WO2016178294A1 - 自律走行車の誘導制御システム - Google Patents

自律走行車の誘導制御システム Download PDF

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Publication number
WO2016178294A1
WO2016178294A1 PCT/JP2015/084338 JP2015084338W WO2016178294A1 WO 2016178294 A1 WO2016178294 A1 WO 2016178294A1 JP 2015084338 W JP2015084338 W JP 2015084338W WO 2016178294 A1 WO2016178294 A1 WO 2016178294A1
Authority
WO
WIPO (PCT)
Prior art keywords
autonomous
control
traveling
vehicle
guidance
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2015/084338
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
松本　圭司
丹生　秀和
プラシャントクマー ビピンチャンドラ ボラ
リトラジュ シリバスト
マノジュ シャルマ
ソムヨ ダス
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KPIT Technologies Ltd
Yanmar Co Ltd
Original Assignee
KPIT Technologies Ltd
Yanmar Co Ltd
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 KPIT Technologies Ltd, Yanmar Co Ltd filed Critical KPIT Technologies Ltd
Priority to JP2017516546A priority Critical patent/JP6437640B2/ja
Publication of WO2016178294A1 publication Critical patent/WO2016178294A1/ja
Priority to US15/805,644 priority patent/US10761531B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05D1/0088—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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • 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
    • 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
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic

Definitions

  • the unmanned traveling vehicle or the autonomous robot traveling vehicle performs traveling control so as to function independently based on the static path data (including forward movement, turning, and backward movement) that is defined and designed in advance.
  • the static path data including forward movement, turning, and backward movement
  • the singular notation “a”, “one”, and “that” is intended to include a plurality of notations at the same time without any other notation.
  • descriptions such as “including”, “comprising”, “including”, “comprising” in the specification indicate the presence of features, finished forms, processes, operations, elements, and / or components. And does not exclude the presence or addition of one or more other features, completions, processes, operations, elements, components, and / or collections thereof.
  • an element is described as being “connected” or “coupled”, it may be directly connected or coupled to another element, and further elements may intervene.
  • the phrase “connected” or “coupled” includes what is operatively performed.
  • the phrase “and / or” is intended to include any and all combinations and arrangements of one or more associated members.
  • FIGS. 12 to 16 [5. Another embodiment regarding position correction of the GNSS antenna] will be described.
  • the present embodiment shows an example in which the GNSS antenna 50 is arranged at the center or rear part of the tractor 1 and relates to a configuration in which the GNSS antenna 50 is not arranged at the front part of the tractor 1.
  • FIG. 12 shows an example in which the GNSS antenna 50 is arranged at the front end of the cabin 5 of the tractor 1
  • FIG. 16 shows an example in which the GNSS antenna 50 is arranged on the roll bar 61 at the rear end of the tractor 60 having no cabin.
  • the GNSS antenna 50 is disposed at the front end of the cabin 5 of the tractor 1.
  • the GNSS antenna 50 By arranging the GNSS antenna 50 on the upper surface of the cabin 5, there is an effect that it is difficult to transmit the vibration of the tractor 1 to the GNSS antenna 50. Further, the reception sensitivity can be improved by arranging the GNSS antenna 50 at the highest position of the tractor 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
PCT/JP2015/084338 2015-05-07 2015-12-07 自律走行車の誘導制御システム Ceased WO2016178294A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017516546A JP6437640B2 (ja) 2015-05-07 2015-12-07 自律走行車の誘導制御システム
US15/805,644 US10761531B2 (en) 2015-05-07 2017-11-07 Guidance control system for autonomous-traveling vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN1824/MUM/2015 2015-05-07
IN1824MU2015 IN2015MU01824A (enExample) 2015-05-07 2015-12-07

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/805,644 Continuation US10761531B2 (en) 2015-05-07 2017-11-07 Guidance control system for autonomous-traveling vehicle

Publications (1)

Publication Number Publication Date
WO2016178294A1 true WO2016178294A1 (ja) 2016-11-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/084338 Ceased WO2016178294A1 (ja) 2015-05-07 2015-12-07 自律走行車の誘導制御システム

Country Status (4)

Country Link
US (1) US10761531B2 (enExample)
JP (2) JP6437640B2 (enExample)
IN (1) IN2015MU01824A (enExample)
WO (1) WO2016178294A1 (enExample)

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JP2018120364A (ja) * 2017-01-24 2018-08-02 株式会社クボタ 自動操舵システム
CN108808240A (zh) * 2018-07-25 2018-11-13 安徽泗州拖拉机制造有限公司 一种大型无人驾驶拖拉机用天线
CN109936976A (zh) * 2017-01-24 2019-06-25 株式会社久保田 联合收割机、收割机、以及自动转向系统
JP2019108008A (ja) * 2017-12-18 2019-07-04 株式会社クボタ トラクタ
EP3514651A1 (en) * 2018-01-17 2019-07-24 AGCO International GmbH Steering controller for autonomous vehicle with stability regulation
JP2019168939A (ja) * 2018-03-23 2019-10-03 ヤンマー株式会社 自律走行システム
WO2020016677A1 (en) * 2018-07-18 2020-01-23 Precision Planting Llc Systems and methods of working a field and determining a location of implements within a field
JP2020012678A (ja) * 2018-07-13 2020-01-23 株式会社クボタ 作業機
WO2020105125A1 (ja) * 2018-11-20 2020-05-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
JP2020528846A (ja) * 2017-10-26 2020-10-01 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 農業用機械の制御方法、装置及びシステム
JP2021013382A (ja) * 2020-10-14 2021-02-12 株式会社クボタ 作業車
JP2021083403A (ja) * 2019-11-29 2021-06-03 株式会社クボタ 作業車
JP2021107179A (ja) * 2019-12-27 2021-07-29 本田技研工業株式会社 車両制御装置、車両及び車両制御方法
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Publication number Priority date Publication date Assignee Title
CN106323270A (zh) * 2016-07-29 2017-01-11 北京合众思壮科技股份有限公司 一种数据采集方法和装置
US11383703B2 (en) 2017-01-20 2022-07-12 Kubota Corporation Work vehicle
US11904851B2 (en) 2017-01-20 2024-02-20 Kubota Corporation Work vehicle
KR20190104311A (ko) * 2017-01-24 2019-09-09 가부시끼 가이샤 구보다 콤바인, 수확기, 및 자동 조타 시스템
CN109936976A (zh) * 2017-01-24 2019-06-25 株式会社久保田 联合收割机、收割机、以及自动转向系统
KR102539520B1 (ko) * 2017-01-24 2023-06-05 가부시끼 가이샤 구보다 콤바인, 수확기, 및 자동 조타 시스템
JP2018120364A (ja) * 2017-01-24 2018-08-02 株式会社クボタ 自動操舵システム
JP6994831B2 (ja) 2017-01-24 2022-01-14 株式会社クボタ 自動操舵システム
JP7571102B2 (ja) 2017-03-31 2024-10-22 ヤンマーパワーテクノロジー株式会社 作業車両管理システム、遠隔操作装置管理システム、作業車両管理方法及び遠隔操作装置管理方法
JP2023015109A (ja) * 2017-03-31 2023-01-31 ヤンマーパワーテクノロジー株式会社 作業車両管理システム、遠隔操作装置管理システム、作業車両管理方法及び遠隔操作装置管理方法
JP2020528846A (ja) * 2017-10-26 2020-10-01 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 農業用機械の制御方法、装置及びシステム
JP2019108008A (ja) * 2017-12-18 2019-07-04 株式会社クボタ トラクタ
EP3514651A1 (en) * 2018-01-17 2019-07-24 AGCO International GmbH Steering controller for autonomous vehicle with stability regulation
US11029690B2 (en) 2018-01-17 2021-06-08 Agco International Gmbh Steering controller for an autonomous vehicle with stability regulation
JP2019168939A (ja) * 2018-03-23 2019-10-03 ヤンマー株式会社 自律走行システム
JP2020012678A (ja) * 2018-07-13 2020-01-23 株式会社クボタ 作業機
WO2020016677A1 (en) * 2018-07-18 2020-01-23 Precision Planting Llc Systems and methods of working a field and determining a location of implements within a field
CN112203496A (zh) * 2018-07-18 2021-01-08 精密种植有限责任公司 在田地中工作并确定田地内机具的位置的系统和方法
CN108808240A (zh) * 2018-07-25 2018-11-13 安徽泗州拖拉机制造有限公司 一种大型无人驾驶拖拉机用天线
JPWO2020105125A1 (ja) * 2018-11-20 2021-09-27 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
JP7201704B2 (ja) 2018-11-20 2023-01-10 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
WO2020105125A1 (ja) * 2018-11-20 2020-05-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法及びプログラム
JP2021083403A (ja) * 2019-11-29 2021-06-03 株式会社クボタ 作業車
JP7183141B2 (ja) 2019-11-29 2022-12-05 株式会社クボタ 作業車
JP2021107179A (ja) * 2019-12-27 2021-07-29 本田技研工業株式会社 車両制御装置、車両及び車両制御方法
JPWO2021256062A1 (enExample) * 2020-06-15 2021-12-23
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JP7094338B2 (ja) 2020-10-14 2022-07-01 株式会社クボタ 作業車
JP7392689B2 (ja) 2021-06-25 2023-12-06 井関農機株式会社 作業車両
JP2023004371A (ja) * 2021-06-25 2023-01-17 井関農機株式会社 作業車両

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Publication number Publication date
US10761531B2 (en) 2020-09-01
US20180321682A1 (en) 2018-11-08
IN2015MU01824A (enExample) 2015-05-22
JP6437640B2 (ja) 2018-12-12
JP2019061695A (ja) 2019-04-18
JPWO2016178294A1 (ja) 2018-03-01

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