JP6437640B2 - 自律走行車の誘導制御システム - Google Patents

自律走行車の誘導制御システム Download PDF

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Publication number
JP6437640B2
JP6437640B2 JP2017516546A JP2017516546A JP6437640B2 JP 6437640 B2 JP6437640 B2 JP 6437640B2 JP 2017516546 A JP2017516546 A JP 2017516546A JP 2017516546 A JP2017516546 A JP 2017516546A JP 6437640 B2 JP6437640 B2 JP 6437640B2
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Prior art keywords
autonomous
control
deviation
control system
vehicle
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Japanese (ja)
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JPWO2016178294A1 (ja
Inventor
松本　圭司
圭司 松本
丹生　秀和
秀和 丹生
プラシャントクマー ビピンチャンドラ ボラ
プラシャントクマー ビピンチャンドラ ボラ
リトラジュ シリバスト
リトラジュ シリバスト
マノジュ シャルマ
マノジュ シャルマ
ソムヨ ダス
ソムヨ ダス
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Yanmar Co Ltd
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Yanmar Co Ltd
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    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, 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)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
JP2017516546A 2015-05-07 2015-12-07 自律走行車の誘導制御システム Active JP6437640B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IN1824/MUM/2015 2015-05-07
PCT/JP2015/084338 WO2016178294A1 (ja) 2015-05-07 2015-12-07 自律走行車の誘導制御システム
IN1824MU2015 IN2015MU01824A (https=) 2015-05-07 2015-12-07

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018214230A Division JP2019061695A (ja) 2015-05-07 2018-11-14 誘導制御システム

Publications (2)

Publication Number Publication Date
JPWO2016178294A1 JPWO2016178294A1 (ja) 2018-03-01
JP6437640B2 true JP6437640B2 (ja) 2018-12-12

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JP2017516546A Active JP6437640B2 (ja) 2015-05-07 2015-12-07 自律走行車の誘導制御システム
JP2018214230A Pending JP2019061695A (ja) 2015-05-07 2018-11-14 誘導制御システム

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JP2018214230A Pending JP2019061695A (ja) 2015-05-07 2018-11-14 誘導制御システム

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US (1) US10761531B2 (https=)
JP (2) JP6437640B2 (https=)
IN (1) IN2015MU01824A (https=)
WO (1) WO2016178294A1 (https=)

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Also Published As

Publication number Publication date
WO2016178294A1 (ja) 2016-11-10
JPWO2016178294A1 (ja) 2018-03-01
US10761531B2 (en) 2020-09-01
JP2019061695A (ja) 2019-04-18
US20180321682A1 (en) 2018-11-08
IN2015MU01824A (https=) 2015-05-22

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