KR102937181B1 - 제어 방법 및 제어 시스템 - Google Patents

제어 방법 및 제어 시스템

Info

Publication number
KR102937181B1
KR102937181B1 KR1020237023344A KR20237023344A KR102937181B1 KR 102937181 B1 KR102937181 B1 KR 102937181B1 KR 1020237023344 A KR1020237023344 A KR 1020237023344A KR 20237023344 A KR20237023344 A KR 20237023344A KR 102937181 B1 KR102937181 B1 KR 102937181B1
Authority
KR
South Korea
Prior art keywords
vehicle
period
magnetic marker
magnetic
control
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
KR1020237023344A
Other languages
English (en)
Korean (ko)
Other versions
KR20230118642A (ko
Inventor
미치하루 야마모토
도모히코 나가오
히토시 아오야마
Original Assignee
아이치 세이코우 가부시키가이샤
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 아이치 세이코우 가부시키가이샤 filed Critical 아이치 세이코우 가부시키가이샤
Publication of KR20230118642A publication Critical patent/KR20230118642A/ko
Application granted granted Critical
Publication of KR102937181B1 publication Critical patent/KR102937181B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • 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
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
    • G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/50—Magnetic or electromagnetic sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/13—Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/30—Radio signals
    • G05D2111/34—Radio signals generated by transmitters powered by energy received from an external transceiver, e.g. generated by passive radio-frequency identification [RFID] tags
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/60—Combination of two or more signals
    • G05D2111/63—Combination of two or more signals of the same type, e.g. stereovision or optical flow
    • G05D2111/65—Combination of two or more signals of the same type, e.g. stereovision or optical flow taken successively, e.g. visual odometry or optical flow
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020237023344A 2021-01-18 2022-01-14 제어 방법 및 제어 시스템 Active KR102937181B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021005587 2021-01-18
JPJP-P-2021-005587 2021-01-18
PCT/JP2022/001230 WO2022154103A1 (ja) 2021-01-18 2022-01-14 制御方法及び制御システム

Publications (2)

Publication Number Publication Date
KR20230118642A KR20230118642A (ko) 2023-08-11
KR102937181B1 true KR102937181B1 (ko) 2026-03-09

Family

ID=82448495

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020237023344A Active KR102937181B1 (ko) 2021-01-18 2022-01-14 제어 방법 및 제어 시스템

Country Status (6)

Country Link
US (1) US20240400046A1 (https=)
EP (1) EP4280012A4 (https=)
JP (1) JP7795112B2 (https=)
KR (1) KR102937181B1 (https=)
CN (1) CN116783567A (https=)
WO (1) WO2022154103A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2626676A (en) * 2024-02-08 2024-07-31 Chen Hongming A system and method for guiding navigation of automated guided vehicles (AGVS)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008002992A (ja) 2006-06-23 2008-01-10 Toyota Motor Corp 姿勢角検出装置と姿勢角検出方法
US20130060461A1 (en) 2011-09-07 2013-03-07 INRO Technologies Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
JP2013184491A (ja) 2012-03-06 2013-09-19 Nissan Motor Co Ltd 車両走行支援装置
WO2019211987A1 (ja) 2018-05-02 2019-11-07 愛知製鋼株式会社 自動駐車システム
JP2020098566A (ja) 2018-09-28 2020-06-25 先進モビリティ株式会社 自動運転システム
US20200320870A1 (en) 2016-06-03 2020-10-08 Aichi Steel Corporation Position capture method and system

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3095189B2 (ja) * 1991-09-10 2000-10-03 株式会社日立製作所 ナビゲーション装置
JP3550916B2 (ja) * 1996-11-12 2004-08-04 トヨタ自動車株式会社 車両用盗難検出装置
JP2002334400A (ja) 2001-05-10 2002-11-22 Mitsubishi Motors Corp 運転支援装置
JP6067315B2 (ja) * 2012-10-12 2017-01-25 富士通テン株式会社 車両制御装置、及び、車両制御方法
JP6156067B2 (ja) * 2013-11-01 2017-07-05 富士通株式会社 移動量推定装置及び移動量推定方法
US9796400B2 (en) * 2013-11-27 2017-10-24 Solfice Research, Inc. Real time machine vision and point-cloud analysis for remote sensing and vehicle control
JP6310565B2 (ja) * 2014-09-11 2018-04-11 本田技研工業株式会社 運転支援装置
CN105005302B (zh) * 2015-05-29 2017-11-14 李祥榕 一种基于gps和rfid的车辆自动控制系统及方法
US9964648B2 (en) * 2015-06-16 2018-05-08 Insero LLC Guidiance system and method based on dead reckoning positioning and heading augmented by GNSS and predictive path selection
JP6707887B2 (ja) 2016-02-12 2020-06-10 株式会社デンソー 車両用装置
JP6928306B2 (ja) * 2017-03-28 2021-09-01 愛知製鋼株式会社 磁気マーカの施工方法及び作業システム
JP6828643B2 (ja) 2017-09-12 2021-02-10 愛知製鋼株式会社 位置捕捉システム及び位置捕捉方法
DE112018004583T5 (de) 2017-11-17 2020-08-27 Aisin Aw Co., Ltd. Anzeigevorrichtung und Computerprogramm
JP7047392B2 (ja) * 2018-01-16 2022-04-05 愛知製鋼株式会社 車両位置管理システム及び車両位置管理方法
JP7147275B2 (ja) 2018-06-04 2022-10-05 愛知製鋼株式会社 ジャイロセンサの較正方法
US10488202B1 (en) * 2019-01-08 2019-11-26 Adam Benjamin Tannenbaum System and method of use for self-contained vehicular navigation system
WO2020175438A1 (ja) * 2019-02-27 2020-09-03 愛知製鋼株式会社 点群データの取得方法及び点群データ取得システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008002992A (ja) 2006-06-23 2008-01-10 Toyota Motor Corp 姿勢角検出装置と姿勢角検出方法
US20130060461A1 (en) 2011-09-07 2013-03-07 INRO Technologies Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
JP2013184491A (ja) 2012-03-06 2013-09-19 Nissan Motor Co Ltd 車両走行支援装置
US20200320870A1 (en) 2016-06-03 2020-10-08 Aichi Steel Corporation Position capture method and system
WO2019211987A1 (ja) 2018-05-02 2019-11-07 愛知製鋼株式会社 自動駐車システム
JP2020098566A (ja) 2018-09-28 2020-06-25 先進モビリティ株式会社 自動運転システム

Also Published As

Publication number Publication date
KR20230118642A (ko) 2023-08-11
US20240400046A1 (en) 2024-12-05
JP7795112B2 (ja) 2026-01-07
WO2022154103A1 (ja) 2022-07-21
CN116783567A (zh) 2023-09-19
EP4280012A1 (en) 2023-11-22
EP4280012A4 (en) 2024-12-04
JPWO2022154103A1 (https=) 2022-07-21

Similar Documents

Publication Publication Date Title
CN112041909B (zh) 自动驻车系统及自动驻车方法
US11225257B2 (en) Driving assistance method and driving assistance device
CN113646221B (zh) 移动体的行为预测方法、行为预测装置以及车辆
US11498584B2 (en) Intersection start judgment device
US20220402492A1 (en) Method for Controlling Vehicle and Vehicle Control Device
KR20190040573A (ko) 자율주행차량의 정밀위치감지 장치, 감지방법, 그 정밀위치감지장치를 통한 정차지원 시스템 및 정차지원방법
RU2763331C1 (ru) Способ отображения плана движения и устройство отображения плана движения
EP3475976B1 (en) Automated vehicle sensor selection based on map data density and navigation feature density
JP7534651B2 (ja) 点群データの取得方法及び点群データ取得システム
JP7463997B2 (ja) 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
CN110567465B (zh) 使用精度规范定位车辆的系统和方法
KR102330985B1 (ko) 주차장에서의 주차 안내 방법
KR102937181B1 (ko) 제어 방법 및 제어 시스템
WO2024063078A1 (ja) ３次元地図データの生成方法及び生成システム
KR20200119092A (ko) 차량 및 차량의 위치 검출 방법
WO2019065176A1 (ja) 車両用システム及びタグ通信方法
CN116892919A (zh) 地图生成装置
JP2020082879A (ja) 運転支援システム
JP7497686B2 (ja) 産業車両
JP6976050B2 (ja) 駐車制御装置の姿勢推定方法、及び姿勢推定装置
JP7540455B2 (ja) 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
US10403139B2 (en) Local navigation system for vehicle navigation
CN118116186A (zh) 车道推定装置和地图生成装置
WO2022259644A1 (ja) 車両制御装置
KR20240024916A (ko) 차량용 시스템

Legal Events

Date Code Title Description
A201 Request for examination
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

D22 Grant of ip right intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D22-EXM-PE0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

F11 Ip right granted following substantive examination

Free format text: ST27 STATUS EVENT CODE: A-2-4-F10-F11-EXM-PR0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

U12 Designation fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U12-OTH-PR1002 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

Q13 Ip right document published

Free format text: ST27 STATUS EVENT CODE: A-4-4-Q10-Q13-NAP-PG1601 (AS PROVIDED BY THE NATIONAL OFFICE)