CN114585552B - 全向线路跟随自主车辆 - Google Patents

全向线路跟随自主车辆 Download PDF

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Publication number
CN114585552B
CN114585552B CN202080072053.8A CN202080072053A CN114585552B CN 114585552 B CN114585552 B CN 114585552B CN 202080072053 A CN202080072053 A CN 202080072053A CN 114585552 B CN114585552 B CN 114585552B
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CN
China
Prior art keywords
vehicle
path
omnidirectional
autonomous vehicle
omni
Prior art date
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Active
Application number
CN202080072053.8A
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English (en)
Chinese (zh)
Other versions
CN114585552A (zh
Inventor
G·泰瑞恩
P·拉蒙
N·托马蒂斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lamborghini Technology Co ltd
Original Assignee
Lamborghini Technology Co ltd
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Publication date
Application filed by Lamborghini Technology Co ltd filed Critical Lamborghini Technology Co ltd
Publication of CN114585552A publication Critical patent/CN114585552A/zh
Application granted granted Critical
Publication of CN114585552B publication Critical patent/CN114585552B/zh
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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
    • G05D1/02—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202080072053.8A 2019-10-18 2020-10-15 全向线路跟随自主车辆 Active CN114585552B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH13242019 2019-10-18
CH01324/19 2019-10-18
PCT/IB2020/059704 WO2021074843A1 (en) 2019-10-18 2020-10-15 Omnidirectional line following autonomous vehicle

Publications (2)

Publication Number Publication Date
CN114585552A CN114585552A (zh) 2022-06-03
CN114585552B true CN114585552B (zh) 2024-03-05

Family

ID=73014559

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080072053.8A Active CN114585552B (zh) 2019-10-18 2020-10-15 全向线路跟随自主车辆

Country Status (5)

Country Link
US (1) US12393193B2 (https=)
EP (1) EP4045991B1 (https=)
JP (1) JP7541083B2 (https=)
CN (1) CN114585552B (https=)
WO (1) WO2021074843A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198425A (ja) * 1997-01-16 1998-07-31 Matsushita Electric Ind Co Ltd 無人搬送車の走行制御方法
JP2008026928A (ja) * 2006-07-17 2008-02-07 Nippon Yusoki Co Ltd 産業車両の操舵制御装置
CN102227612A (zh) * 2008-10-24 2011-10-26 格瑞股份公司 自主驾驶车辆的控制和系统
CN106200647A (zh) * 2016-08-30 2016-12-07 北京华力兴科技发展有限责任公司 自动导航系统和自动导航方法
JP2017227943A (ja) * 2014-11-07 2017-12-28 株式会社日立産機システム 位置検出装置、制御方法及び自動走行車
CN108369418A (zh) * 2015-09-22 2018-08-03 蓝宝机噐人技术股份公司 用于自主车辆的虚拟线路跟随和改进方法
CN110036353A (zh) * 2016-10-31 2019-07-19 马涅蒂-马瑞利公司 用于跟踪路线的地面车辆中的自适应控制方法和系统，尤其是在自动驾驶场景中

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5398489B2 (ja) 2009-11-20 2014-01-29 村田機械株式会社 自律移動体とその制御方法
JP5046310B1 (ja) 2011-04-01 2012-10-10 日本輸送機株式会社 無人車両および無人搬送システム
WO2017158973A1 (ja) 2016-03-17 2017-09-21 本田技研工業株式会社 自動搬送車
CN108628324B (zh) * 2018-07-12 2021-03-02 中国科学院深圳先进技术研究院 基于矢量地图的无人车导航方法、装置、设备及存储介质
KR102157290B1 (ko) * 2019-01-09 2020-09-17 여정기 능동적 주행경로 트래킹 기능을 갖는 무인반송차량
DE102019215373B4 (de) * 2019-10-08 2021-07-22 Kuka Deutschland Gmbh Verfahren zum Betreiben eines autonomen Fahrzeugs, autonomes Fahrzeug und Computerprogrammprodukt
KR20210071193A (ko) * 2019-12-05 2021-06-16 한국전자통신연구원 자율 주행 장치, 센서 캘리브레이션 시스템 및 방법

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198425A (ja) * 1997-01-16 1998-07-31 Matsushita Electric Ind Co Ltd 無人搬送車の走行制御方法
JP2008026928A (ja) * 2006-07-17 2008-02-07 Nippon Yusoki Co Ltd 産業車両の操舵制御装置
CN102227612A (zh) * 2008-10-24 2011-10-26 格瑞股份公司 自主驾驶车辆的控制和系统
JP2017227943A (ja) * 2014-11-07 2017-12-28 株式会社日立産機システム 位置検出装置、制御方法及び自動走行車
CN108369418A (zh) * 2015-09-22 2018-08-03 蓝宝机噐人技术股份公司 用于自主车辆的虚拟线路跟随和改进方法
CN106200647A (zh) * 2016-08-30 2016-12-07 北京华力兴科技发展有限责任公司 自动导航系统和自动导航方法
CN110036353A (zh) * 2016-10-31 2019-07-19 马涅蒂-马瑞利公司 用于跟踪路线的地面车辆中的自适应控制方法和系统，尤其是在自动驾驶场景中

Also Published As

Publication number Publication date
JP7541083B2 (ja) 2024-08-27
US20240103515A1 (en) 2024-03-28
WO2021074843A1 (en) 2021-04-22
CN114585552A (zh) 2022-06-03
EP4045991A1 (en) 2022-08-24
US12393193B2 (en) 2025-08-19
EP4045991C0 (en) 2026-01-07
JP2023509267A (ja) 2023-03-08
EP4045991B1 (en) 2026-01-07

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