PT4009131T - Método de navegação de um veículo e sistema do mesmo - Google Patents

Método de navegação de um veículo e sistema do mesmo

Info

Publication number
PT4009131T
PT4009131T PT221537434T PT22153743T PT4009131T PT 4009131 T PT4009131 T PT 4009131T PT 221537434 T PT221537434 T PT 221537434T PT 22153743 T PT22153743 T PT 22153743T PT 4009131 T PT4009131 T PT 4009131T
Authority
PT
Portugal
Prior art keywords
navigating
vehicle
Prior art date
Application number
PT221537434T
Other languages
English (en)
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
Publication of PT4009131T publication Critical patent/PT4009131T/pt

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
    • G05D1/0268—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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • 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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G05D1/0231—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
    • G05D1/0231—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
    • G05D1/0248—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 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
    • G05D1/0257—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
    • G05D1/02—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
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Transportation (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
PT221537434T 2017-06-08 2018-06-07 Método de navegação de um veículo e sistema do mesmo PT4009131T (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IL252769A IL252769B (en) 2017-06-08 2017-06-08 Method and system for autonomous vehicle navigation

Publications (1)

Publication Number Publication Date
PT4009131T true PT4009131T (pt) 2024-01-02

Family

ID=60942707

Family Applications (1)

Application Number Title Priority Date Filing Date
PT221537434T PT4009131T (pt) 2017-06-08 2018-06-07 Método de navegação de um veículo e sistema do mesmo

Country Status (8)

Country Link
US (2) US11320823B2 (pt)
EP (2) EP4009131B1 (pt)
DK (1) DK4009131T3 (pt)
ES (2) ES2968684T3 (pt)
IL (1) IL252769B (pt)
PL (1) PL4009131T3 (pt)
PT (1) PT4009131T (pt)
WO (1) WO2018225071A1 (pt)

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* Cited by examiner, † Cited by third party
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IL250762B (en) 2017-02-23 2020-09-30 Appelman Dina Method and system for unmanned vehicle navigation
JP7069456B2 (ja) 2017-03-17 2022-05-18 ザ・リージェンツ・オブ・ザ・ユニバーシティ・オブ・ミシガン マルチポリシー意思決定を導くための有益な結果を構築するための方法および装置
IL253769B (en) * 2017-07-31 2022-03-01 Israel Aerospace Ind Ltd Planning a path in motion
US11016491B1 (en) * 2018-01-26 2021-05-25 X Development Llc Trajectory planning for mobile robots
IL257428B (en) 2018-02-08 2022-04-01 Israel Aerospace Ind Ltd Excavation by unmanned vehicle
WO2020018688A1 (en) 2018-07-20 2020-01-23 May Mobility, Inc. A multi-perspective system and method for behavioral policy selection by an autonomous agent
US11513526B2 (en) 2018-08-30 2022-11-29 Elta Systems Ltd. Method of navigating a vehicle and system thereof
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
AU2020267407A1 (en) * 2019-05-06 2021-12-02 Rugged Robotics Inc. Mobility platform for autonomous navigation of construction sites
US11429110B1 (en) * 2019-05-24 2022-08-30 Amazon Technologies, Inc. System for obstacle avoidance by autonomous mobile device
CN110794839B (zh) * 2019-11-07 2022-04-29 中国第一汽车股份有限公司 一种异形路口的自动驾驶控制方法及车辆
US11352023B2 (en) 2020-07-01 2022-06-07 May Mobility, Inc. Method and system for dynamically curating autonomous vehicle policies
WO2022132774A1 (en) 2020-12-14 2022-06-23 May Mobility, Inc. Autonomous vehicle safety platform system and method
WO2022133242A1 (en) 2020-12-17 2022-06-23 May Mobility, Inc. Method and system for dynamically updating an environmental representation of an autonomous agent
US11893867B2 (en) * 2020-12-22 2024-02-06 Rakuten Group, Inc. Monitoring system and unmanned ground vehicle
EP4314708A1 (en) 2021-04-02 2024-02-07 May Mobility, Inc. Method and system for operating an autonomous agent with incomplete environmental information
WO2022256249A1 (en) 2021-06-02 2022-12-08 May Mobility, Inc. Method and system for remote assistance of an autonomous agent
CN117321526A (zh) * 2021-06-02 2023-12-29 国立大学法人东北大学 信息处理装置、移动体、信息处理方法以及程序
US11814072B2 (en) 2022-02-14 2023-11-14 May Mobility, Inc. Method and system for conditional operation of an autonomous agent

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US5006988A (en) 1989-04-28 1991-04-09 University Of Michigan Obstacle-avoiding navigation system
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
JP4861574B2 (ja) 2001-03-28 2012-01-25 パナソニック株式会社 運転支援装置
US7684624B2 (en) 2003-03-03 2010-03-23 Smart Technologies Ulc System and method for capturing images of a target area on which information is recorded
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Also Published As

Publication number Publication date
US20220236735A1 (en) 2022-07-28
US11320823B2 (en) 2022-05-03
US11714416B2 (en) 2023-08-01
PL4009131T4 (pl) 2024-02-19
US20200159227A1 (en) 2020-05-21
EP4009131B1 (en) 2023-08-23
WO2018225071A1 (en) 2018-12-13
EP4009131A1 (en) 2022-06-08
EP3635500A1 (en) 2020-04-15
IL252769A0 (en) 2017-12-31
ES2968684T3 (es) 2024-05-13
EP3635500B1 (en) 2022-03-09
IL252769B (en) 2021-10-31
ES2914778T3 (es) 2022-06-16
DK4009131T3 (da) 2023-11-27
EP3635500A4 (en) 2020-04-15
PL4009131T3 (pl) 2024-02-19

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