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DK4009131T3 - Metode til at navigere i et køretøj og system dertil - Google Patents

Metode til at navigere i et køretøj og system dertil Download PDF

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Publication number
DK4009131T3
DK4009131T3 DK22153743.4T DK22153743T DK4009131T3 DK 4009131 T3 DK4009131 T3 DK 4009131T3 DK 22153743 T DK22153743 T DK 22153743T DK 4009131 T3 DK4009131 T3 DK 4009131T3
Authority
DK
Denmark
Prior art keywords
navigating
vehicle
Prior art date
Application number
DK22153743.4T
Other languages
English (en)
Inventor
Ofir Cohen
Dina Appelman
Arnon Degani
Original Assignee
Elta Systems Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Elta Systems Ltd filed Critical Elta Systems Ltd
Application granted granted Critical
Publication of DK4009131T3 publication Critical patent/DK4009131T3/da

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30Map- or contour-matching
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403Image sensing, e.g. optical camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408Radar; Laser, e.g. lidar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54Audio sensitive means, e.g. ultrasound
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
DK22153743.4T 2017-06-08 2018-06-07 Metode til at navigere i et køretøj og system dertil DK4009131T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL252769A IL252769B (en) 2017-06-08 2017-06-08 Method and system for autonomous vehicle navigation
EP18813730.1A EP3635500B1 (en) 2017-06-08 2018-06-07 Method of navigating a vehicle and system thereof

Publications (1)

Publication Number Publication Date
DK4009131T3 true DK4009131T3 (da) 2023-11-27

Family

ID=60942707

Family Applications (1)

Application Number Title Priority Date Filing Date
DK22153743.4T DK4009131T3 (da) 2017-06-08 2018-06-07 Metode til at navigere i et køretøj og system dertil

Country Status (8)

Country Link
US (2) US11320823B2 (da)
EP (2) EP3635500B1 (da)
DK (1) DK4009131T3 (da)
ES (2) ES2914778T3 (da)
IL (1) IL252769B (da)
PL (1) PL4009131T3 (da)
PT (1) PT4009131T (da)
WO (1) WO2018225071A1 (da)

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IL250762B (en) 2017-02-23 2020-09-30 Appelman Dina Method and system for unmanned vehicle navigation
US11087200B2 (en) 2017-03-17 2021-08-10 The Regents Of The University Of Michigan Method and apparatus for constructing informative outcomes to guide multi-policy decision making
IL253769B (en) * 2017-07-31 2022-03-01 Israel Aerospace Ind Ltd Planning a path in motion
US11016491B1 (en) * 2018-01-26 2021-05-25 X Development Llc Trajectory planning for mobile robots
IL257428B (en) 2018-02-08 2022-04-01 Israel Aerospace Ind Ltd Excavation by unmanned vehicle
WO2020018688A1 (en) * 2018-07-20 2020-01-23 May Mobility, Inc. A multi-perspective system and method for behavioral policy selection by an autonomous agent
DK3799618T3 (da) 2018-08-30 2023-01-09 Elta Systems Ltd Fremgangsmåde til navigation af et køretøj og system hertil
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
US11953909B2 (en) * 2019-05-06 2024-04-09 Rugged Robotics Inc. Mobility platform for autonomous navigation of construction sites
US11429110B1 (en) * 2019-05-24 2022-08-30 Amazon Technologies, Inc. System for obstacle avoidance by autonomous mobile device
CN110794839B (zh) * 2019-11-07 2022-04-29 中国第一汽车股份有限公司 一种异形路口的自动驾驶控制方法及车辆
US11352023B2 (en) 2020-07-01 2022-06-07 May Mobility, Inc. Method and system for dynamically curating autonomous vehicle policies
US11396302B2 (en) 2020-12-14 2022-07-26 May Mobility, Inc. Autonomous vehicle safety platform system and method
EP4264181A4 (en) 2020-12-17 2024-10-30 May Mobility Inc METHOD AND SYSTEM FOR DYNAMIC UPDATING OF AN ENVIRONMENT REPRESENTATION OF AN AUTONOMOUS AGENT
CN114981850B (zh) * 2020-12-22 2024-08-13 乐天集团股份有限公司 监视系统及无人行走体
EP4314708A1 (en) 2021-04-02 2024-02-07 May Mobility, Inc. Method and system for operating an autonomous agent with incomplete environmental information
CN117321526A (zh) * 2021-06-02 2023-12-29 国立大学法人东北大学 信息处理装置、移动体、信息处理方法以及程序
WO2022256249A1 (en) 2021-06-02 2022-12-08 May Mobility, Inc. Method and system for remote assistance of an autonomous agent
US20230089897A1 (en) * 2021-09-23 2023-03-23 Motional Ad Llc Spatially and temporally consistent ground modelling with information fusion
WO2023102098A1 (en) 2021-12-01 2023-06-08 May Mobility, Inc. Method and system for impact-based operation of an autonomous agent
WO2023154568A1 (en) 2022-02-14 2023-08-17 May Mobility, Inc. Method and system for conditional operation of an autonomous agent
US20230298268A1 (en) * 2022-03-15 2023-09-21 Nvidia Corporation Environment reconstruction and path planning for autonomous systems and applications
US12027053B1 (en) 2022-12-13 2024-07-02 May Mobility, Inc. Method and system for assessing and mitigating risks encounterable by an autonomous vehicle

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Also Published As

Publication number Publication date
PL4009131T4 (pl) 2024-02-19
IL252769B (en) 2021-10-31
EP4009131B1 (en) 2023-08-23
PT4009131T (pt) 2024-01-02
EP3635500A4 (en) 2020-04-15
EP3635500B1 (en) 2022-03-09
WO2018225071A1 (en) 2018-12-13
US20220236735A1 (en) 2022-07-28
IL252769A0 (en) 2017-12-31
US20200159227A1 (en) 2020-05-21
EP3635500A1 (en) 2020-04-15
EP4009131A1 (en) 2022-06-08
US11320823B2 (en) 2022-05-03
ES2968684T3 (es) 2024-05-13
ES2914778T3 (es) 2022-06-16
US11714416B2 (en) 2023-08-01
PL4009131T3 (pl) 2024-02-19

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