,陈龙,罗禹贡,秦兆博,张书玮,解来卿,王建强,连小珉,郑四发,杨殿阁.基于碰撞变形深度的汽车主动安全系统有效性的预测方法[P].中国：CN105808857B,2019-01-04.

28.陈文强,李克强,罗禹汞,秦兆博,张书玮,陈龙,解来卿,陈锐,王庭晗.一种基于设备白名单管理的车联网链路安全认证方法和系统[P].中国：CN106534071A,2017-03-22.

29.胡满江,李俊妮,边有钢,秦兆博,谢国涛,王晓伟,徐彪,秦晓辉,孙宁.基于车载通信的防后车追尾预警与控制方法及系统[P].中国：CN111127920A,2020-05-08.

30.谢国涛,汪东升,秦晓辉,秦兆博,王晓伟,边有钢,胡满江,徐彪,严康健,丁荣军.一种车载毫米波雷达在线标定方法[P].中国：CN111025250A,2020-04-17.

31.徐彪,杨帆,边有钢,胡满江,秦兆博,秦晓辉,王晓伟,谢国涛,钟志华.一种结构化道路局部路径规划方法[P].中国：CN110766220A,2020-02-07.

32.胡满江,张宏宇,王晓伟,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种智慧路灯杆及具有其的智慧交通系统[P].中国：CN210462932U,2020-05-05.

33.徐彪,陈晓龙,边有钢,胡满江,秦兆博,王晓伟,秦晓辉,谢国涛,丁荣军.一种露天矿区交叉路口车辆通行控制方法[P].中国：CN111243303A,2020-06-05.

34.边有钢,李崇康,胡满江,秦晓辉,秦兆博,谢国涛,王晓伟,徐彪,丁荣军.一种保障交通流稳定的车辆编队控制方法和系统[P].中国：CN111047853A,2020-04-21.

35.王晓伟,张宏宇,胡满江,边有钢,秦兆博,徐彪,谢国涛,秦晓辉,丁荣军.一种基于路灯杆的智慧交通控制方法及系统[P].中国：CN111210629A,2020-05-29.

36.谢国涛,胡满江,唐峻峰,徐彪,秦兆博,秦晓辉,王晓伟,边有钢,丁荣军.一种自动卸货的智能网联运载装备传感器保护系统[P].中国：CN111366181A,2020-07-03.

37.胡满江,卜令坤,边有钢,秦晓辉,秦兆博,王晓伟,谢国涛,徐彪,秦洪懋,丁荣军.一种基于前馈-反馈控制的车辆编队方法和系统[P].中国：CN111332290A,2020-06-26.

1.秦兆博,徐彪，胡满江，秦晓辉，谢国涛，王晓伟，边有钢.实时垂直、斜向、平行泊车路径规划软件v1.0 [CP/CD].著作权登记号: 2020SR0292247.

2.徐彪,秦兆博,胡满江,王晓伟,边有钢,谢国涛,秦晓辉.车辆局部路径规划软件v1.0 [CP/CD].著作权登记号: 2020SR0292435.

3.王晓伟,胡满江,秦兆博,边有钢,徐彪，秦晓辉，谢国涛.面向封闭区域的高精度地图软件v1.0 [CP/CD].著作权登记号: 2020SR0292532.

4.胡满江,王晓伟，秦兆博,边有钢，徐彪，秦洪懋，秦晓辉，谢国涛.车辆管理系统软件v1.0 [CP/CD].著作权登记号: 2020SR0829670.

5.秦晓辉,谢国涛,胡满江,秦兆博,边有钢,王晓伟,徐彪.激光SLAM特征点提取软件v1.0 [CP/CD].著作权登记号: 2020SR0292433.

6.谢国涛,秦晓辉,胡满江,徐彪，秦兆博,边有钢，王晓伟.激光雷达外参标定软件v1.0 [CP/CD].著作权登记号: 2020SR0292186.

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