DK4009131T3 - Metode til at navigere i et køretøj og system dertil - Google Patents

Metode til at navigere i et køretøj og system dertil Download PDF

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Publication number
DK4009131T3
DK4009131T3 DK22153743.4T DK22153743T DK4009131T3 DK 4009131 T3 DK4009131 T3 DK 4009131T3 DK 22153743 T DK22153743 T DK 22153743T DK 4009131 T3 DK4009131 T3 DK 4009131T3
Authority
DK
Denmark
Prior art keywords
navigating
vehicle
Prior art date
Application number
DK22153743.4T
Other languages
English (en)
Inventor
Ofir Cohen
Dina Appelman
Arnon Degani
Original Assignee
Elta Systems 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 Elta Systems Ltd filed Critical Elta Systems Ltd
Application granted granted Critical
Publication of DK4009131T3 publication Critical patent/DK4009131T3/da

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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G05D1/0231—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
    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
DK22153743.4T 2017-06-08 2018-06-07 Metode til at navigere i et køretøj og system dertil DK4009131T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL252769A IL252769B (en) 2017-06-08 2017-06-08 Method of navigating a vehicle and system thereof
EP18813730.1A EP3635500B1 (en) 2017-06-08 2018-06-07 Method of navigating a vehicle and system thereof

Publications (1)

Publication Number Publication Date
DK4009131T3 true DK4009131T3 (da) 2023-11-27

Family

ID=60942707

Family Applications (1)

Application Number Title Priority Date Filing Date
DK22153743.4T DK4009131T3 (da) 2017-06-08 2018-06-07 Metode til at navigere i et køretøj og system dertil

Country Status (8)

Country Link
US (2) US11320823B2 (da)
EP (2) EP4009131B1 (da)
DK (1) DK4009131T3 (da)
ES (2) ES2968684T3 (da)
IL (1) IL252769B (da)
PL (1) PL4009131T3 (da)
PT (1) PT4009131T (da)
WO (1) WO2018225071A1 (da)

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IL280230B2 (en) 2018-08-30 2025-06-01 Elta Systems Ltd Method of navigating a vehicle and system thereof
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
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US11429110B1 (en) * 2019-05-24 2022-08-30 Amazon Technologies, Inc. System for obstacle avoidance by autonomous mobile device
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WO2021156000A1 (de) * 2020-02-06 2021-08-12 Sew-Eurodrive Gmbh & Co. Kg Abt. Ecg Verfahren zum betreiben einer technischen anlage
US11352023B2 (en) 2020-07-01 2022-06-07 May Mobility, Inc. Method and system for dynamically curating autonomous vehicle policies
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JP7567059B2 (ja) 2020-12-17 2024-10-15 メイ モビリティー，インコーポレイテッド 自律エージェントの環境表現を動的に更新するための方法およびシステム
AU2021232767A1 (en) 2020-12-21 2022-07-07 Commonwealth Scientific And Industrial Research Organisation Vehicle navigation
WO2022137350A1 (ja) * 2020-12-22 2022-06-30 楽天グループ株式会社 監視システム、及び無人走行体
CN112965490B (zh) * 2021-02-07 2024-07-19 京东科技信息技术有限公司 控制机器人的方法、装置及非瞬时性计算机可读存储介质
WO2022212944A1 (en) 2021-04-02 2022-10-06 May Mobility, Inc. Method and system for operating an autonomous agent with incomplete environmental information
JP7788110B2 (ja) 2021-06-02 2025-12-18 メイ モビリティー，インコーポレイテッド 自律エージェントの遠隔支援のための方法及びシステム
WO2022254609A1 (ja) * 2021-06-02 2022-12-08 国立大学法人東北大学 情報処理装置、移動体、情報処理方法、及びプログラム
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Also Published As

Publication number Publication date
IL252769A0 (en) 2017-12-31
EP3635500A1 (en) 2020-04-15
EP4009131B1 (en) 2023-08-23
US11320823B2 (en) 2022-05-03
ES2968684T3 (es) 2024-05-13
PL4009131T4 (pl) 2024-02-19
PL4009131T3 (pl) 2024-02-19
IL252769B (en) 2021-10-31
PT4009131T (pt) 2024-01-02
WO2018225071A1 (en) 2018-12-13
US11714416B2 (en) 2023-08-01
US20200159227A1 (en) 2020-05-21
US20220236735A1 (en) 2022-07-28
EP4009131A1 (en) 2022-06-08
EP3635500A4 (en) 2020-04-15
EP3635500B1 (en) 2022-03-09
ES2914778T3 (es) 2022-06-16

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