SG11201902738PA - Vehicle collision avoidance - Google Patents

Vehicle collision avoidance

Info

Publication number
SG11201902738PA
SG11201902738PA SG11201902738PA SG11201902738PA SG11201902738PA SG 11201902738P A SG11201902738P A SG 11201902738PA SG 11201902738P A SG11201902738P A SG 11201902738PA SG 11201902738P A SG11201902738P A SG 11201902738PA SG 11201902738P A SG11201902738P A SG 11201902738PA
Authority
SG
Singapore
Prior art keywords
international
velocity
processor
vehicle
points
Prior art date
Application number
SG11201902738PA
Inventor
Matthew Hyatt Turpin
Stephen Marc Chaves
Original Assignee
Qualcomm Inc
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 Qualcomm Inc filed Critical Qualcomm Inc
Publication of SG11201902738PA publication Critical patent/SG11201902738PA/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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • G05D1/0257—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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/176—Urban or other man-made structures
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • 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
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Artificial Intelligence (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property C.--.` 1#111011110111010101111101 1101010111111101111110111 011101111101111011# Organization International Bureau (10) International Publication Number 03 (43) International Publication Date ......•' WO 2018/089128 Al 17 May 2018 (17.05.2018) WIPO I PCT (51) International Patent Classification: (72) Inventors: TURPIN, Matthew Hyatt; 5775 Morehouse G05D 1/02 (2006.01) G05D 1/10 (2006.01) Drive, San Diego, California 92121-1714 (US). CHAVES, Stephen Marc; 5775 Morehouse Drive, San Diego, Cali- (21) International Application Number: PCT/US2017/054291 forma foa 92121-1714 (US). (22) International Filing Date: (74) Agent: HANSEN, ROBERT M. et al.; The Marbury Law Group, PLLC, 11800 Sunrise Valley Drive 15th Floor, Re- 29 September 2017 (29.09.2017) ston, Virginia 20191 (US). (25) Filing Language: English (81) Designated States (unless otherwise indicated, for every (26) Publication Language: English kind of national protection available): AE, AG, AL, AM, (30) Priority Data: AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, 62/421,551 14 November 2016 (14.11.2016) US CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, 15/607,975 30 May 2017 (30.05.2017) US DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, (71) Applicant: QUALCOMM INCORPORATED [US/US]; KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, ATTN: International IP Administration, 5775 Morehouse MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, Drive, San Diego, California 92121-1714 (US). OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, (54) Title: VEHICLE COLLISION AVOIDANCE 400- 411) i 402 4/7 404... 404a 404b (,. - 6) °) - - -col __--- - direction 0 — — - N - 4- - - \ direction 0 ) \ It, cfis 4oc, direction 9,\" -- ro9 a / a , -. st o ,,, 6 ' 4 \" 0c: (0) 140 • • • • • • • • • • - - • • ( 6 ) 406a di S 406b /7 ' (\"d 'A 404(n) 404c 406... 142 FIG. 4A 1 1-1 406(n) OC (57) : Embodiments include devices and methods for vehicle collision avoidance. A processor ei sensor data comprising one or more points. The processor may determine a distance and a direction from 1-1 Cf , more points. The processor may determine a velocity constraint for each of the one or more points based on the determined distance Ot and direction from the vehicle to the one or more points. Based on a navigation instruction, the processor 0 --..... velocity solutions that satisfy the one or more velocity constraints. The processor may select a velocity solution = or more velocity solutions based on the navigation instruction, and may adjust a vehicle velocity based on 1-1 0 ei of the vehicle may receive the vehicle to the one or may determine one or more from the determined one the selected velocity solution. O [Continued on next page] WO 2018/089128 Al MIDEDIMOMOIDEIREIDIONIMEIHOHMOIMMIS SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: — as to applicant's entitlement to apply for and be granted a patent (Rule 4.17(11)) — as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii)) Published: — with international search report (Art. 21(3))
SG11201902738PA 2016-11-14 2017-09-29 Vehicle collision avoidance SG11201902738PA (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662421551P 2016-11-14 2016-11-14
US15/607,975 US10289121B2 (en) 2016-11-14 2017-05-30 Vehicle collision avoidance
PCT/US2017/054291 WO2018089128A1 (en) 2016-11-14 2017-09-29 Vehicle collision avoidance

Publications (1)

Publication Number Publication Date
SG11201902738PA true SG11201902738PA (en) 2019-05-30

Family

ID=62108476

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201902738PA SG11201902738PA (en) 2016-11-14 2017-09-29 Vehicle collision avoidance

Country Status (9)

Country Link
US (2) US10289121B2 (en)
EP (1) EP3538966B1 (en)
JP (1) JP7173966B2 (en)
KR (1) KR102476681B1 (en)
CN (1) CN109906416B (en)
ES (1) ES2883847T3 (en)
SG (1) SG11201902738PA (en)
TW (1) TW201818368A (en)
WO (1) WO2018089128A1 (en)

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US10289121B2 (en) 2016-11-14 2019-05-14 Qualcomm Incorporated Vehicle collision avoidance
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US10649446B2 (en) * 2018-04-30 2020-05-12 Amazon Technologies, Inc. Techniques for conveyance device control
US11572079B2 (en) * 2019-04-25 2023-02-07 WeRide Corp. Apparatus and method for controlling velocity of autonomous driving vehicle, and storage medium
US11225228B2 (en) * 2020-03-11 2022-01-18 Baidu Usa Llc Method for enhancing in-path obstacle detection with safety redundancy autonomous system
WO2021261058A1 (en) * 2020-06-26 2021-12-30 パナソニックＩｐマネジメント株式会社 Information processing method, information processing terminal, and information processing system
CN113071482B (en) * 2021-04-28 2023-03-21 江苏大学 Intelligent vehicle anti-collision method based on passing time interval
US20230244249A1 (en) * 2022-02-01 2023-08-03 Lockheed Martin Corporation Collision prevention flight control mode

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Also Published As

Publication number Publication date
CN109906416B (en) 2022-04-26
EP3538966A1 (en) 2019-09-18
ES2883847T3 (en) 2021-12-09
KR102476681B1 (en) 2022-12-09
CN109906416A (en) 2019-06-18
JP7173966B2 (en) 2022-11-16
US20180136669A1 (en) 2018-05-17
US10289121B2 (en) 2019-05-14
KR20190076985A (en) 2019-07-02
US20190220041A1 (en) 2019-07-18
US11054835B2 (en) 2021-07-06
TW201818368A (en) 2018-05-16
JP2019537140A (en) 2019-12-19
WO2018089128A1 (en) 2018-05-17
BR112019009543A2 (en) 2019-07-30
EP3538966B1 (en) 2021-07-21

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