DK3799618T3 - Fremgangsmåde til navigation af et køretøj og system hertil - Google Patents

Fremgangsmåde til navigation af et køretøj og system hertil Download PDF

Info

Publication number
DK3799618T3
DK3799618T3 DK18932204.3T DK18932204T DK3799618T3 DK 3799618 T3 DK3799618 T3 DK 3799618T3 DK 18932204 T DK18932204 T DK 18932204T DK 3799618 T3 DK3799618 T3 DK 3799618T3
Authority
DK
Denmark
Prior art keywords
navigating
vehicle
Prior art date
Application number
DK18932204.3T
Other languages
English (en)
Inventor
Dina Appelman
Ofir Cohen
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 DK3799618T3 publication Critical patent/DK3799618T3/da

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
    • G05D1/02—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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3826—Terrain data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3881—Tile-based structures
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Databases & Information Systems (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
DK18932204.3T 2018-08-30 2018-08-30 Fremgangsmåde til navigation af et køretøj og system hertil DK3799618T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IL2018/050966 WO2020044325A1 (en) 2018-08-30 2018-08-30 Method of navigating a vehicle and system thereof

Publications (1)

Publication Number Publication Date
DK3799618T3 true DK3799618T3 (da) 2023-01-09

Family

ID=69642819

Family Applications (1)

Application Number Title Priority Date Filing Date
DK18932204.3T DK3799618T3 (da) 2018-08-30 2018-08-30 Fremgangsmåde til navigation af et køretøj og system hertil

Country Status (10)

Country Link
US (1) US11513526B2 (da)
EP (1) EP3799618B1 (da)
AU (1) AU2018439310A1 (da)
DK (1) DK3799618T3 (da)
ES (1) ES2935618T3 (da)
IL (1) IL280230A (da)
PL (1) PL3799618T3 (da)
PT (1) PT3799618T (da)
SG (1) SG11202012016XA (da)
WO (1) WO2020044325A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11835343B1 (en) * 2004-08-06 2023-12-05 AI Incorporated Method for constructing a map while performing work
JP7351079B2 (ja) * 2018-11-30 2023-09-27 ソニーグループ株式会社 制御装置、制御方法及びプログラム
EP3707061A1 (en) * 2019-02-01 2020-09-16 Carit Automotive GmbH & Co. KG Vehicle park assist systems
US11429110B1 (en) * 2019-05-24 2022-08-30 Amazon Technologies, Inc. System for obstacle avoidance by autonomous mobile device
US12078738B2 (en) 2021-11-09 2024-09-03 Msrs Llc Method, apparatus, and computer readable medium for a multi-source reckoning system
CN114136307B (zh) * 2021-12-07 2024-01-26 上汽大众汽车有限公司 一种车载导航系统地图全自动更新方法

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4408328C2 (de) * 1994-03-11 2002-09-26 Siemens Ag Verfahren zum Aufbau einer zellular strukturierten Umgebungskarte von einer selbstbeweglichen mobilen Einheit, welche sich mit Hilfe von auf Wellenreflexion basierenden Sensoren orientiert
US6037893A (en) 1998-07-31 2000-03-14 Litton Systems, Inc. Enhanced motion compensation technique in synthetic aperture radar systems
DE19904097B4 (de) * 1999-02-02 2006-06-14 Valeo Schalter Und Sensoren Gmbh System und Verfahren zum Überwachen eines Bereichs an der Seite eines Fahrzeugs
US6477465B1 (en) 1999-11-29 2002-11-05 American Gnc Corporation Vehicle self-carried positioning method and system thereof
US7272474B1 (en) * 2004-03-31 2007-09-18 Carnegie Mellon University Method and system for estimating navigability of terrain
US7299057B2 (en) 2005-02-23 2007-11-20 Deere & Company Vehicular navigation based on site specific sensor quality data
US7266477B2 (en) 2005-06-22 2007-09-04 Deere & Company Method and system for sensor signal fusion
DE602006021188D1 (de) * 2005-07-26 2011-05-19 Macdonald Dettwiler & Associates Inc Ahrzeug
WO2007050406A1 (en) 2005-10-21 2007-05-03 Deere & Company Networked multi-role robotic vehicle
WO2007143757A2 (en) * 2006-06-09 2007-12-13 Carnegie Mellon University Software architecture for high-speed traversal of prescribed routes
US7584020B2 (en) * 2006-07-05 2009-09-01 Battelle Energy Alliance, Llc Occupancy change detection system and method
US20100066587A1 (en) * 2006-07-14 2010-03-18 Brian Masao Yamauchi Method and System for Controlling a Remote Vehicle
CA2703515C (en) * 2007-10-26 2018-11-13 Tomtom International B.V. A method of creating map data
JP5304128B2 (ja) 2008-09-16 2013-10-02 村田機械株式会社 環境地図修正装置及び自律移動装置
US8126642B2 (en) 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
US8364334B2 (en) 2008-10-30 2013-01-29 Honeywell International Inc. System and method for navigating an autonomous vehicle using laser detection and ranging
US8649930B2 (en) 2009-09-17 2014-02-11 Agjunction Llc GNSS integrated multi-sensor control system and method
KR101772977B1 (ko) * 2010-10-07 2017-08-31 삼성전자주식회사 이동 로봇 및 그 지도 작성 방법
US9234618B1 (en) 2012-09-27 2016-01-12 Google Inc. Characterizing optically reflective features via hyper-spectral sensor
CN103455034B (zh) 2013-09-16 2016-05-25 苏州大学张家港工业技术研究院 一种基于最近距离向量场直方图的避障路径规划方法
US10078811B2 (en) 2013-11-29 2018-09-18 Fedex Corporate Services, Inc. Determining node location based on context data in a wireless node network
CN104501794A (zh) 2014-11-24 2015-04-08 杭州申昊科技股份有限公司 一种基于环境直线特征的地图创建方法
DE102015207729A1 (de) * 2015-04-13 2016-10-13 Continental Teves Ag & Co. Ohg Steuervorrichtung für ein fahrzeug und verfahren
CN104777499A (zh) 2015-04-13 2015-07-15 河南理工大学 一种基于ins/gps/sar的联合导航方法
JP2017194527A (ja) * 2016-04-19 2017-10-26 トヨタ自動車株式会社 環境地図のデータ構造、環境地図の作成システム及び作成方法、並びに、環境地図の更新システム及び更新方法
CN110476077B (zh) * 2017-04-01 2022-12-13 华为技术有限公司 车载雷达的扫描方法、装置和控制车辆的系统
IL252769B (en) 2017-06-08 2021-10-31 Israel Aerospace Ind Ltd Method and system for autonomous vehicle navigation
IL257428B (en) 2018-02-08 2022-04-01 Israel Aerospace Ind Ltd Excavation by unmanned vehicle
EP3569993A1 (en) * 2018-05-16 2019-11-20 BSH Hausgeräte GmbH Method and scanning device for determining spectral data

Also Published As

Publication number Publication date
EP3799618B1 (en) 2022-10-26
EP3799618A1 (en) 2021-04-07
SG11202012016XA (en) 2021-03-30
PT3799618T (pt) 2023-01-25
WO2020044325A1 (en) 2020-03-05
EP3799618A4 (en) 2021-04-14
US11513526B2 (en) 2022-11-29
ES2935618T3 (es) 2023-03-08
PL3799618T3 (pl) 2023-02-06
AU2018439310A1 (en) 2021-01-21
US20210181752A1 (en) 2021-06-17
IL280230A (en) 2021-03-01

Similar Documents

Publication Publication Date Title
DK3799618T3 (da) Fremgangsmåde til navigation af et køretøj og system hertil
DK4009131T3 (da) Metode til at navigere i et køretøj og system dertil
DK3254059T3 (da) Apparat og fremgangsmåde til kompensation af en navigationsrute
DK3232404T3 (da) Fremgangsmåde og system til måling af en målgenstands dimensioner
DK3621867T3 (da) System og fremgangsmåde til kortlægning af et jernbanespor
DK3454159T3 (da) Fremgangsmåde og indretning til autonom navigation
DK3138081T3 (da) System og fremgangsmåde til opnåelse af køretøjs-telematikdata
DK3442849T3 (da) Fremgangsmåde og målesystem til detektering af et fixpunkt ved siden af et spor
DK3453256T3 (da) Fremgangsmåde til dirigering af undervandsorganismer og system til dirigering af undervandsorganismer
DK3391303T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3391305T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3045919T3 (da) System og fremgangsmåde til estimering af et køretøjs hastighed
DK3514477T3 (da) System og fremgangsmåde til forstyrrelse af en måludpegning
DK3527816T3 (da) Fremgangsmåde og system til bestemmelse af en orienteringskorrektionsfunktion
DK3462156T3 (da) System og fremgangsmåde til påvisning og lokalisering af en lækage
DK3273201T3 (da) Fremgangsmåde til beregning af en rute for et terrængående køretøj
GB201804972D0 (en) Method and system for determining avanced driver assistance systems (ADAS)features
DK3391304T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3727623T3 (da) Legesystem og fremgangsmåde til detektering af legetøjselementer
DK3688543T3 (da) Fremgangsmåde til navigation af en robot og robot til at udføre fremgangsmåden
DK3391308T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3392427T3 (da) Fastgørelsessystem og fremgangsmåde til montering af et panel på en holdeliste
DK3391302T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3391307T3 (da) Fremgangsmåde og system til vurdering af turpræstationen for en fører
DK3205569T3 (da) Metode og system til simulation af marineanlæg samt en anordning inklusive systemet