SG10201709662VA - Navigation for vehicles - Google Patents
Navigation for vehiclesInfo
- Publication number
- SG10201709662VA SG10201709662VA SG10201709662VA SG10201709662VA SG10201709662VA SG 10201709662V A SG10201709662V A SG 10201709662VA SG 10201709662V A SG10201709662V A SG 10201709662VA SG 10201709662V A SG10201709662V A SG 10201709662VA SG 10201709662V A SG10201709662V A SG 10201709662VA
- Authority
- SG
- Singapore
- Prior art keywords
- vehicle
- target location
- representation
- location
- collision
- Prior art date
Links
Classifications
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- 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
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- 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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G9/00—Traffic control systems for craft where the kind of craft is irrelevant or unspecified
- G08G9/02—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Ocean & Marine Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Navigation for Vehicles Computer system (100), computer-implemented method and computer program product are provided for enabling parallel processing of determining collision-free paths for a vehicle to navigate from a start location to a target location. The system receives representations of the start location (SL), the target location (TL) and one or more polygonal representations of one or more potential collision objects and initializes a representation of the vehicle with the start location (SL) as current location (CL), and with a list of targets (LOT) comprising the received target location (TL) as most recent target location. Then it iteratively constructs a graph of collision-free path segments by determining whether a collision object is located on a direct connection between the current location and the most recent target location in the list of targets, and repeating for each vehicle representation: if the direct connection is collision- free, saving the path segment as an edge of the graph, and selecting, for the next iteration, the most recent target location as new current location (CL) and removing the most recent target location from the list of targets; else, identifying reachable nodes wherein the nodes are based on local extrema on one or more polygonal representations intersecting with the direct connection, where local extrema are determined relative to the deviation angle to the left or to the right from the direct connection between the current location and the most recent target location, and, for the next iteration, generating from the representation a further representation of the vehicle for each identified node, the further representation having the same current location as the vehicle representation and having a list of targets comprising all elements of the vehicle representation’s list of targets as well as the identified node as new most recent target location. The iteration continues until, for every vehicle representation, the lists of targets associated with the existing vehicle representations are empty. Finally, collision-free paths based on collision-free path segments are constructed and provided to a path selector. [Figure 1]
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16206179.0A EP3339806B1 (en) | 2016-12-22 | 2016-12-22 | Navigation for vehicle based on parallel processing to determine collision-free paths |
Publications (1)
Publication Number | Publication Date |
---|---|
SG10201709662VA true SG10201709662VA (en) | 2018-07-30 |
Family
ID=57777425
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG10201709662VA SG10201709662VA (en) | 2016-12-22 | 2017-11-22 | Navigation for vehicles |
Country Status (5)
Country | Link |
---|---|
US (1) | US10466058B2 (en) |
EP (1) | EP3339806B1 (en) |
JP (1) | JP2018109621A (en) |
CN (1) | CN108225358B (en) |
SG (1) | SG10201709662VA (en) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6930337B2 (en) * | 2017-09-27 | 2021-09-01 | カシオ計算機株式会社 | Electronics, travel route recording methods, and programs |
EP3623759B1 (en) * | 2018-09-14 | 2024-04-17 | The Boeing Company | A computer-implemented method and a system for defining a path for a vehicle within an environment with obstacles |
US20200132467A1 (en) * | 2018-10-30 | 2020-04-30 | Navico Holding As | Systems and associated methods for generating navigation charts and navigable routes in an open environment |
EP3683742A1 (en) | 2019-01-18 | 2020-07-22 | Naver Corporation | Method for computing at least one itinerary from a departure location to an arrival location |
US10379868B1 (en) * | 2019-02-04 | 2019-08-13 | Bell Integrator Inc. | Optimization method with parallel computations |
CN110197003B (en) * | 2019-05-05 | 2023-05-16 | 中国船舶工业集团公司第七0八研究所 | Multi-section bottom-sitting ship type structure overall load calculation method |
EP3745331A1 (en) | 2019-05-29 | 2020-12-02 | Naver Corporation | Methods for preprocessing a set of non-scheduled lines within a multimodal transportation network of predetermined stations and for computing at least one itinerary from a departure location to an arrival location |
JP2020193975A (en) * | 2019-05-29 | 2020-12-03 | ネイバー コーポレーションNAVER Corporation | Method for preprocessing set of lines, method for computing itinerary, and computer program |
US11360220B2 (en) * | 2019-08-08 | 2022-06-14 | United States Of America As Represented By The Secretary Of The Navy | System and methods for planning routes over large areas |
CN110887502B (en) * | 2019-11-18 | 2020-09-04 | 广西华蓝岩土工程有限公司 | Must-pass node shortest path searching method |
JP7364521B2 (en) * | 2020-03-31 | 2023-10-18 | 株式会社光電製作所 | Avoidance route search device, avoidance route search method, program |
US11768078B2 (en) | 2020-04-21 | 2023-09-26 | Naver Corporation | Method for computing an itinerary from a departure location to an arrival location |
US20210382476A1 (en) * | 2020-06-05 | 2021-12-09 | Scythe Robotics, Inc. | Autonomous lawn mowing system |
CN114793459A (en) * | 2020-11-24 | 2022-07-26 | 华为技术有限公司 | Estimation of accident risk level of road traffic participants |
CN113173161B (en) * | 2021-04-26 | 2022-07-05 | 安徽域驰智能科技有限公司 | Obstacle collision distance calculation method based on iterative prediction model |
US11860628B2 (en) * | 2021-06-21 | 2024-01-02 | Nvidia Corporation | Parallel processing of vehicle path planning suitable for parking |
CN113934218B (en) * | 2021-11-16 | 2022-03-25 | 杭州云象商用机器有限公司 | Cleaning robot path planning method, device, equipment and storage medium |
US11981328B2 (en) | 2022-02-02 | 2024-05-14 | Ford Global Technologies, Llc | Vehicle object avoidance |
US20230367463A1 (en) * | 2022-05-11 | 2023-11-16 | Supercell Oy | Randomized movement control |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03238599A (en) * | 1990-02-15 | 1991-10-24 | Clarion Co Ltd | On vehicle navigation equipment |
WO2000043953A1 (en) * | 1999-01-25 | 2000-07-27 | Kabushiki Kaisya Zenrin | Device and method for creating and using data on road map expressed by polygons |
US6317690B1 (en) * | 1999-06-28 | 2001-11-13 | Min-Chung Gia | Path planning, terrain avoidance and situation awareness system for general aviation |
US6529821B2 (en) * | 2001-06-05 | 2003-03-04 | The United States Of America As Represented By The Secretary Of The Navy | Route planner with area avoidance capability |
GB0407336D0 (en) * | 2004-03-31 | 2004-05-05 | British Telecomm | Pathfinding system |
FR2964765B1 (en) * | 2010-09-10 | 2016-04-15 | Thales Sa | METHOD OF SEARCHING SHORTEST PATH WITH HEURISTIC |
WO2013104128A1 (en) * | 2012-01-12 | 2013-07-18 | Google Inc. | Navigating using indoor map representation |
EP2631594B1 (en) * | 2012-02-22 | 2015-09-09 | Harman Becker Automotive Systems GmbH | Navigation system and method for navigation |
US8996224B1 (en) * | 2013-03-15 | 2015-03-31 | Google Inc. | Detecting that an autonomous vehicle is in a stuck condition |
EP2863177A1 (en) * | 2013-10-18 | 2015-04-22 | AEVO GmbH | Method of calculation a path for use in a vehicle |
CN104457775A (en) * | 2014-12-12 | 2015-03-25 | 北京航天宏图信息技术有限责任公司 | Path determination method and device, and navigation instrument |
US9523583B2 (en) * | 2015-02-27 | 2016-12-20 | Here Global B.V. | Generating routes using navigation meshes |
US9836980B2 (en) * | 2015-06-07 | 2017-12-05 | Apple Inc. | Collision avoidance of arbitrary polygonal obstacles |
US9823079B2 (en) * | 2015-09-29 | 2017-11-21 | Apple Inc. | Polygonal routing |
US9841285B2 (en) * | 2015-12-22 | 2017-12-12 | Here Global B.V. | Generation of link node routing graph using a straight skeleton algorithm |
CN105716618A (en) * | 2016-02-05 | 2016-06-29 | 哈尔滨工程大学 | Geometric environmental model expanding treatment method for UUV airway planning |
-
2016
- 2016-12-22 EP EP16206179.0A patent/EP3339806B1/en not_active Not-in-force
-
2017
- 2017-11-22 SG SG10201709662VA patent/SG10201709662VA/en unknown
- 2017-12-20 JP JP2017244265A patent/JP2018109621A/en active Pending
- 2017-12-20 US US15/848,765 patent/US10466058B2/en not_active Expired - Fee Related
- 2017-12-21 CN CN201711390197.4A patent/CN108225358B/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN108225358B (en) | 2020-07-17 |
CN108225358A (en) | 2018-06-29 |
US20180180428A1 (en) | 2018-06-28 |
EP3339806B1 (en) | 2019-05-22 |
US10466058B2 (en) | 2019-11-05 |
JP2018109621A (en) | 2018-07-12 |
EP3339806A1 (en) | 2018-06-27 |
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