SG10201709662VA - Navigation for vehicles - Google Patents

Navigation for vehicles

Info

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
Application number
SG10201709662VA
Inventor
Henning Grimm
Original Assignee
Gestalt Systems GmbH
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 Gestalt Systems GmbH filed Critical Gestalt Systems GmbH
Publication of SG10201709662VA publication Critical patent/SG10201709662VA/en

Links

Classifications

    • 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]
SG10201709662VA 2016-12-22 2017-11-22 Navigation for vehicles SG10201709662VA (en)

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)

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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
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WO2022111792A1 (en) * 2020-11-24 2022-06-02 Huawei Technologies Co., Ltd. Estimating 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
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Also Published As

Publication number Publication date
EP3339806A1 (en) 2018-06-27
US20180180428A1 (en) 2018-06-28
EP3339806B1 (en) 2019-05-22
CN108225358A (en) 2018-06-29
JP2018109621A (en) 2018-07-12
CN108225358B (en) 2020-07-17
US10466058B2 (en) 2019-11-05

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