WO2014049399A1 - Détermination d'un itinéraire - Google Patents

Détermination d'un itinéraire Download PDF

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Publication number
WO2014049399A1
WO2014049399A1 PCT/IB2012/055201 IB2012055201W WO2014049399A1 WO 2014049399 A1 WO2014049399 A1 WO 2014049399A1 IB 2012055201 W IB2012055201 W IB 2012055201W WO 2014049399 A1 WO2014049399 A1 WO 2014049399A1
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WO
WIPO (PCT)
Prior art keywords
route
turnings
angle
turn angle
determining
Prior art date
Application number
PCT/IB2012/055201
Other languages
English (en)
Inventor
Morten Just Petersen
Original Assignee
Google 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 Google Inc filed Critical Google Inc
Priority to PCT/IB2012/055201 priority Critical patent/WO2014049399A1/fr
Publication of WO2014049399A1 publication Critical patent/WO2014049399A1/fr

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means

Definitions

  • the invention relates to determining a route between two locations.
  • Embodiments of the invention described herein determine a route between two locations which is memorable and easy to follow.
  • a computer implemented method of determining a route between two locations comprises: identifying a plurality of turnings from one path to another as candidates for turnings in the route; performing a turn angle analysis of the plurality of turnings; and selecting one or more of said turnings for inclusion in the route based on said turn angle analysis.
  • Performing the turn angle analysis may comprise determining the size of an angle of each of said turnings
  • the method may comprise preferentially selecting turnings which have an angle size of less than a predetermined threshold.
  • Selecting said one or more turnings may comprise applying a preferability weighting to each of said turnings based on the size of its turn angle.
  • the method may comprise using said preferability weightings to select said one or more turnings for the route.
  • the preferability weighting of each turning may be determined by assessing whether or not the turning is of an angle which is at least a predetermined threshold size. Turnings of an angle less than the predetermined threshold size may be given a high preferability weighting and turnings of an angle more than the predetermined threshold size may be given a low preferability weighting.
  • the method may comprise generating a plurality of alternative routes and selecting one of said alternative routes as the preferred route based on said turn angle analysis.
  • the method may comprise summing the angle sizes of the turnings in each of said alternative routes to produce a plurality of total turn angle figures, each total turn angle figure corresponding to a different one of said alternative routes; and selecting the preferred route based on the total turn angle of each alternative.
  • the method may comprise determining the number of turnings in each of said alternative routes and selecting the preferred route based on the number of turnings in each alternative.
  • the method may comprise summing the angle sizes of the turnings in each of said alternative routes to produce a plurality of total turn angle figures, each total turn angle figure corresponding to a different one of said alternative routes; determining the total number of turnings in each of said alternative routes; determining the product of the total number of turnings and total turn angle for each of said alternative routes; and selecting the route which has the lowest value of said product.
  • the method may comprise determining the route in response to receiving a request for the route.
  • the method may comprise providing the route to a user via an electronic user interface.
  • Providing the route to the user may comprise displaying the route on a map in a display screen of an electronic device.
  • the method may comprise transmitting the route to an electronic device for display to a user.
  • a route provider apparatus for determining a route between two locations is configured to cause a plurality of turnings from one path to another to be identified as candidates for turnings in the route; cause a turn angle analysis of the plurality of turnings to be performed; and cause one or more of said turnings to be selected for inclusion in the route based on said turn angle analysis.
  • the turn angle analysis may comprise determining the size of an angle of each of said turnings.
  • the apparatus may be configured to cause the route to be provided to a user.
  • a system for requesting and providing a memorable route to a user comprises: a requester device configured to request a memorable route from a route provider apparatus; and a route provider apparatus configured to determine memorable routes in response to receiving the route request and to cause the memorable route to be provided to the user.
  • the route provider apparatus may be configured to provide the memorable route to the route requester device for display to a user.
  • Figure 1 is a schematic diagram of an electronic route provider apparatus for providing a memorable route
  • figure 2 is an illustration of an electronic device, which may comprise the route provider apparatus or a route requester apparatus;
  • figure 3 is a schematic diagram of a system for requesting, determining and providing a memorable route, comprising a route provider apparatus and a route requester apparatus;
  • figure 4 is a schematic diagram of an electronic route requester apparatus for requesting a memorable route and displaying the route;
  • figure 5 is a flow diagram of a method of determining a memorable route between two locations;
  • figure 6 illustrates determining the size of a turning angle between two intersecting paths in a turn angle analysis
  • figure 7 is a flow diagram of a method of selecting turnings for a memorable route based on a turn angle analysis and threshold comparison
  • figure 8 illustrates two possible routes between the same start and finish locations and determination of the more memorable route based on low-preferability weightings applied to turnings of more than a threshold angle
  • figure 9 is a flow diagram of a method of selecting turnings for a memorable route based on a turn angle analysis and a cumulative angle summing operation for different candidate routes;
  • figure 10 illustrates two possible routes between the same start and finish locations and determination of the more memorable route based on low-preferability weightings applied to routes in proportion to the size of their cumulative turning angle.
  • a turn angle analysis is carried out for a plurality of candidate turnings in order to select turnings which are to be included in a memorable route between defined start and finish locations.
  • the turn angle analysis comprises determining the angle size of each candidate turning so that the turn angles can be taken into account when selecting turnings for the route.
  • the turn angle analysis may also comprise determining the number of turnings comprised in each of a plurality of candidate routes so that the number of required turnings can be taken into account when selecting the most memorable route and the turnings which are to be included.
  • Turnings which have a relatively small turn angle make the route easier to follow and more memorable than turnings with a relatively large turn angle, whilst a route with a large number of turnings of a given angle size is less memorable and more difficult to follow than a route with a smaller number of turnings of the same given angle size.
  • the route which is determined as most preferable may be one which can be followed from the start location to the finish location without having to make a large number of large angle turnings, otherwise referred to as sharp turnings. Avoiding the need to make a large number of sharp turnings makes the route more memorable and easier to follow.
  • Figure l is a schematic diagram of a route provider l for providing a memorable route to a user.
  • the route provider l is configured to provide the route in response to receiving a route request.
  • the route provider l comprises an electronic apparatus which is configured to provide the route.
  • the provider l may, for example, comprise one or more electronic devices as discussed in more detail below.
  • the route provider ⁇ is configured to provide the route in response to receiving a route request, which specifies start and finish locations for the route.
  • the route request can, for example, be received directly from a user via a user interface of the route provider ⁇ or can be received from an external route requester apparatus 2 via a communication link 3 between the route requester 2 and the route provider 1.
  • the route provider 1 is configured to provide the route in any suitable manner.
  • the route provider 1 may be configured to cause the route to be provided to a user in visual form, such as by causing the route to be displayed on a display screen of an electronic user interface.
  • the route provider 1 may additionally or alternatively cause the route to be provided to the user in audible form, for example as a set of spoken instructions output from a loudspeaker.
  • the route provider 1 is configured to determine the route in response to receiving the aforementioned route request. Determining the route comprises identifying a plurality of candidate turnings for a route between the start and finish locations and performing the turn angle analysis operation with respect to the identified turnings.
  • the turn angle analysis operation comprises identifying the angle size of each candidate turning and allowing the angle sizes to be used to determine a sequence of turnings which form the most memorable route between the start and finish locations defined in the route request.
  • the route provider 1 may be configured to cause the determined route to be stored for later use.
  • the route provider 1 may be configured to cache the memorable route in a computer memory of the route provider 1 or in a memory of an external device accessible to the route provider l by a communication link 3. Storing the route in this manner allows the route provider 1 to respond to an identical future route request by retrieving the route from the memory and causing it to be provided to the requesting user without repeating the turn angle analysis and route determination carried out previously in response to the initial route request.
  • the electronic route provider 1 comprises one or more controllers 4, each of which includes a processor 5, or a plurality of processors 5, which are configured to operate under the control of computer readable code.
  • the computer readable code is optionally stored on one or more memory mediums 6, such as ROM or RAM, of the route provider 1.
  • the route provider 1 is configured to implement a method of determining the memorable route using the one or more processors 5 operating under the control of the computer-readable code.
  • a power supply 7 is configured to supply power to the components of the route provider 1.
  • the power supply 7 may be configured to electrically couple to a mains power supply, either for re-charging a re-chargeable energy source 7 such as a suitable rechargeable battery or in order to supply the mains power substantially directly to components of the route provider 1.
  • the route provider 1 also comprises a communication apparatus 8 for receiving and sending data, including route requests and memorable routes determined in response to receipt of route requests.
  • the communication apparatus 8 may, for example, comprise an electronic signal input/output, such as one or more suitable ports and/or one or more antennas, and transceiver circuitry for sending and receiving the data to and from other devices, such as the route requester 2 referred to previously, over the communication link 3.
  • the route provider 1 comprises a user-operable device 1 which is configured to receive inputs directly from a user via input transducers 9 in a user interface of the device 1.
  • a user device 1 is a mobile (e.g. cellular) telephone terminal such as a smartphone, as illustrated in figure 2.
  • PDAs personal digital assistants
  • Such devices 1 include tablet computers, laptop computers, personal digital assistants (PDAs), positioning devices, such as GPS modules, and gaming consoles.
  • the user device 1 shown in figure 2 is portable, the device ⁇ may alternatively be a non-portable device such as a desktop computer.
  • the user-operable route provider ⁇ further comprises a display panel 10, the output of which is controlled by the controller(s) 4, and/or one or more non-visual output transducers 11 for providing non-visual feedback to a user of the route provider 1.
  • the route provider 1 may also comprise a GPS module for determining the geographical location of the route provider 1 using the Global Positioning System, for example as part of the communication apparatus 8 already described.
  • User inputs received via the input transducers 9 may comprise memorable route requests, receipt of which may cause the provider device 1 to determine memorable routes and to provide them to a user of the device 1.
  • An example of such an input transducer 9 is a touch sensitive input transducer 9 in the display screen 10.
  • the touch sensitive input transducer 9 may comprise a touch-sensitive panel 9 overlaid on, or integrated into, the display screen 10 which is configured to supply signals indicative of tactile inputs incident on the screen 10 to the controller 4.
  • the touch sensitive input transducer 9 is configured to generate and supply the signals to the controller 4 in response to detecting a tactile input at the screen 10.
  • input transducers 9 which the provider device 1 may comprise in addition or as an alternative to the touch sensitive transducer 9, are one or more microphones, front or rear-facing cameras and depressible keys. As with the touch sensitive transducer 9, these input transducers 9 are configured to receive user inputs and supply signals indicative of the inputs to the controller 4, thereby allowing a user to input a route request directly to the provider 1 via its user interface.
  • FIG. 3 illustrates an example of a system for requesting, determining and providing a memorable route between two locations to a user.
  • the system comprises a route provider 1 and a route requester 2, which are configured to communicate over a communication link 3.
  • the route provider l comprises one or more routing servers l and the route requester 2 comprises an electronic user-operable device 2.
  • An example user device 2 is a mobile (e.g. cellular) telephone terminal such as a smartphone as illustrated in figure 2, although alternative user devices 2 are equally possible.
  • Such devices 2 include tablet computers, laptop computers, personal digital assistants (PDAs), positioning devices, such as GPS modules, and gaming consoles.
  • the device 2 may be either a portable device or a non-portable device such as a desktop computer.
  • the communication link 3 over which the provider 1 and requester 2 communicate may be the Internet, although alternative communication links 3, for example comprising a cellular telephone network and/or direct device-to-device communication links such as those which employ Near Field Communication (NFC) or Bluetooth, are equally possible. Communication between the requester 2 and the provider 1 includes transmission of the aforementioned memorable route requests and the determined memorable routes.
  • NFC Near Field Communication
  • the route requester 2 may be configured to request memorable routes from the route provider 1 in response to a user input.
  • the requester device 2 may cause a route request to be created and transmitted to the route provider 1 in response to receiving information through one or more inputs of a user interface of the requester device 2.
  • the information may comprise an input command indicating that the user of the device 2 wishes to be provided with a memorable route.
  • the requester device 2 is configured to generate the route request, which comprises details of the desired start and finish locations and may also comprise an indication that the request is for a memorable route rather than, for example, a fastest route or a shortest route, and send the request to the route provider 1.
  • the electronic route requester device 2 comprises a controller 12, which is configured to control the output of a display panel 13 in a user interface of the device 2.
  • the controller 12 includes a processor 14, or a plurality of processors 14, which are configured to operate under the control of computer readable code optionally stored on a memory medium 15 such as ROM or RAM.
  • the controller 12 may be configured to control the output of one or more non-visual output transducers 16, such as loudspeakers and vibration modules, for providing non-visual feedback to a user of the device 2.
  • the requester device 2 also comprises a power supply 17, such as a re-chargeable battery or a fuel cell, to supply power to the device's components.
  • a communication apparatus 18 is configured to send and receive data to and from the route provider 1, including route requests created in the requester device 2 and routes determined at the route provider 1 in response to the requests.
  • the communication apparatus 18 comprises one or more antennas and transceiver circuitry for sending and receiving the data over the communication link 3 and may also comprise a GPS module for determining the geographical location of the requester device 2 using the Global Positioning System.
  • the requester device 2 is configured to receive inputs via input transducers 19 of the device 2.
  • An example of such an input transducer 19 is a touch sensitive input transducer 19 in the display screen 13.
  • the touch sensitive input transducer 19 may comprise a touch-sensitive panel 19 overlaid on, or integrated into, the display screen 13 which is configured to supply signals indicative of tactile inputs incident on the screen 13 to the controller 12.
  • the touch sensitive input transducer 19 is configured to generate and supply the signals to the controller 12 in response to detecting a tactile input at the screen 13.
  • Other examples of input transducers 19, which the requester device 2 may comprise in addition or as an alternative to the touch sensitive transducer 19, are one or more microphones, front or rear-facing cameras and depressible keys. As with the touch sensitive transducer 19, these input transducers 19 are configured to receive user inputs and supply signals indicative of the inputs to the controller 12.
  • a request for a memorable route is initiated by a user.
  • this may comprise the user inputting an instruction directly to the route provider 1 or may comprise the user inputting an instruction to a separate route requester device 2.
  • the instruction may be input via a user interface, for example by selecting an option displayed in a touch-sensitive display panel 10, 13.
  • a second step S2 of the process comprises responding to receipt of the memorable route request by initiating the determination of a memorable route. This comprises identifying a plurality of turnings between the start and finish locations as candidates for inclusion in the route.
  • a turning is a location in a route which requires a follower of the route to leave one path and enter another.
  • An example of such a location is a turning from one road or street into another, although transitions between other types of paths, including transitions between different types of paths, are equally possible. Examples of other types of paths include cycling, walking or skiing trails, foot paths, including side walks, and other types of off-road tracks such as those intended for use by off-road motor vehicles.
  • the turnings are identified from map data, which may be stored in the memory 6 of the route provider l.
  • the map data includes path data, which describes the network of paths located in the geographical vicinities of the start and finish locations and the geographical region therebetween. Intersections between the individual paths represent turnings and thus candidates for the route.
  • a third step S3 of the process comprises performing a turn angle analysis with respect to the plurality of turnings identified as candidates for the route.
  • the turn angle analysis comprises determining the size of the angle through which a follower of the route would be required to turn at each identified candidate turning. An example is illustrated in figure 6.
  • the sizes of the turn angles are determined from the map data referred to above and, in particular, from the path data comprised within it.
  • a fourth step S4 of the process selects one or more turnings from the plurality of identified candidate turnings for inclusion in the route.
  • the turnings are selected based on the angle sizes determined in the turn angle analysis.
  • the process may comprise using the angle size of each candidate turning to determine a preferability weighting for each candidate turning.
  • the preferability weightings indicate how sharp and therefore how memorable, or easy to navigate, each candidate turning is and may be used to select the sequence of turnings which is to form the memorable route.
  • the turn angle sizes of the candidate turnings may be used in a graph search or tree search algorithm which is run at the route provider 1 in order to determine the memorable route so that the route is selected based on the angle sizes of its turnings.
  • the graph or tree search algorithm may also take into account other factors such as the overall distance of the route, as known by the skilled person in the art and discussed below.
  • a first example of the turning selection step S4 is illustrated in figure 7. Referring to figure 7, a first stage S4A1 of the turning selection step may comprise determining whether the size of the angle of each candidate turning exceeds a predetermined threshold size.
  • the predetermined threshold size may, for example, be stored in the memory 6 of the route provider 1 and may be adjustable based on user inputs received at a user interface of the route provider 1 or based on data received over the communication link 3 from an external device such as the route requester 2.
  • the threshold angle size may, for example, be specified in a route request received at the route provider 1. An example is a value between io° and 30 0 , such as 15 0 , 20 0 or 25 0 .
  • a preferability weighting is applied to each candidate turning based on the size of its turn angle. For example, if a determination of whether or not the candidate turning exceeds a threshold angle size has been made as an initial step S4A1, the preferability weighting which is applied to each candidate turning may be selected based on whether or not the turning's angle size exceeds the preset threshold size. If a determination with regard to threshold angle size has not been made, for example because the initial step S4A1 was not performed, the preferability weighting which is applied to each turning may be selected so as to be in proportion with the turning's angle size.
  • a scale may be used which matches preferability weighting with turning angle size, the former becoming greater as the latter becomes smaller. For example, the relationship between preferability weighting and angle size may be inversely proportional and may be linear.
  • the preferability weightings of the turnings are used to penalize sharp-angle turnings and sequences of turnings which comprise such sharp-angle turnings.
  • the size of the penalty applied to a particular sequence of turnings may, for example, be proportional to the number of turnings in the sequence which exceed the threshold angle size referred to previously.
  • the size of the penalty proportionally reduces the preferability of the sequence for selection as the memorable route. Therefore, the more sharp turnings a particular sequence of turnings contains, the more the sequence is penalized and the less likely it is to be determined as the memorable route.
  • the relationship between number of sharp turnings and penalty size may be directly proportional.
  • the turn angle-based penalties are used to determine which sequence of turnings is most preferable for a memorable route.
  • the turn angle-based penalties may, for example, be used in combination with other factors, such as the distances between the turnings and/or the overall distance, to determine the sequence of turnings for the memorable route. This may comprise summing the turn angle-based penalties with distance-based penalties for a plurality of sequences of turnings.
  • the memorable route may be selected as the sequence of turnings which has the fewest penalties.
  • FIG 8 An example is illustrated in figure 8, in which a network of paths is available between a start location and a finish location defined in a route request.
  • the path network which is comprised in the aforementioned map data, offers a plurality of possible routes between the start and finish locations.
  • Two possible sequences of turnings are marked in figure 8 as routes A and B. It can be seen from figure 8 that, although route B is shorter in distance than route A, route A has fewer sharp turnings resulting in it having fewer overall penalties.
  • a first stage S4B1 of the process comprises examining the network of paths between the start and finish locations, as described in the map data, to identify a plurality of candidate sequences of turnings between the start and finish locations defined in the route request.
  • a candidate route C which comprises a sequence of five turnings with angles of 15 °, 48 °, 90 °, 90 0 and 40 0 respectively is determined to have a cumulative turn angle of 283 0 (15+48+90+40+90).
  • the angle size of each turning represents its preferability weighting. As discussed previously, a lower angle size is more preferable for the memorable route than a larger angle size. Therefore, lower cumulative turn angles are more preferable than higher cumulative turn angles.
  • the cumulative turn angles of the identified candidate routes are used to determine a preferability weighting for each route, or sequence of turnings.
  • the preferability weighting for a particular sequence of turnings may be determined as being inversely proportional to its cumulative turn angle.
  • the relationship between preferability weighting and cumulative turn angle may be directly inversely proportional and thus represented by a linear scale.
  • the determination of which candidate route is most memorable may also take into account the number of turnings included in each route. For example, referring to figure 10, the cumulative turn angle of a particular sequence (e.g.
  • the second route D comprises two turnings of 100° and 90°
  • the turning selection process may be configured to use the route preferability weightings to penalize candidate routes in a manner which is proportional to their number of turnings and cumulative turn angle, thereby proportionally reducing the likelihood of the routes being selected as the memorable route.
  • the penalty scores are used to determine which candidate route is to be selected as the memorable route.
  • the turn-based penalties may, for example, be used in combination with other factors, such as the distances between the turnings and/ or the overall distances, to determine the sequence of turnings for the memorable route. This may comprise summing the turn-based penalties with distance-based penalties.
  • the memorable route may be selected as the sequence of turnings which has the fewest penalties. It can be seen from figure 10 that, although route C is shorter in distance than route D, route D has a significantly fewer turnings and a smaller cumulative turn angle, both of which contribute to a lower turn-related penalty score than route C.
  • the route provider 1 is configured to cause the route to be provided to the user in a plurality of different ways.
  • the route provider 1 may be configured to provide the route via its user interface by displaying the route on its display screen 10 or by audibly outputting the route through an output transducer 11.
  • the provider 1 may alternatively cause the route to be provided to the user via a different electronic device, such as the requester device 2 discussed above or an alternative electronic device designated in the route request.
  • the provider 1 is configured to send the route to the different electronic device 2, 20 using the communication link 3 referred to previously.
  • the route may be sent in response to it being determined, or in response to a separate subsequent request.
  • the steps and operations described above can be performed or caused to be performed entirely by the controller(s) 4 of the route provider 1, using the memory 6, by implementing computer implementable instructions stored in the memory 6.
  • one or more of the steps may alternatively be performed at the requester device 2, in particular the generation of the memorable route request and the display or other communication of the determined route to a user.
  • Certain aspects of the invention include process steps and instructions described herein in the form of an algorithm. It should be understood that the process steps, instructions, of the invention as described and claimed, are executed by computer hardware operating under program control, and not mental steps performed by a human. Similarly, all of the types of data described and claimed are stored in a computer readable storage medium operated by a computer system, and are not simply disembodied abstract ideas.
  • the invention also relates to an apparatus for performing the operations herein.
  • This apparatus may be specially constructed for the required purposes, or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored on a computer readable medium that can be executed by the computer.
  • a computer program is stored in a computer readable storage medium, such as, but not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, magnetic- optical disks, read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, application specific integrated circuits (ASICs), or any type of media suitable for storing electronic instructions, and each coupled to a computer system bus.
  • the computers referred to in the specification may include a single processor or may be architectures employing multiple processor designs for increased computing capability.
  • the algorithms and operations presented herein can be executed by any type or brand of computer or other apparatus.
  • Various general-purpose systems may also be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will be apparent to those of skill in the art, along with equivalent variations.
  • the invention is not described with reference to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the invention as described herein.

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Abstract

L'invention concerne un procédé mis en œuvre par ordinateur de détermination d'un itinéraire préféré entre deux emplacements, lequel procédé mis en œuvre par ordinateur consiste à identifier une pluralité de virages d'un trajet à un autre en tant que candidats pour des virages dans l'itinéraire préféré, à réaliser une analyse d'angle de virage de la pluralité de virages par détermination de la taille d'un angle de chacun desdits virages, et à sélectionner un ou plusieurs desdits virages pour une inclusion dans l'itinéraire préféré sur la base de ladite analyse d'angle de virage. L'invention concerne également un appareil et un système pour réaliser le procédé.
PCT/IB2012/055201 2012-09-28 2012-09-28 Détermination d'un itinéraire WO2014049399A1 (fr)

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PCT/IB2012/055201 WO2014049399A1 (fr) 2012-09-28 2012-09-28 Détermination d'un itinéraire

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PCT/IB2012/055201 WO2014049399A1 (fr) 2012-09-28 2012-09-28 Détermination d'un itinéraire

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WO2018034054A1 (fr) * 2016-08-19 2018-02-22 ソニー株式会社 Dispositif de présentation tactile, système de présentation tactile et procédé de présentation tactile
EP3330824A1 (fr) * 2016-12-02 2018-06-06 Percision Makers B.V. Procédé et système de robot de commande autonome d'un véhicule
US10197407B2 (en) 2016-12-02 2019-02-05 Precision Makers B.V. Method and robot system for autonomous control of a vehicle

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US6477515B1 (en) * 1999-08-11 2002-11-05 The United States Of America As Represented By The Secretary Of The Navy Efficient computation of least cost paths with hard constraints
US7890258B2 (en) * 2004-01-16 2011-02-15 Xanavi Informatics Corporation Route search method for navigation device

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US6477515B1 (en) * 1999-08-11 2002-11-05 The United States Of America As Represented By The Secretary Of The Navy Efficient computation of least cost paths with hard constraints
US7890258B2 (en) * 2004-01-16 2011-02-15 Xanavi Informatics Corporation Route search method for navigation device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018034054A1 (fr) * 2016-08-19 2018-02-22 ソニー株式会社 Dispositif de présentation tactile, système de présentation tactile et procédé de présentation tactile
US10739860B2 (en) 2016-08-19 2020-08-11 Sony Corporation Haptic-feedback presenting apparatus, haptic-feedback presenting system, and haptic-feedback presenting method
US11307662B2 (en) 2016-08-19 2022-04-19 Sony Corporation Haptic-feedback presenting apparatus, haptic-feedback presenting system, and haptic-feedback presenting method
EP3330824A1 (fr) * 2016-12-02 2018-06-06 Percision Makers B.V. Procédé et système de robot de commande autonome d'un véhicule
US10197407B2 (en) 2016-12-02 2019-02-05 Precision Makers B.V. Method and robot system for autonomous control of a vehicle

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