KR102476681B1 - 운송수단 충돌 회피 - Google Patents

운송수단 충돌 회피 Download PDF

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KR102476681B1
KR102476681B1 KR1020197013588A KR20197013588A KR102476681B1 KR 102476681 B1 KR102476681 B1 KR 102476681B1 KR 1020197013588 A KR1020197013588 A KR 1020197013588A KR 20197013588 A KR20197013588 A KR 20197013588A KR 102476681 B1 KR102476681 B1 KR 102476681B1
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vehicle
speed
processor
points
navigation command
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KR20190076985A (ko
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매튜 하얏트 터핀
스티븐 마르크 차베스
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퀄컴 인코포레이티드
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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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • 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
    • G05D1/65—Following a desired speed profile
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/176—Urban or other man-made structures
    • G08G5/0013—
    • G08G5/0069—
    • G08G5/0086—
    • G08G5/045—
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/74—Arrangements for monitoring traffic-related situations or conditions for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
KR1020197013588A 2016-11-14 2017-09-29 운송수단 충돌 회피 Active KR102476681B1 (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201662421551P 2016-11-14 2016-11-14
US62/421,551 2016-11-14
US15/607,975 2017-05-30
US15/607,975 US10289121B2 (en) 2016-11-14 2017-05-30 Vehicle collision avoidance
PCT/US2017/054291 WO2018089128A1 (en) 2016-11-14 2017-09-29 Vehicle collision avoidance

Publications (2)

Publication Number Publication Date
KR20190076985A KR20190076985A (ko) 2019-07-02
KR102476681B1 true KR102476681B1 (ko) 2022-12-09

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US (2) US10289121B2 (enExample)
EP (1) EP3538966B1 (enExample)
JP (1) JP7173966B2 (enExample)
KR (1) KR102476681B1 (enExample)
CN (1) CN109906416B (enExample)
ES (1) ES2883847T3 (enExample)
SG (1) SG11201902738PA (enExample)
TW (1) TW201818368A (enExample)
WO (1) WO2018089128A1 (enExample)

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US10517021B2 (en) 2016-06-30 2019-12-24 Evolve Cellular Inc. Long term evolution-primary WiFi (LTE-PW)
US10289121B2 (en) 2016-11-14 2019-05-14 Qualcomm Incorporated Vehicle collision avoidance
US11468310B2 (en) * 2018-03-07 2022-10-11 International Business Machines Corporation Constraining actions for reinforcement learning under safety requirements
US10649446B2 (en) * 2018-04-30 2020-05-12 Amazon Technologies, Inc. Techniques for conveyance device control
US11572079B2 (en) * 2019-04-25 2023-02-07 WeRide Corp. Apparatus and method for controlling velocity of autonomous driving vehicle, and storage medium
US11225228B2 (en) * 2020-03-11 2022-01-18 Baidu Usa Llc Method for enhancing in-path obstacle detection with safety redundancy autonomous system
JP7749583B2 (ja) * 2020-05-04 2025-10-06 オーテリオン・アクチェンゲゼルシャフト ソフトウェア定義ドローンのためのシステムおよび方法
EP4174818A4 (en) * 2020-06-26 2023-11-01 Panasonic Intellectual Property Management Co., Ltd. INFORMATION PROCESSING METHOD, INFORMATION PROCESSING TERMINAL AND INFORMATION PROCESSING SYSTEM
CN113071482B (zh) * 2021-04-28 2023-03-21 江苏大学 一种基于通行时间区间的智能车辆防碰撞方法
US11608084B1 (en) * 2021-08-27 2023-03-21 Motional Ad Llc Navigation with drivable area detection
JP7673836B2 (ja) * 2021-12-16 2025-05-09 日本電気株式会社 制御装置、ドローン、制御方法、およびプログラム
US12411499B2 (en) * 2022-02-01 2025-09-09 Lockheed Martin Corporation Collision prevention flight control mode

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US20160125746A1 (en) 2014-05-10 2016-05-05 Aurora Flight Sciences Corporation Dynamic collision-avoidance system and method
US20160304198A1 (en) 2014-12-03 2016-10-20 Google Inc. Systems and methods for reliable relative navigation and autonomous following between unmanned aerial vehicle and a target object

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Publication number Publication date
US11054835B2 (en) 2021-07-06
JP7173966B2 (ja) 2022-11-16
TW201818368A (zh) 2018-05-16
CN109906416B (zh) 2022-04-26
US10289121B2 (en) 2019-05-14
ES2883847T3 (es) 2021-12-09
EP3538966B1 (en) 2021-07-21
EP3538966A1 (en) 2019-09-18
US20180136669A1 (en) 2018-05-17
JP2019537140A (ja) 2019-12-19
US20190220041A1 (en) 2019-07-18
BR112019009543A2 (pt) 2019-07-30
CN109906416A (zh) 2019-06-18
KR20190076985A (ko) 2019-07-02
SG11201902738PA (en) 2019-05-30
WO2018089128A1 (en) 2018-05-17

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