NL2023628B9 - Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem. - Google Patents

Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.

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Publication number
NL2023628B9
NL2023628B9 NL2023628A NL2023628A NL2023628B9 NL 2023628 B9 NL2023628 B9 NL 2023628B9 NL 2023628 A NL2023628 A NL 2023628A NL 2023628 A NL2023628 A NL 2023628A NL 2023628 B9 NL2023628 B9 NL 2023628B9
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NL
Netherlands
Prior art keywords
vehicle
air
camera images
driving vehicle
steering
Prior art date
Application number
NL2023628A
Other languages
English (en)
Other versions
NL2023628B1 (nl
Inventor
Wilhelmus Maria Van Bentum Johannes
Johannes Smit Stephan
Original Assignee
Wilhelmus Maria Van Bentum Johannes
Johannes Smit Stephan
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 Wilhelmus Maria Van Bentum Johannes, Johannes Smit Stephan filed Critical Wilhelmus Maria Van Bentum Johannes
Priority to NL2023628A priority Critical patent/NL2023628B9/nl
Priority to US16/987,612 priority patent/US12001207B2/en
Priority to EP20190016.4A priority patent/EP3786756B1/en
Application granted granted Critical
Publication of NL2023628B1 publication Critical patent/NL2023628B1/nl
Publication of NL2023628B9 publication Critical patent/NL2023628B9/nl
Priority to US18/432,397 priority patent/US20240176345A1/en

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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
    • G05D1/0088—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
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/10—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
    • G05D1/20—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
    • G05D1/2435—Extracting 3D information
    • 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]
    • 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
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions
    • 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
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • 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
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Game Theory and Decision Science (AREA)
  • Human Computer Interaction (AREA)
  • Business, Economics & Management (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Computational Linguistics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, met een zekerheidsbepalingsmodule die is ingericht voor het ontvangen van livecamerabeelden van de camera, het ontvangen van geannoteerde voor beeldherkenning voorbewerkte vorm van geregistreerde opgeslagen camerabeelden van een interne zekerheidsbepalingsmodulegegevensopslag, het ontvangen van de ten minste éne navigatieinstructie van de navigatiemodule; het vergelijken van de live-camerabeelden met de opgeslagen camerabeelden en het bepalen van een mate van overeenkomst; en het bepalen van een zekerheidswaarde die aangeeft in hoeverre de bepaalde mate van overeenkomst volstaat om de ten minst éne navigatieinstructie uit te voeren; waarbij de stuurmodule is ingericht voor: het van de navigatiemodule ontvangen van de ten minste éne navigatieinstructie; het van de camera ontvangen van de live-camerabeelden; het van de zekerheidsbepalingsmodule ontvangen van een zekerheidswaarde; het vergelijken van de zekerheidswaarde met een voorafbepaalde waarde; indien de zekerheidswaarde groter is dan de voorafbepaalde waarde: het omzetten van de ten minste éne navigatieinstructie en de camerabeelden in stuur- en versnellingswaarden voor het bestuurbaar autonoom rijdend voer- of (lucht)vaartuig.
NL2023628A 2019-08-09 2019-08-09 Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem. NL2023628B9 (nl)

Priority Applications (4)

Application Number Priority Date Filing Date Title
NL2023628A NL2023628B9 (nl) 2019-08-09 2019-08-09 Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.
US16/987,612 US12001207B2 (en) 2019-08-09 2020-08-07 System for controlling an autonomous driving vehicle or air vessel, which can be controlled on the basis of steering and acceleration values, and an autonomous driving vehicle or air vessel provided with such a system
EP20190016.4A EP3786756B1 (en) 2019-08-09 2020-08-07 System for controlling a vehicle or (air)craft which is controllable on the basis of control values and acceleration values and moves autonomously, autonomously moving vehicle or (air)craft provided with such a system
US18/432,397 US20240176345A1 (en) 2019-08-09 2024-02-05 System for controlling an autonomous driving vehicle or air vessel, which can be controlled on the basis of steering and acceleration values, and an autonomous driving vehicle or air vessel provided with such a system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2023628A NL2023628B9 (nl) 2019-08-09 2019-08-09 Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.

Publications (2)

Publication Number Publication Date
NL2023628B1 NL2023628B1 (nl) 2021-02-23
NL2023628B9 true NL2023628B9 (nl) 2021-08-20

Family

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Application Number Title Priority Date Filing Date
NL2023628A NL2023628B9 (nl) 2019-08-09 2019-08-09 Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.

Country Status (3)

Country Link
US (2) US12001207B2 (nl)
EP (1) EP3786756B1 (nl)
NL (1) NL2023628B9 (nl)

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NL2019756B1 (nl) 2017-10-18 2019-04-25 Johannes Smit Stephan Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voertuig, autonoom rijdend voertuig voorzien van een dergelijk systeem en werkwijze voor het trainen van een dergelijk systeem.
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Also Published As

Publication number Publication date
US20210041872A1 (en) 2021-02-11
EP3786756A1 (en) 2021-03-03
EP3786756B1 (en) 2022-08-31
US12001207B2 (en) 2024-06-04
US20240176345A1 (en) 2024-05-30
NL2023628B1 (nl) 2021-02-23

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