EP3420373A1 - Localisation d'une cible pour véhicule suiveur - Google Patents
Localisation d'une cible pour véhicule suiveurInfo
- Publication number
- EP3420373A1 EP3420373A1 EP17710337.1A EP17710337A EP3420373A1 EP 3420373 A1 EP3420373 A1 EP 3420373A1 EP 17710337 A EP17710337 A EP 17710337A EP 3420373 A1 EP3420373 A1 EP 3420373A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- location
- follower vehicle
- vehicle
- target
- moving target
- 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.)
- Withdrawn
Links
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Classifications
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- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
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- 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
- G01S13/66—Radar-tracking systems; Analogous systems
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- 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
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
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- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Definitions
- the invention relates to the field of follower vehicles and more particularly to a method and a device for precisely locating a moving target that the follower vehicle must follow.
- the field of the follower vehicles is in full expansion and knows very varied fields of application.
- the follower vehicle may be a motorized caddy automatically following a golf player.
- a carrier vehicle following a worker on an industrial site or in a factory, workshop or warehouse.
- Another example concerns the agricultural field, in which one or more motorized agricultural vehicles automatically follow a farmer.
- the follower vehicles may follow another vehicle.
- a classic constraint for follower vehicles is to maintain a constant distance with the target tracked (pedestrian or other vehicle) and to follow its path, that is to say to be able to react to changes in speed and direction.
- this tracking can not be done without a location of the target to follow with respect to the follower vehicle. This location can including understanding the distance and an angle to the direction of the follower vehicle.
- a conventional technique relies on laser rangefinders and / or cameras used either in the visible spectrum or in the infrared.
- a shape recognition mechanism in the images acquired by the cameras and / or the range finder is then set up to detect the target to be tracked and estimate its relative position.
- Such methods are sensitive to external disturbances such as, in particular, climatic variations (rain, smoke, fog, snow, etc.), illumination changes, temperature variations (greatly disturbing infra-red cameras), dazzling, the presence of obstacles (which can break the contact between the target and the sensors), etc.
- the target is a pedestrian
- the sensor that can best differentiate two pedestrians is the camera in the visible range, but this sensor is also the most sensitive to environmental conditions. For example, it can not work at night or in poor lighting. In these conditions, the rangefinders and infrared cameras give better performance, but they do not make it easy to distinguish one pedestrian from another.
- the rangefinder only allows to determine silhouettes "in depth" and can distinguish silhouettes only on their size or size.
- the target to be followed may be temporarily obscured by an obstacle (tree, corner of a street, other pedestrian, etc.).
- the target can no longer be located.
- Other mechanisms are based on radio or ultrasound links. This is for example the case of those disclosed in US Patent 5,810,105 or in EP application 2,590,041.
- the location is ensured by two communication modules on the follower vehicle and a module on the target. From measurements of the flight time of the information exchanged between the module on the target and each of the modules of the following vehicle, a relative location can be estimated by trilateration.
- the accuracy is strongly impacted by the lack of synchronization between the two communication streams: the first between the pedestrian module and the first module of the vehicle and the second between the pedestrian module and the second module of the vehicle.
- the communications with the first and with the second module on board the follower vehicle the latter was able to move, so that a bias is inserted into the calculations of the trilateration.
- the location thus obtained lacks precision and may even lead, in some situations, to significant aberrations.
- the object of the present invention is to provide a solution at least partially overcoming the aforementioned drawbacks.
- the present invention proposes a method of locating a moving target by a follower vehicle, comprising the determination of minus a first distance measurement between said moving target and a first location on said follower vehicle, taken at a first instant, and a second distance measurement between said moving target and a second location on said follower vehicle, taken in a second instant, characterized in that said method determines a prediction of the displacement of said follower vehicle between said first and second instants, and determines a location of said moving target relative to the follower vehicle from said first and second distance measurements, taking into account said prediction, so as to compensate for said displacement between said first and second instants.
- the invention comprises one or more of the following features which can be used separately or in partial combination with one another or in total combination with one another:
- said prediction and said location are determined by a Kalman filter
- said displacement prediction is determined from linear velocity measurement and steering gear orientation of said follower vehicle
- Q u is the covariance matrix associated with the uncertainties of the proprioceptive information from said follower vehicle, such as:
- ⁇ is the time between instants k and k-1.
- v r , k is the linear velocity of said follower vehicle at time k;
- r , k is the orientation of the steering gear of said follower vehicle at time k, and,
- the method further comprises a step of determining a command to adapt the speed and direction of said follower vehicle to direct it according to said location location of said target n respecting a set distance.
- Another subject of the invention relates to a device for locating a moving target for a follower vehicle, comprising a first communication module at a first location on said follower vehicle to determine a first distance measurement between said first location and said target. mobile at a first instant, and a second communication module at a second location on said follower vehicle to determine a second distance measurement between said second location and said moving target at a second time, and a calculation module for determining a forecast of the moving said follower vehicle between said first and second instants, and determining a location of said moving target relative to said follower vehicle from said first and second distance measurements, taking into account said forecast, so as to compensate said displacement between said first and second moments.
- this device comprises one or more of the following characteristics which can be used separately or in partial combination with one another or in total combination with one another:
- said calculation module determines said prediction of the tracking robot's displacement and said location of the target by a Kalman filter
- said calculation module determines said displacement prediction from the proprioceptive measurements of said follower vehicle.
- Another object of the invention relates to a follower vehicle comprising such a device.
- Another object of the invention relates to a system comprising a tracking vehicle as defined above and a communication module fitted to the moving target.
- Figure 1 shows schematically an example of context in which the invention can be inserted.
- Figure 2 schematizes the principle of localization by trilateration.
- FIGS. 3a, 3b, 3c schematize different mechanisms of distance measurements.
- Figure 1 schematically illustrates the context in which the invention is inserted.
- the invention allows the location of a moving target A by a follower vehicle B.
- the moving target A is typically a human being, which may be a pedestrian or a vehicle, including a robotic vehicle.
- the following vehicle B is preferably a robotic vehicle, that is to say, whose control is provided by an automatic mechanism.
- the moving target A is equipped with an S3 communication module. It will be seen later that it may include more, but only one is sufficient to implement the invention in its generality.
- the follower vehicle B is equipped with at least two communication modules SI, S2, located at two distinct locations on the vehicle. It is important that these two modules be far enough apart to obtain the best possible localization results. They may for example be near the two side edges of the follower vehicle. They must be in solidarity, that is, their relative distance must not vary. They must be integral with the chassis of the following vehicle.
- the communication modules SI, S2, S3 are suitable for determining distance measurements d1, d2 respectively between the module SI and the module S3 and between the module S2 and the module S3.
- This protocol is a standard specifying that the communication modules SI, S2, S3 incorporate a physical layer capable of performing distance measurements.
- This protocol has two communication formats: the IRUWB (for "Impulse Radio Ultra Wide Band” in English) and the CSSS (for "Chirp Spread Spectrum Signais”).
- the invention does not lie in the mechanism of measuring a distance, but, as we shall see later, in the operation of these distance measurements.
- the distance measurement can be carried out in different ways, including those included in the state of the art.
- distance measurement methods are based on the principle of time of arrival ("Time of Arrival") required for a message to go from one communication module to another.
- TOA Time Of Arrival
- mobile station and “base station”, which may represent, in the context of the invention, respectively, the follower vehicle B and the target to be followed. It should be noted that the target itself may be mobile and that the terms “mobile station” and “base station” must be understood in a relative sense: the mobile station is mobile in the base station repository ( whose repository can itself be mobile with respect to the terrestrial reference system for example).
- FIGS. 3a, 3b, 3c which schematize the protocol exchanges between two stations A, B, with a view to measuring the distance between them.
- TOA Time of Arrival
- the mobile station A sends an RFRAME message to the base station B on the transmission date t e , this date being transmitted in the message.
- the base station receives the message and notes the date of acquisition t a .
- the base station A sends a request RFRrame_req to a mobile station B and records the date of issue t e of this message,
- the mobile station responds to the request sending the RFRrame rep message to the base station,
- the base station receives the response message and records the receipt date t a .
- the base and mobile stations are therefore both transmitters and receivers.
- the time T r being measured by the base station A, there is no need to synchronize their clocks. Nevertheless, the response of the mobile station can not be immediate. Indeed, it must decode the request message sent by the base station, create a response message and finally send it. This process introduces a delay T "" and biases the distance measurement. For example, an error of a few nanoseconds introduces decimetre errors. It is therefore important to be able to estimate this delay very precisely.
- the base station A sends a RFRrame request req to the mobile station B and records the transmission date of the last byte of the SFD ("Start Frame Delimeter") of the message RFRrame req.
- the mobile station B responds to the request sending the message RFRrame rep to the base station, in parallel it launches a counter as soon as the last byte of the SFD of the message RFRrame rep is read and stops it when the last byte of the SFD of the message RFRrame rep is sent;
- the base station receives the response message and records the receipt date of the last SFD byte of the RFRrame rep message
- the mobile station sends a second message to the base station containing the value of the estimated T using the counter,
- the base station receives the message containing the estimate of the delay a ,
- the base station sends an acknowledgment to the mobile station.
- the distance measurement dsDs is as follows:
- the distance measurement is a few tens of meters at most, T r will not exceed 100 nanoseconds. However, the time T required to process your request message and reply is of the order of a millisecond. This means that the transmission time is well below the data processing time which accounts for most of the distance measurement error: T r A (_l + e A ) - T t B a (_l + e B )
- the communication modules SI, S2, S3 can implement such distance measuring mechanisms. Concretely, these mechanisms can be implemented using communication modules available on the market and that the method and the device according to the invention can use.
- Such modules available on the market may be those of the Decawave company, and more particularly the DW1000 sensor.
- This sensor complies with the previously mentioned IEEE 802.15.4a communication protocol and operates in a frequency range from 3.5 GHz to 6.5 GHz with a bandwidth of 1 GHz. It allows measurement of distance with a precision of 10 cm.
- This sensor has among other advantages those of having a relatively low cost and being of small size, for example 23 mm x 13 mm for the model DWM1000.
- Figure 2 schematizes the principle of localization by trilateration.
- the problem to be solved is to locate the communication module S3 with coordinates (x, y) by knowing the locations of the communication modules S1 and S2, respectively of coordinates (x1, y1) and (x2, y2). and the measured distances d1, d2 between the communication module S3 and, respectively, the communication modules S1 and S2.
- the position of the S3 module being the point of intersection between two circles centered on each of the modules SI, S2 and di radius and d 2, this problem can be easily solved analytically.
- measurement noise introduces very important discontinuities over time. Indeed, measurement noise introduces large variations in the localization results, especially on the measurement of heading. These variations are abrupt, hence the discontinuities, but the notion of discontinuity can be omitted.
- the heading estimate can vary by plus or minus 5 ° from one measurement to the next because of the noise of distance measurements.
- the Kalman filter implemented by one embodiment of the invention alleviates this problem while providing an original solution to synchronization problems.
- the communication module S3 generally has a communication interface that allows it to communicate only alternatively with the modules. SI, S2 communication. In other words, the distance measurements d1, d2 are necessarily not synchronized.
- the module S3 of the moving target communicates with a first module SI of the follower vehicle for a certain duration, for example 5 ms. It is also possible to set a measurement frequency at 50 Hz. In such a situation, the measurements are spaced at least 20 ms apart.
- the follower vehicle is mobile and therefore between the time t1 at which the distance measurement dl is determined and the time t2 at which the distance measurement d2 is determined, it will have moved by a distance determined by the speed of the vehicle, its management and the inter-measurement period.
- the method according to the invention provides steps of: determining at least a first distance measurement d1 between the moving target A and a first location in (or on) the tracking vehicle B, typically corresponding to a first communication module S1, taken at a first instant tl, determination of a second distance measurement d2 between the moving target A and a second location S2 in (or on) the tracking vehicle B, corresponding typically to a second communication module S2, taken at a second time t2,
- the determination of the displacement can typically be made from the linear velocity measurement of the follower vehicle and the orientation of its steering gear. Preferably, these measurements are provided by the control bodies of the follower vehicle in particular by the proprioceptive sensors on board the latter.
- Proprioceptive sensors or proprioception sensors are the measurement sensors on the state of the vehicle itself. They oppose sensors on external information.
- An example of a proprioceptive sensor is a speed sensor. This term is commonly understood by those skilled in the art as evidenced by the page wikipedia devoted to robotics: https://en.wikipedia.org/wiki/Autonomous_robot
- the method according to the invention can take into account its estimated displacement in order to compensate for it.
- the measurement data d1, d2 can then be exploited valid way, and accurate despite their asynchronism. The same is obviously true if more than two measurement data are provided.
- Kalman filters and particulate filters are often the most effective, but others would be quite applicable if they incorporate the features mentioned above.
- a Kalman filter is used to determine the displacement prediction and the location of the moving target relative to the follower vehicle. This Kalman filter makes it possible to infer and filter the location at any time.
- the state vector of the Kalman filter represents the parameters that one wants to estimate.
- the state vector Xk of the Kalman filter reflects the position (x, y) of the moving target A at time k such that
- the Kalman filter also estimates the accuracy of the estimate at all times. This is represented by the covariance matrix Qk.
- each measurement d n , k is compared with its a priori measurement d n , kk i and the location of the mobile target is updated based on their difference.
- the update equation of the Kalman filter at time k is as follows:
- x n and y n are the coordinates of the location of the location of the communication module S n on the follower vehicle.
- ⁇ 5d is the standard deviation for distance measurements.
- Kalman filtering with state constraints a survey of linear and nonlinear algorithms
- IET Contril Theory and applications 1303-1318
- Constrained Kalman filtering via density function truncation for turbofan engine health estimation by Dan Simon and Donald L. Simon, in Int J. Systems Science, 41 (2), 159-171
- (x, y) is the location of the follower vehicle in the world referential
- the kinematic model of the follower vehicle must then be defined.
- An example of such a kinematic model can be:
- v r is the linear speed of the follower vehicle
- ⁇ ⁇ is the orientation of the train
- L is the track of the follower vehicle.
- ⁇ ⁇ v
- ⁇ is the time elapsed between the instants k and k-1, that is to say the sampling period.
- R (Ae) is a 2D rotation matrix, a function of the angle ⁇ .
- the target can be mobile, and between two instants it can move in the repository of the world.
- v xy follows a normal two-dimensional centered law N (, Q xy ) whose covariance matrix Q xy is defined by the equation with ⁇ ⁇ the standard deviation of the displacement that can be made by the target in one second, and ⁇ ⁇ the elapsed time (in seconds) between the instants k and k + 1.
- the location reference is that of the follower vehicle, it can be defined that the location ( ⁇ , j) is equivalent to the location (x, y) previously used.
- Q u is the covariance matrix associated with the uncertainties of proprioceptive information from the follower vehicle, such as: - A r sin (A e / 2) - 0.5 ⁇ ⁇ cos (A e 12
- a command is determined so that the follower vehicle moves towards the target while respecting an inter-distance setpoint p c .
- control vector is composed of the speed at the center of the rear axle v r and the orientation of the steering gear ⁇ ⁇ .
- Kpe is the proportional gain of the corrector.
- V r, t K P P (A " Pc) + Ki p ⁇ (- Pc)
- Kp p and Ki p are respectively the proportional and integral gains of the corrector.
- equation shows that in order to correct the course of the vehicle, it is sufficient to orient the wheels of the steering gear of the vehicle towards the target.
- the preceding equation shows that an integral action is necessary to regulate the linear speed of the vehicle so that the distance is always respected, that is to say that the quantity p k -p c tends towards 0. Note that if the target is moving towards the vehicle, the quantity p k - p c becomes negative and will cause the vehicle to fall back because the speed v r , k will also become negative.
- Pk is the matrix provided at the instant k by the target location module. This matrix can be deduced a posteriori or a priori depending on whether the command is performed at the same time as updating the Kalman filter or not.
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
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Abstract
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1651429A FR3048148B1 (fr) | 2016-02-22 | 2016-02-22 | Localisation d'une cible pour vehicule suiveur |
PCT/FR2017/050381 WO2017144808A1 (fr) | 2016-02-22 | 2017-02-21 | Localisation d'une cible pour véhicule suiveur |
Publications (1)
Publication Number | Publication Date |
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EP3420373A1 true EP3420373A1 (fr) | 2019-01-02 |
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ID=56372953
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP17710337.1A Withdrawn EP3420373A1 (fr) | 2016-02-22 | 2017-02-21 | Localisation d'une cible pour véhicule suiveur |
Country Status (4)
Country | Link |
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US (1) | US20190137617A1 (fr) |
EP (1) | EP3420373A1 (fr) |
FR (1) | FR3048148B1 (fr) |
WO (1) | WO2017144808A1 (fr) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US10688995B2 (en) * | 2016-09-21 | 2020-06-23 | Nissan Motor Co., Ltd. | Method for controlling travel and device for controlling travel of vehicle |
KR102038317B1 (ko) * | 2017-11-21 | 2019-10-30 | 주식회사 티티엔지 | 정확한 위치정보를 기반으로 자율주행이 가능한 골프카트 시스템 및 그 시스템을 이용한 골프카트 제어방법 |
CN111061228B (zh) * | 2018-10-17 | 2022-08-09 | 长沙行深智能科技有限公司 | 基于目标追踪的货箱自动转运控制方法 |
FR3094256B1 (fr) * | 2019-03-29 | 2021-07-02 | Norcan | robot motorisé amélioré |
IT201900004801A1 (it) * | 2019-03-29 | 2020-09-29 | Elett 80 S P A | Metodo per la localizzazione di un obiettivo mobile in un magazzino automatico |
EP3865967A1 (fr) * | 2020-02-11 | 2021-08-18 | Cart Technology, S.L. | Système de suivi basé sur un chariot |
US11995600B2 (en) | 2020-03-23 | 2024-05-28 | Caterpillar Inc. | System and method for geofence based cycle time determination |
CN112017171B (zh) * | 2020-08-27 | 2021-10-26 | 四川云从天府人工智能科技有限公司 | 一种图像处理指标评估方法、***、设备和介质 |
CN113008222B (zh) * | 2021-02-20 | 2023-03-31 | 西北工业大学 | 一种基于连续时间轨迹函数的航迹约束目标跟踪方法 |
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DE19509320A1 (de) * | 1995-03-15 | 1996-09-19 | Technologietransfer Anstalt Te | Folgesteuerung für ein selbstfahrendes Fahrzeug |
US6327219B1 (en) * | 1999-09-29 | 2001-12-04 | Vi&T Group | Method and system for directing a following device toward a movable object |
US7593811B2 (en) * | 2005-03-31 | 2009-09-22 | Deere & Company | Method and system for following a lead vehicle |
NL1039154C2 (en) * | 2011-11-07 | 2015-01-26 | Willem-Dirk Hendrik Udo | Target-following vehicle. |
-
2016
- 2016-02-22 FR FR1651429A patent/FR3048148B1/fr not_active Expired - Fee Related
-
2017
- 2017-02-21 US US16/078,775 patent/US20190137617A1/en not_active Abandoned
- 2017-02-21 WO PCT/FR2017/050381 patent/WO2017144808A1/fr active Application Filing
- 2017-02-21 EP EP17710337.1A patent/EP3420373A1/fr not_active Withdrawn
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Publication number | Publication date |
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WO2017144808A1 (fr) | 2017-08-31 |
FR3048148B1 (fr) | 2018-12-07 |
US20190137617A1 (en) | 2019-05-09 |
FR3048148A1 (fr) | 2017-08-25 |
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