WO2010007115A3 - System und verfahren zur kollisionsvermeidung - Google Patents

System und verfahren zur kollisionsvermeidung Download PDF

Info

Publication number
WO2010007115A3
WO2010007115A3 PCT/EP2009/059113 EP2009059113W WO2010007115A3 WO 2010007115 A3 WO2010007115 A3 WO 2010007115A3 EP 2009059113 W EP2009059113 W EP 2009059113W WO 2010007115 A3 WO2010007115 A3 WO 2010007115A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
obstacle
evasion
risk
collision
Prior art date
Application number
PCT/EP2009/059113
Other languages
English (en)
French (fr)
Other versions
WO2010007115A2 (de
WO2010007115A8 (de
Inventor
Michael Naderhirn
Peter Langtaler
Original Assignee
Aerospy Sense And Avoid Technology 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 Aerospy Sense And Avoid Technology Gmbh filed Critical Aerospy Sense And Avoid Technology Gmbh
Priority to US12/737,439 priority Critical patent/US8825266B2/en
Priority to CN200980135928.8A priority patent/CN102160006B/zh
Priority to GB1102656.4A priority patent/GB2475197B/en
Priority to DE112009001692T priority patent/DE112009001692A5/de
Publication of WO2010007115A2 publication Critical patent/WO2010007115A2/de
Publication of WO2010007115A8 publication Critical patent/WO2010007115A8/de
Publication of WO2010007115A3 publication Critical patent/WO2010007115A3/de

Links

Classifications

    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • 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
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • G05D1/0202—Control of position or course in two dimensions specially adapted to 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • 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
    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Es wird ein Verfahren zur Steuerung eines Fahrzeugs zur automatischen Vermeidung von Kollisionen des Fahrzeugs mit Hindernissen offenbart. Das Verfahren umfasst folgende Schritte: Erkennen und Lokalisieren von Hindernissen vor dem Fahrzeug, wobei die Relativposition des Hindernisses in Bezug auf das Fahrzeug durch seine Koordinaten bestimmt wird; Messen der Relativgeschwindigkeit der erkannten Hindernisse; Beurteilen ob Kollisionsgefahr zwischen dem Fahrzeug und einem Hindernis besteht abhängig von der jeweiligen Relativposition und Relativgeschwindigkeit; Ausführen der folgenden Schritte, wenn eine Kollisionsgefahr mit einem Hindernis vorliegt: Berechnen eines Unsicherheitsbereichs um das Hindernis abhängig von bekannten Messfehlern; Berechnen eines Ausweichpunktes innerhalb oder an einem Rand des Unsicherheitsbereichs; Definieren einer Schutzzone mit einem Radius (RRISK) um den Ausweichpunkt; Definieren einer kreisbahnförmigen Ausweichroute mit einem vorgegebenen Kurvenradius (ρ); Steuern des Fahrzeuges bei einem kritischen Abstand, sodass das Fahrzeug der kreisbahnförmigen Ausweichroute folgt, wobei die kreisbahnförmige Ausweichroute die Schutzzone tangiert.
PCT/EP2009/059113 2008-07-15 2009-07-15 System und verfahren zur kollisionsvermeidung WO2010007115A2 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US12/737,439 US8825266B2 (en) 2008-07-15 2009-07-15 System and method for preventing a collision
CN200980135928.8A CN102160006B (zh) 2008-07-15 2009-07-15 用于避免碰撞的系统和方法
GB1102656.4A GB2475197B (en) 2008-07-15 2009-07-15 System and method for preventing a collision
DE112009001692T DE112009001692A5 (de) 2008-07-15 2009-07-15 System und Verfahren zur Kollisionsvermeidung

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102008033128.7 2008-07-15
DE102008033128 2008-07-15
ATA372/2009A AT507035B1 (de) 2008-07-15 2009-03-06 System und verfahren zur kollisionsvermeidung
ATA372/2009 2009-03-06

Publications (3)

Publication Number Publication Date
WO2010007115A2 WO2010007115A2 (de) 2010-01-21
WO2010007115A8 WO2010007115A8 (de) 2010-08-19
WO2010007115A3 true WO2010007115A3 (de) 2010-10-14

Family

ID=41480250

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/059113 WO2010007115A2 (de) 2008-07-15 2009-07-15 System und verfahren zur kollisionsvermeidung

Country Status (6)

Country Link
US (1) US8825266B2 (de)
CN (1) CN102160006B (de)
AT (1) AT507035B1 (de)
DE (1) DE112009001692A5 (de)
GB (1) GB2475197B (de)
WO (1) WO2010007115A2 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974275A (zh) * 2017-05-31 2018-12-11 贺州思通信息技术有限公司 一种海上船舶防撞系统

Families Citing this family (123)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102822881B (zh) * 2010-04-05 2015-04-29 丰田自动车株式会社 车辆的碰撞判定装置
DE102011017564B4 (de) 2011-04-26 2017-02-16 Airbus Defence and Space GmbH Verfahren und System zum Prüfen einer Oberfläche auf Materialfehler
US9318023B2 (en) * 2011-08-31 2016-04-19 GM Global Technology Operations LLC System and method for collision avoidance maneuver path determination with jerk limit
CN103183027B (zh) * 2011-12-28 2015-11-25 华为技术有限公司 车辆防撞方法和装置
EP2637072B1 (de) * 2012-03-05 2017-10-11 Volvo Car Corporation Spurverfolgung eines Zielfahrzeugs
DE102012204098A1 (de) * 2012-03-15 2013-09-19 Continental Automotive Gmbh Verfahren zur Stauerkennung mittels einer drahtlosen Fahrzeug-zu-Fahrzeug-Kommunikation
FR2990290B1 (fr) * 2012-05-02 2015-04-03 Sagem Defense Securite Procede d'evitement d'un aeronef et drone equipe d'un systeme mettant en oeuvre ce procede
US8965679B2 (en) * 2012-06-11 2015-02-24 Honeywell International Inc. Systems and methods for unmanned aircraft system collision avoidance
JP5944781B2 (ja) * 2012-07-31 2016-07-05 株式会社デンソーアイティーラボラトリ 移動体認識システム、移動体認識プログラム、及び移動体認識方法
US20140207315A1 (en) * 2013-01-23 2014-07-24 Honeywell International Inc. Apparatus and method for displaying a helicopter terrain intercept point during landing
US9142063B2 (en) 2013-02-15 2015-09-22 Caterpillar Inc. Positioning system utilizing enhanced perception-based localization
DE102013210928A1 (de) * 2013-06-12 2014-12-18 Robert Bosch Gmbh Verfahren zur Unterscheidung zwischen echten Hindernissen und Scheinhindernissen in einem Fahrerassistenzsystem für Kraftfahrzeuge
CN103487066B (zh) * 2013-10-12 2016-05-25 惠州Tcl移动通信有限公司 一种智能设备及其安全行驶方法
CN104751677B (zh) * 2013-12-27 2017-07-18 上海博泰悦臻网络技术服务有限公司 车辆碰撞报警方法和系统
US9255988B2 (en) * 2014-01-16 2016-02-09 GM Global Technology Operations LLC Object fusion system of multiple radar imaging sensors
FR3020892B1 (fr) * 2014-05-12 2016-05-27 Sagem Defense Securite Procede de navigation d'un drone aerien en presence d'un aeronef intrus et drone pour la mise en œuvre de ce procede
CN104197940B (zh) * 2014-06-04 2016-12-07 中国人民解放军理工大学 一种无人机有效飞行路径障碍点提取方法
CN105303886B (zh) * 2014-06-17 2019-02-05 中国移动通信集团公司 交通信息的预警处理方法、装置、终端及预警服务器
US9812021B2 (en) * 2014-06-25 2017-11-07 Amazon Technologies, Inc. Object avoidance for automated aerial vehicles
US20160016664A1 (en) * 2014-07-19 2016-01-21 Umm Al-Qura University Unmanned aerial delivery device
DE102014223744A1 (de) * 2014-11-20 2016-05-25 Conti Temic Microelectronic Gmbh Assistenzsystem zur Detektion von in der Umgebung eines Fahrzeuges auftretenden Fahrhindernissen
CN104537888A (zh) * 2014-12-25 2015-04-22 东风汽车公司 一种基于手机的汽车碰撞报警方法
US9505405B2 (en) 2015-01-16 2016-11-29 Ford Global Technologies, Llc Rear collision avoidance and mitigation system
US20160275802A1 (en) * 2015-03-20 2016-09-22 Northrop Grumman Systems Corporation Unmanned aircraft detection and targeting of other aircraft for collision avoidance
EP3177527B1 (de) * 2015-03-31 2021-07-21 SZ DJI Technology Co., Ltd. Systeme und verfahren für mobiles geo-fencing
EP3152089A4 (de) 2015-03-31 2017-08-02 SZ DJI Technology Co., Ltd. Systeme und verfahren für geofencing-vorrichtung-kommunikation
CN107409051B (zh) 2015-03-31 2021-02-26 深圳市大疆创新科技有限公司 用于生成飞行管制的认证系统和方法
CN104851323B (zh) * 2015-06-11 2017-11-17 沈阳北斗平台科技有限公司 基于北斗的飞机安全起降实时监控系统
CN104914877A (zh) * 2015-07-13 2015-09-16 沈阳飞羽航空科技有限公司 一种轻型无人机自主感知与规避方法
KR102398028B1 (ko) * 2015-08-17 2022-05-17 주식회사 에이치엘클레무브 자동 긴급 제동 시스템 및 그 제어방법
EP3353614A1 (de) * 2015-09-22 2018-08-01 Pro-Drone Lda. Autonome inspektion länglicher strukturen unter verwendung unbemannter luftfahrzeuge
CN105278543A (zh) * 2015-09-28 2016-01-27 小米科技有限责任公司 提升飞行安全性的方法及装置、电子设备
DE102015013324B4 (de) * 2015-10-14 2020-12-03 Hensoldt Sensors Gmbh Verfahren zum Bestimmen einer Ausweichempfehlung für ein Fahrzeug
JP6375503B2 (ja) * 2015-10-15 2018-08-22 株式会社プロドローン 飛行型検査装置および検査方法
US9802620B2 (en) * 2015-12-18 2017-10-31 GM Global Technology Operations LLC Position error estimate and implementation for autonomous driving
US11461912B2 (en) 2016-01-05 2022-10-04 California Institute Of Technology Gaussian mixture models for temporal depth fusion
US10665115B2 (en) 2016-01-05 2020-05-26 California Institute Of Technology Controlling unmanned aerial vehicles to avoid obstacle collision
CN105607646B (zh) * 2016-02-05 2018-06-26 哈尔滨工程大学 一种障碍环境下有必经点的uuv航路规划方法
WO2017144350A1 (en) * 2016-02-25 2017-08-31 Nec Europe Ltd. Method for motion planning for autonomous moving objects
CN105589472B (zh) * 2016-03-03 2018-10-23 深圳市智美达科技股份有限公司 无人驾驶设备避免障碍的方法、装置及系统
US10359779B2 (en) 2016-03-22 2019-07-23 Aurora Flight Sciences Corporation Aircrew automation system and method
JP6698399B2 (ja) * 2016-03-29 2020-05-27 北陽電機株式会社 搬送制御装置及び搬送台車の合流点通過方法
CN106022274B (zh) * 2016-05-24 2024-01-12 零度智控（北京）智能科技有限公司 一种避障方法、避障装置及无人驾驶机器
CN105955304A (zh) * 2016-07-06 2016-09-21 零度智控（北京）智能科技有限公司 一种避障方法、避障装置及无人飞行器
US10192453B2 (en) 2016-07-13 2019-01-29 Honeywell International Inc. Aircraft traffic alert and collision avoidance system with autoflight system mode protection
US10885798B2 (en) * 2016-07-13 2021-01-05 Honeywell International Inc. Aircraft traffic alert and collision avoidance system with autoflight system mode protection
CN106205223A (zh) * 2016-09-21 2016-12-07 江西天祥通用航空股份有限公司 一种针对障碍物的预警方法及系统
CN106338996B (zh) * 2016-10-20 2019-05-31 上海物景智能科技有限公司 一种移动机器人安全控制的方法及系统
US10875529B2 (en) * 2016-10-25 2020-12-29 Honda Motor Co., Ltd. Vehicle control device
CN106354149B (zh) * 2016-10-28 2019-12-13 易瓦特科技股份公司 一种无人机飞行控制方法和装置
CN106354150A (zh) * 2016-10-28 2017-01-25 易瓦特科技股份公司 一种无人机飞行控制方法和装置
KR102601463B1 (ko) * 2016-10-28 2023-11-14 삼성전자주식회사 로봇 청소기 및 그 구동 방법
CN106354148B (zh) * 2016-10-28 2019-11-19 易瓦特科技股份公司 一种无人机飞行控制方法和装置
DE102016120763B4 (de) * 2016-10-31 2019-03-14 Pilz Gmbh & Co. Kg Verfahren zur kollisionsfreien Bewegungsplanung
JP6609237B2 (ja) * 2016-11-17 2019-11-20 株式会社デンソー 衝突判定装置、及び衝突判定方法
CN106515713A (zh) * 2016-11-18 2017-03-22 华南农业大学 一种汽车避障系统及其方法
US10488863B2 (en) * 2016-12-13 2019-11-26 Ford Global Technologies, Llc Autonomous vehicle post-fault operation
CN106598051B (zh) * 2016-12-13 2019-04-12 浙江嘉蓝海洋电子有限公司 一种基于动力矢量的航迹控制方法
CN108227731B (zh) * 2016-12-15 2020-08-07 比亚迪股份有限公司 无人机防碰撞方法和装置
RU2757549C2 (ru) * 2017-01-06 2021-10-18 Аурора Флайт Сайенсиз Корпорейшн Система и способ для предупреждения столкновений беспилотного летательного аппарата
CN110192122B (zh) * 2017-01-24 2023-11-14 深圳市大疆创新科技有限公司 用于无人可移动平台上的雷达控制的系统和方法
JP2018135068A (ja) * 2017-02-23 2018-08-30 パナソニックＩｐマネジメント株式会社 情報処理システム、情報処理方法及びプログラム
CN107085438B (zh) * 2017-04-28 2020-02-07 中国船舶重工集团公司第七0九研究所 基于准均匀样条曲线的无人机路径修正方法及系统
CN107139666B (zh) * 2017-05-19 2019-04-26 四川宝天智控系统有限公司 越障识别系统及方法
JP6521486B2 (ja) * 2017-06-06 2019-05-29 マツダ株式会社 車両制御装置
KR20180134230A (ko) * 2017-06-08 2018-12-18 삼성전자주식회사 청소 로봇 및 그 제어 방법
US10816970B2 (en) 2017-06-15 2020-10-27 Aurora Flight Sciences Corporation System and method for performing an emergency descent and landing
CN107102643B (zh) * 2017-06-19 2020-01-31 江西洪都航空工业集团有限责任公司 一种大型智能割草机器人p-d型路径规划方法
JP6696939B2 (ja) * 2017-07-04 2020-05-20 トヨタ自動車株式会社 周辺画像表示制御装置
US10453351B2 (en) * 2017-07-17 2019-10-22 Aurora Flight Sciences Corporation System and method for detecting obstacles in aerial systems
US10509415B2 (en) 2017-07-27 2019-12-17 Aurora Flight Sciences Corporation Aircrew automation system and method with integrated imaging and force sensing modalities
WO2019070839A1 (en) * 2017-10-05 2019-04-11 California Institute Of Technology SIMULTANEOUS REPRESENTATION OF MOBILE AND STATIC OBSTACLES FOR AUTOMATICALLY CONTROLLED VEHICLES
WO2019119222A1 (zh) * 2017-12-18 2019-06-27 深圳市大疆创新科技有限公司 障碍物信息提示方法、系统、设备、装置及记录介质
US10606269B2 (en) 2017-12-19 2020-03-31 X Development Llc Semantic obstacle recognition for path planning
CN111868802A (zh) * 2018-01-29 2020-10-30 交互数字专利控股公司 用于无人驾驶航空系统业务管理(utm)系统应用的移动边缘计算(mec)部署的方法
CN108388263A (zh) * 2018-03-01 2018-08-10 中国航空无线电电子研究所 圆形航线自动飞行系统
DE102018104987A1 (de) * 2018-03-05 2019-09-05 Jungheinrich Ag System zur Kollisionsvermeidung und Verfahren zur Kollisionsvermeidung
KR102553730B1 (ko) * 2018-03-08 2023-07-11 주식회사 에이치엘클레무브 차량의 충돌 회피 제어 장치 및 방법
CN110346814B (zh) * 2018-04-08 2023-04-28 浙江国自机器人技术有限公司 一种基于3d激光的障碍物检测及避障控制方法和系统
EP3553559B1 (de) * 2018-04-11 2022-06-01 Aptiv Technologies Limited Verfahren zur erkennung von objekten
US10850397B2 (en) 2018-04-19 2020-12-01 Aurora Flight Sciences Corporation System and method for providing in-cockpit actuation of aircraft controls
US10875662B2 (en) 2018-04-19 2020-12-29 Aurora Flight Sciences Corporation Method of robot manipulation in a vibration environment
DE102018211240A1 (de) * 2018-07-07 2020-01-09 Robert Bosch Gmbh Verfahren zum Klassifizieren einer Relevanz eines Objekts
CN109100680B (zh) * 2018-08-02 2022-02-15 哈尔滨工程大学 一种相切双弧线型的九元地声传感器阵列定位方法
CN108986555B (zh) * 2018-08-16 2020-06-26 中国科学院空间应用工程与技术中心 一种飞行防碰撞感知方法、系统、存储介质及设备
WO2020040773A1 (en) * 2018-08-23 2020-02-27 Siemens Energy, Inc. Drone waypoint navigation system
CN109298708B (zh) * 2018-08-31 2021-08-17 中船重工鹏力（南京）大气海洋信息系统有限公司 一种融合雷达与光电信息的无人艇自主避障方法
US10937328B2 (en) * 2018-10-04 2021-03-02 The Boeing Company Aircraft flight information system and method
US11037453B2 (en) 2018-10-12 2021-06-15 Aurora Flight Sciences Corporation Adaptive sense and avoid system
CN109164812B (zh) * 2018-10-23 2020-04-07 西南交通大学 一种未知环境下移动机器人多行为融合酶数值膜控制方法
CN111326023B (zh) * 2018-12-13 2022-03-29 丰翼科技(深圳)有限公司 一种无人机航线预警方法、装置、设备及存储介质
CN109407705A (zh) * 2018-12-14 2019-03-01 厦门理工学院 一种无人机躲避障碍物的方法、装置、设备和存储介质
CN109765922A (zh) * 2019-03-07 2019-05-17 安徽省川佰科技有限公司 一种无人机飞行轨迹辅助调整方法
FR3094081B1 (fr) * 2019-03-19 2021-02-26 Safran Procédé d’estimation passive du temps avant collision pour un aéronef ou de tout objet volant pouvant être guidé, procédé de navigation associé
US20200334996A1 (en) * 2019-04-18 2020-10-22 The Boeing Company System and Method for Handling Terrain in Detect and Avoid
CN110543179B (zh) * 2019-08-21 2020-08-18 中国科学院声学研究所 一种基于三维稀疏阵列声源方位识别的水面目标躲避方法
CN110906934B (zh) * 2019-11-29 2022-04-15 华中科技大学 一种基于碰撞危险系数的无人艇避障方法和系统
CN110979320B (zh) * 2019-12-02 2021-03-23 坤泰车辆系统（常州）有限公司 具有不规则行径的行人紧急避让控制方法
US11402214B2 (en) 2019-12-10 2022-08-02 Here Global B.V. Method and apparatus for providing aerial route calculation in a three-dimensional space
DE102019220494A1 (de) * 2019-12-20 2021-06-24 Mtu Friedrichshafen Gmbh Steuereinrichtung zur Steuerung eines Wasserfahrzeugs, Wasserfahrzeug mit einer solchen Steuereinrichtung, und Verfahren zum Steuern eines Wasserfahrzeugs
CN113126640B (zh) * 2019-12-31 2022-06-28 北京三快在线科技有限公司 用于无人机的障碍物探测方法、装置、无人机和存储介质
CN111310302B (zh) * 2020-01-16 2022-06-17 中国信息通信研究院 一种测试场景生成方法和装置
WO2021142799A1 (zh) * 2020-01-17 2021-07-22 华为技术有限公司 路径选择方法和路径选择装置
EP3872529A1 (de) * 2020-02-28 2021-09-01 STMicroelectronics (Grenoble 2) SAS Geschwindigkeitsmessungen
CN111309050B (zh) * 2020-03-04 2023-07-04 桂林航天工业学院 一种无人机目标识别定位方法
CN111703421A (zh) * 2020-05-13 2020-09-25 重庆长安汽车股份有限公司 车辆自动驾驶脱困的轨迹规划系统、方法及存储介质
CN111626169B (zh) * 2020-05-20 2023-04-18 中铁二院工程集团有限责任公司 一种基于图像的铁路危险落石尺寸判断方法
CN111928853B (zh) * 2020-07-30 2023-06-02 西南电子技术研究所（中国电子科技集团公司第十研究所） 复杂环境下空基平台快速航路规划方法
CN112015178B (zh) * 2020-08-20 2022-10-21 中国第一汽车股份有限公司 一种控制方法、装置、设备及存储介质
CN114485627B (zh) * 2020-10-23 2023-10-31 广东博智林机器人有限公司 一种有轨小车的导航方法、装置、有轨小车及存储介质
CN113160427A (zh) * 2021-04-13 2021-07-23 北京三快在线科技有限公司 虚拟场景的创建方法、装置、设备及存储介质
CN115230729A (zh) * 2021-04-25 2022-10-25 广州汽车集团股份有限公司 一种自动驾驶避障方法及系统、存储介质
CN113378628B (zh) * 2021-04-27 2023-04-14 阿里云计算有限公司 一种道路障碍物区域检测方法
CN115346400A (zh) * 2021-05-13 2022-11-15 波音公司 具有完整性监测的自适应检测和规避系统
CN113253740A (zh) * 2021-06-28 2021-08-13 天津海翼科技有限公司 水下机器人的应急方法及电子设备
CN113296541B (zh) * 2021-07-27 2021-11-30 北京三快在线科技有限公司 一种基于未来碰撞风险的无人设备控制方法及装置
CN113635905B (zh) * 2021-08-24 2023-04-18 桂林航天工业学院 一种面向驾驶行为保险的风险实时提示系统及装置
CN113885554B (zh) * 2021-09-13 2023-07-25 汕头大学 一种无人机集群的分布式围捕控制方法及系统
CN114115240B (zh) * 2021-11-04 2024-02-27 北京三快在线科技有限公司 一种无人设备的控制方法及装置
CN114419929B (zh) * 2022-03-04 2022-12-27 季华实验室 一种碰撞风险评估方法、装置、电子设备及存储介质
CN115185280B (zh) * 2022-07-27 2023-02-24 柳州城市职业学院 一种基于路径规划自主导航的无人驾驶船控制系统及方法
CN115903853B (zh) * 2023-01-06 2023-05-30 北京理工大学 一种基于有效障碍物的安全可行域生成方法及系统
CN116395567B (zh) * 2023-02-27 2023-10-20 腾晖科技建筑智能(深圳)有限公司 一种基于相机和激光雷达的塔吊控制方法及系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6097996A (en) * 1996-06-07 2000-08-01 Sextant Avionique Method for the lateral avoidance of a mobile zone by a vehicle
US6173219B1 (en) * 1996-06-07 2001-01-09 Sextant Avionique Method for automatically controlling a vehicle for the lateral avoidance of a fixed zone
WO2001046766A1 (en) * 1999-12-21 2001-06-28 Lockheed Martin Corporation Spatial avoidance method and apparatus
US6424889B1 (en) * 1999-02-12 2002-07-23 Thomson-Csf Sextant Method for generating a horizontal path avoiding dangerous zones for an aircraft
US20020152029A1 (en) * 2000-06-09 2002-10-17 Gerard Sainthuile Method for working out an avoidance path in the horizontal plane for an aircraft to resolve a traffic conflict
FR2893146A1 (fr) * 2005-11-10 2007-05-11 Thales Sa Systeme d'evitement de terrain pour aeronefs de transport
WO2009040064A1 (de) * 2007-09-20 2009-04-02 Michael Naderhirn Verfahren zur automatischen vermeidung von kollisionen eines fahrzeuges mit weiteren objekten

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5461357A (en) * 1992-01-29 1995-10-24 Mazda Motor Corporation Obstacle detection device for vehicle
US6133867A (en) * 1998-01-02 2000-10-17 Eberwine; David Brent Integrated air traffic management and collision avoidance system
US6408248B1 (en) * 2000-07-11 2002-06-18 Northrop Grumman Corporation Apparatus and method for providing accurate boundaries of predicted areas of danger for collision avoidance
DE10036276A1 (de) * 2000-07-26 2002-02-07 Daimler Chrysler Ag Automatisches Brems- und Lenksystem für ein Fahrzeug
US7818127B1 (en) * 2004-06-18 2010-10-19 Geneva Aerospace, Inc. Collision avoidance for vehicle control systems
DE102006047131A1 (de) * 2006-10-05 2008-04-10 Robert Bosch Gmbh Verfahren zum automatischen Steuern eines Fahrzeugs

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6097996A (en) * 1996-06-07 2000-08-01 Sextant Avionique Method for the lateral avoidance of a mobile zone by a vehicle
US6173219B1 (en) * 1996-06-07 2001-01-09 Sextant Avionique Method for automatically controlling a vehicle for the lateral avoidance of a fixed zone
US6424889B1 (en) * 1999-02-12 2002-07-23 Thomson-Csf Sextant Method for generating a horizontal path avoiding dangerous zones for an aircraft
WO2001046766A1 (en) * 1999-12-21 2001-06-28 Lockheed Martin Corporation Spatial avoidance method and apparatus
US20020152029A1 (en) * 2000-06-09 2002-10-17 Gerard Sainthuile Method for working out an avoidance path in the horizontal plane for an aircraft to resolve a traffic conflict
FR2893146A1 (fr) * 2005-11-10 2007-05-11 Thales Sa Systeme d'evitement de terrain pour aeronefs de transport
WO2009040064A1 (de) * 2007-09-20 2009-04-02 Michael Naderhirn Verfahren zur automatischen vermeidung von kollisionen eines fahrzeuges mit weiteren objekten

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108974275A (zh) * 2017-05-31 2018-12-11 贺州思通信息技术有限公司 一种海上船舶防撞系统

Also Published As

Publication number Publication date
AT507035A1 (de) 2010-01-15
WO2010007115A2 (de) 2010-01-21
US8825266B2 (en) 2014-09-02
GB2475197A (en) 2011-05-11
WO2010007115A8 (de) 2010-08-19
AT507035B1 (de) 2020-07-15
GB201102656D0 (en) 2011-03-30
CN102160006B (zh) 2014-08-27
GB2475197B (en) 2013-02-20
CN102160006A (zh) 2011-08-17
US20110160950A1 (en) 2011-06-30
DE112009001692A5 (de) 2011-06-09

Similar Documents

Publication Publication Date Title
WO2010007115A8 (de) System und verfahren zur kollisionsvermeidung
CN103895644B (zh) 用于为车辆提供防碰撞控制功能的装置及方法
WO2018158248A3 (de) Verfahren zur steuerung eines autonomen, mobilen roboters
KR102263731B1 (ko) 주변차량의 위치정보 보정 시스템 및 방법
JP5083075B2 (ja) 衝突防止装置
US9297892B2 (en) Method of operating a radar system to reduce nuisance alerts caused by false stationary targets
JP5953716B2 (ja) 車両用制御装置、特定物体判別装置、特定物体判別方法、特定物体判別プログラム
WO2017123301A3 (en) Negative obstacle detector
WO2021096935A3 (en) Systems and methods for determining road safety
US9613280B2 (en) System and method for front detecting of vehicle
US20170046958A1 (en) Obstacle-Information-Managing Device
WO2019129312A3 (zh) 车辆避障方法、装置和车辆
WO2007067898A3 (en) Distance correction for damage prevention system
US8847792B2 (en) Object detection apparatus and object detection program
CA2796986A1 (en) Method and apparatus for mining vehicle safety arrangements
US9404363B2 (en) Proximity detection systems and methods
KR102183224B1 (ko) 차량 레이더 오차 보정 시스템 및 그 방법
US20140371972A1 (en) Method for carrying out a parking process for a vehicle and driver assistance device
US20190061750A1 (en) Collision mitigation control device
JP2013156147A (ja) 周辺物体検知装置
JP6084779B2 (ja) Ｇｐｓ情報を用いた相手車両位置把握方法
JP6658674B2 (ja) 運転支援システム
EP3689714A1 (de) Objekthöhenbestimmung für automatisiertes fahrzeuglenkungssteuerungssystem
GB201210293D0 (en) Driver assistance system comprising object detection
KR101490905B1 (ko) 차량의 자율 주행 시스템 및 그 방법

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980135928.8

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09780674

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 1102656

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20090715

WWE Wipo information: entry into national phase

Ref document number: 1102656.4

Country of ref document: GB

WWE Wipo information: entry into national phase

Ref document number: 12737439

Country of ref document: US

REF Corresponds to

Ref document number: 112009001692

Country of ref document: DE

Date of ref document: 20110609

Kind code of ref document: P

REG Reference to national code

Ref country code: DE

Ref legal event code: R225

Ref document number: 112009001692

Country of ref document: DE

Effective date: 20110609

122 Ep: pct application non-entry in european phase

Ref document number: 09780674

Country of ref document: EP

Kind code of ref document: A2