IN2015MU01824A - - Google Patents
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- Publication number
- IN2015MU01824A IN2015MU01824A IN1824MU2015A IN2015MU01824A IN 2015MU01824 A IN2015MU01824 A IN 2015MU01824A IN 1824MU2015 A IN1824MU2015 A IN 1824MU2015A IN 2015MU01824 A IN2015MU01824 A IN 2015MU01824A
- Authority
- IN
- India
- Prior art keywords
- vehicle
- antenna position
- module
- guidance control
- lateral
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
ABSTRACT GUIDANCE CONTROL SYSTEM FOR AN AUTONOMOUS VEHICLE The present invention describes a guidance control system for an autonomous vehicle, where the vehicle performs an autonomous navigation and operation while a position of the vehicle is measured using a satellite navigation system. The guidance control system comprises an antenna position compensation module, a vehicle navigation module, a lateral control module, a heading control module, and an yaw rate control module. The antenna position compensation module provides guidance control signal to the autonomous vehicle during selection of virtual antenna position, wherein when the vehicle moves backward, a virtual antenna position is set in a backward position by a predetermined distance from an antenna position for receiving a signal from the satellite navigation system, and a lateral control is performed using a lateral error from a pre-defined path at the virtual antenna position. Figure 4
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/084338 WO2016178294A1 (en) | 2015-05-07 | 2015-12-07 | Induction control system for autonomous-traveling vehicle |
JP2017516546A JP6437640B2 (en) | 2015-05-07 | 2015-12-07 | Guidance control system for autonomous vehicles |
IN1824MU2015 IN2015MU01824A (en) | 2015-05-07 | 2015-12-07 | |
US15/805,644 US10761531B2 (en) | 2015-05-07 | 2017-11-07 | Guidance control system for autonomous-traveling vehicle |
JP2018214230A JP2019061695A (en) | 2015-05-07 | 2018-11-14 | Guide control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IN1824MU2015 IN2015MU01824A (en) | 2015-05-07 | 2015-12-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
IN2015MU01824A true IN2015MU01824A (en) | 2015-05-22 |
Family
ID=54394908
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IN1824MU2015 IN2015MU01824A (en) | 2015-05-07 | 2015-12-07 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10761531B2 (en) |
JP (2) | JP6437640B2 (en) |
IN (1) | IN2015MU01824A (en) |
WO (1) | WO2016178294A1 (en) |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106323270B (en) * | 2016-07-29 | 2020-05-22 | 北京合众思壮科技股份有限公司 | Data acquisition method and device |
WO2018112319A1 (en) * | 2016-12-15 | 2018-06-21 | Richard Arnold | Working platform for a tractor |
US11383703B2 (en) | 2017-01-20 | 2022-07-12 | Kubota Corporation | Work vehicle |
JP6994831B2 (en) * | 2017-01-24 | 2022-01-14 | 株式会社クボタ | Automatic steering system |
CN109936976A (en) * | 2017-01-24 | 2019-06-25 | 株式会社久保田 | Combine harvester, harvester and automatic steering system |
US10742494B2 (en) * | 2017-04-27 | 2020-08-11 | Veoneer Us, Inc. | System and method for configuring at least one sensor system of a vehicle |
DE202017103847U1 (en) * | 2017-06-28 | 2017-07-21 | Airbus Operations Gmbh | System for guiding a robot through a passenger aircraft cabin |
WO2019080067A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市大疆创新科技有限公司 | Agricultural machine control method, apparatus and system |
JP6858694B2 (en) * | 2017-12-18 | 2021-04-14 | 株式会社クボタ | Tractor |
US11119488B2 (en) * | 2018-01-17 | 2021-09-14 | Agco International Gmbh | Steering controller for an autonomous vehicle with velocity regulation |
JP6928571B2 (en) * | 2018-03-23 | 2021-09-01 | ヤンマーパワーテクノロジー株式会社 | Autonomous driving system |
US10671070B2 (en) * | 2018-05-23 | 2020-06-02 | Baidu Usa Llc | PID embedded LQR for autonomous driving vehicles (ADVS) |
JP6938444B2 (en) * | 2018-07-13 | 2021-09-22 | 株式会社クボタ | Work machine |
CN112203496A (en) * | 2018-07-18 | 2021-01-08 | 精密种植有限责任公司 | System and method for working in a field and determining a position of an implement within the field |
CN108808240A (en) * | 2018-07-25 | 2018-11-13 | 安徽泗州拖拉机制造有限公司 | A kind of large size driverless tractor antenna |
WO2020056283A1 (en) | 2018-09-14 | 2020-03-19 | Agjunction Llc | Using non-real-time computers for agricultural guidance systems |
JP7201704B2 (en) * | 2018-11-20 | 2023-01-10 | 本田技研工業株式会社 | AUTONOMOUS WORKING MACHINE, CONTROL METHOD AND PROGRAM FOR AUTONOMOUS WORKING MACHINE |
WO2020117699A1 (en) * | 2018-12-02 | 2020-06-11 | Mtd Products Inc | Autonomous mower navigation system and method |
CN109765886B (en) * | 2018-12-21 | 2022-05-24 | 北京智行者科技有限公司 | Target track identification method followed by vehicle |
US11324158B2 (en) * | 2019-01-25 | 2022-05-10 | Deere & Company | System and method for controlling an implement connected to a vehicle |
CN110109452A (en) * | 2019-04-11 | 2019-08-09 | 湖南龙舟农机股份有限公司 | A kind of double antenna navigation border protection systems |
GB2585222B (en) * | 2019-07-03 | 2022-10-12 | Raytheon Systems Ltd | Autonomous vehicles supporting global navigation satellite system (gnss) anti-spoofing |
WO2021021675A1 (en) * | 2019-07-26 | 2021-02-04 | Agjunction Llc | Using smart-phones and other hand-held mobile devices in precision agriculture |
US11623689B2 (en) | 2019-09-09 | 2023-04-11 | Mtd Products Inc | Real time kinematics power equipment device with auto-steering |
US11377112B2 (en) * | 2019-11-13 | 2022-07-05 | Baidu Usa Llc | Low-speed, backward driving vehicle controller design |
JP7262374B2 (en) * | 2019-11-20 | 2023-04-21 | ヤンマーパワーテクノロジー株式会社 | Automated driving system for work vehicles |
JP7183141B2 (en) * | 2019-11-29 | 2022-12-05 | 株式会社クボタ | work vehicle |
CN113064418A (en) * | 2019-12-13 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Work map construction method and device, robot and storage medium |
JP6944510B2 (en) * | 2019-12-27 | 2021-10-06 | 本田技研工業株式会社 | Vehicle control device, vehicle and vehicle control method |
US11531115B2 (en) * | 2020-02-12 | 2022-12-20 | Caterpillar Global Mining Llc | System and method for detecting tracking problems |
US11685412B2 (en) * | 2020-03-05 | 2023-06-27 | Caterpillar Paving Products Inc. | Override of autonomous functions of a machine |
CN111487976B (en) * | 2020-05-03 | 2022-11-18 | 哈尔滨工程大学 | Backing track tracking method |
JP7094338B2 (en) * | 2020-10-14 | 2022-07-01 | 株式会社クボタ | Work vehicle |
US20220128993A1 (en) * | 2020-10-23 | 2022-04-28 | Deere & Company | Methods, apparatus, and articles of manufacture to display acquisition paths |
JP7392689B2 (en) * | 2021-06-25 | 2023-12-06 | 井関農機株式会社 | work vehicle |
US20230048365A1 (en) * | 2021-08-11 | 2023-02-16 | Here Global B.V. | Corrected trajectory mapping |
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JP3275364B2 (en) * | 1992-05-29 | 2002-04-15 | 株式会社明電舎 | Reverse traveling control method for automatic guided vehicles |
JP3032407B2 (en) * | 1993-06-25 | 2000-04-17 | 株式会社クボタ | Self-driving vehicles |
DE19830858A1 (en) * | 1998-07-10 | 2000-01-13 | Claas Selbstfahr Erntemasch | Device and method for determining a virtual position |
JP2002358122A (en) * | 2001-05-31 | 2002-12-13 | Yanmar Agricult Equip Co Ltd | Agricultural work vehicle |
US6756887B2 (en) * | 2001-07-23 | 2004-06-29 | Wayne W. Evans | Method and apparatus for the dynamic vector control of automatic variable range and directional reception of gps global positioning signals, dynamic vehicle tracking, remote notification of collision and synthetic voice data communications |
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US7127340B2 (en) * | 2004-08-17 | 2006-10-24 | Deere & Company | Variable gain logic for a GPS based automatic steering system |
JP4948098B2 (en) * | 2006-09-12 | 2012-06-06 | ヤンマー株式会社 | Agricultural work vehicle |
US8803735B2 (en) * | 2010-11-19 | 2014-08-12 | Agjunction Llc | Portable base station network for local differential GNSS corrections |
DE102011114183A1 (en) * | 2011-09-22 | 2013-03-28 | Bomag Gmbh | Method for controlling a loading process of a transport vehicle with milled material, device for carrying out such a method and milling device |
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US9832930B2 (en) * | 2013-09-10 | 2017-12-05 | Agco Corporation | Combo crop harvester crop transfer means |
KR102107556B1 (en) * | 2014-02-06 | 2020-05-07 | 얀마 가부시키가이샤 | Parallel travel work system |
CN105980948B (en) * | 2014-02-06 | 2019-12-31 | 洋马株式会社 | Method for setting travel route of autonomous travel work vehicle |
EP3175693B1 (en) * | 2014-07-30 | 2022-08-31 | Yanmar Power Technology Co., Ltd. | Remote control apparatus |
-
2015
- 2015-12-07 JP JP2017516546A patent/JP6437640B2/en active Active
- 2015-12-07 WO PCT/JP2015/084338 patent/WO2016178294A1/en active Application Filing
- 2015-12-07 IN IN1824MU2015 patent/IN2015MU01824A/en unknown
-
2017
- 2017-11-07 US US15/805,644 patent/US10761531B2/en active Active
-
2018
- 2018-11-14 JP JP2018214230A patent/JP2019061695A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2016178294A1 (en) | 2016-11-10 |
JP2019061695A (en) | 2019-04-18 |
US10761531B2 (en) | 2020-09-01 |
JP6437640B2 (en) | 2018-12-12 |
JPWO2016178294A1 (en) | 2018-03-01 |
US20180321682A1 (en) | 2018-11-08 |
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