EP3938734A1 - Verfahren, vorrichtung und system zur navigation autonomer fahrzeuge - Google Patents
Verfahren, vorrichtung und system zur navigation autonomer fahrzeugeInfo
- Publication number
- EP3938734A1 EP3938734A1 EP20705648.2A EP20705648A EP3938734A1 EP 3938734 A1 EP3938734 A1 EP 3938734A1 EP 20705648 A EP20705648 A EP 20705648A EP 3938734 A1 EP3938734 A1 EP 3938734A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- information
- autonomous vehicle
- sensor
- object information
- determining
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 9
- 238000013459 approach Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- 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
- G05D1/0282—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 generated in a local control room
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to a method for navigating autonomous vehicles using object information from a management system, as well as an associated device and an associated method.
- the positioning of the vehicle must be precisely determined during work, such as the transport of goods, for example the pick-up of a container in a container port, in order, for example, to pick up the object safe to perform.
- the present invention therefore relates to a method, a device and a system which provide a robust and reliable position determination, relationship Wise localization of a vehicle is allowed, even if a global navigation satellite system does not allow this in its current state.
- an autonomous vehicle In the case of an autonomous vehicle, this can in particular be an autonomous self-driving work machine. It can also be an autonomous floor conveyor vehicle.
- the autonomous industrial truck which can also be referred to as an autonomous industrial truck, can be any manned or unmanned autonomous vehicle that is designed to transport goods and / or people and can be used in a logistics or industrial environment.
- Such an industrial truck can for example be a container transport vehicle for transporting containers in a container port, such as a straddle carrier, a container bridge, a reach stacker, a mobile or a container mover.
- a container transport vehicle for transporting containers in a container port, such as a straddle carrier, a container bridge, a reach stacker, a mobile or a container mover.
- a navigation of the autonomous vehicle can include a determination of a current position as a location determination, a determination of a route to the destination and / or its autonomous driving by autonomous vehicles.
- the navigation can also include controlling and / or regulating the autonomous vehicle or the driving dynamics of the vehicle in order to steer or control the autonomous vehicle to a destination.
- the method initially includes receiving sensor information from a sensor system attached to the vehicle.
- Such a reception can on the one hand be the reception of a signal, for example in the form of data packets. However, this can also involve reading out such information from a memory.
- the transmission of information from one process to another in software can also be viewed as receiving.
- the sensor system can be designed as a single sensor or have multiple sensors.
- the sensors here can be, for example, cameras, distance meters, LIDAR systems, laser-based sensors, radar-based sensors, ultrasound-based sensors or the like.
- the sensor information can also include image information and similar information which is output by the sensors mentioned above.
- the sensor information received can generally be measured values or outputs from sensors of a vehicle.
- the method then includes receiving object information from a management system that stores information about objects in a work area of the autonomous vehicle.
- Such object information is generally to be understood as information which represents properties of the object. This can be, for example, the dimensions of an object, its position / localization, its surface structure, its color or other properties that characterize the object.
- An administration system can be, for example, a storage system, an administration system or an inventory system which stores such information about objects in a work area of a vehicle, such as a port area, a warehouse or the like.
- Such object information can be received in a processed or unprocessed manner.
- Receiving object information here also includes intermediate processing on the part of the management system or on the part of the autonomously driving vehicle.
- a work area is generally to be understood as an area in which the autonomous vehicle carries out its activities, such as conveying or processing objects.
- the position of the autonomous vehicle is determined based on the sensor information and the object information.
- a determination can be, for example, a comparison of the sensor information received from the sensor system with information obtained from the object information.
- a comparison of an actual value, which is obtained from the sensor information, with a target value, which is obtained from the object information, can be used for the determination.
- the object information obtained from the management system (for example from a storage system) in combination with the Sensor information can be used to determine which object in the work area is next to which the vehicle is at what distance. The absolute position of the vehicle can then be deduced from this relative information in relation to the objects.
- the determination can thus also include the determination of a relative position of the autonomous vehicle based on the sensor information and the object information with reference to one or more objects in the working area of the vehicle and the subsequent step of transforming this relative position into an absolute position.
- the method can furthermore also include the step of switching from determining the position of the autonomous vehicle by means of a global navigation satellite system to determining the position of the autonomous vehicle based on the sensor information and the object information, as described above.
- a switchover can take place here, for example, as a function of the position determination accuracy by means of the global navigation satellite system.
- switching can take place when the position determination accuracy by means of the global navigation satellite system falls below a threshold value.
- the number of satellites from which a signal is received can be used as parameters for determining the position determination accuracy of the global navigation satellite system, and the elevation or a dilution-of-precision (DOP) value can also serve as a characteristic number.
- DOP dilution-of-precision
- the global satellite navigation system can be used to determine position.
- an activity of work is carried out on an object, such as picking up / loading the object
- the relative position determination by means of the object information can be used in order to enable the most precise possible positioning with reference to the object on which the Work is in progress.
- the method can make use of external distance information.
- external distance information is one Information that is measured by an external measuring device. This distance information measured by a measuring device located externally from the autonomous vehicle can in particular be recorded with the sensor system.
- Such a measuring device can be, for example, a distance measuring device attached to an object which, for example, indicates a distance between the vehicle and the measuring device via a display.
- This display can for example be captured with a camera of the vehicle's sensor system, i. read out, and then processed.
- the method can also provide that an object information identifier is recorded by the sensor system of the vehicle.
- an object identification identifier can be, for example, a barcode, a QR code or the like, which is attached to an object.
- the sensor used in the sensor system can in particular be a camera.
- object information associated with the object can then be queried from the management system. This information can then be used in the step of determining the position of the autonomous vehicle (relative to this object).
- the positioning allows the positioning to be improved further, since specific information, such as, for example, the dimensions of an object, such as a container, can be queried for an object which is located in the vicinity of the vehicle.
- a rough positioning of the vehicle can already be determined by which object identification codes of which objects are located in the detection range of the sensors.
- the position of the vehicle can then be determined robustly. For example, based on the retrieved information on a dimension of the object and on the basis of camera data or data from a distance measuring system, it can be determined in which distance and in which alignment to the object the autonomously driving vehicle is.
- the positioning in the working area of the machine can also be called up from the management system as object information, which enables the relative position of the vehicle to be converted to an absolute position.
- environmental information such as map information in two-dimensional or three-dimensional form, can be derived from the object information in a management system.
- information about the objects stored in the management system such as absolute position, dimension, position in a stack of objects, etc.
- information about the surroundings or mapping can be derived. This can even take place in three-dimensional form, since the expansion of the objects in three-dimensional space can be calculated or derived from the information on the heights of objects and their arrangement on top of one another.
- the result is a two-dimensional or a three-dimensional mapping as information about the surroundings, which results from the information stored in the management system.
- This environmental information obtained in this way can be used as object information in the step of determining the position of the autonomous vehicle.
- the environmental information can be calculated in the vehicle itself, but also in an external system, such as the administration system or a unit connected to it.
- the method can have the step of determining environmental information from object information in the management system, this step being carried out in the external unit.
- the method can have the step of calculating the information about the surroundings from the information received from the management system, this step being carried out in the vehicle and, in the determining step, the information about the surroundings being used as object information.
- the present invention also relates to a device for navigating an autonomous vehicle which is set up to carry out the method.
- the invention also relates to a device for navigating an autonomous vehicle with a sensor system, a sensor information receiving means and a position determining means.
- the means are designed according to the method described above.
- This system can also have respective means for carrying out the further method steps mentioned above.
- a corresponding system for navigating an autonomous vehicle initially comprises a sensor system attached to a vehicle with at least one sensor.
- a sensor system attached to a vehicle with at least one sensor.
- a sensor information receiving means is then set up to receive this information from this sensor system.
- a management system is also included in the system and stores object information on objects in a work area of the autonomous vehicle.
- the system has an object information receiving means for receiving object information from the management system.
- the system also has computing means which are set up to compute environmental information from the object information received by the object information receiving means, the object information including information about dimensions and positions of objects in a work area of the autonomous vehicle.
- the system has a position-determining means which is designed to determine the position of the autonomous vehicle based on the sensor information and an environmental information output as object information by the calculation unit.
- the system can also be designed such that the position determining means is set up to switch from determining the position of the autonomous vehicle by means of a global navigation satellite system to determining the position of the autonomous vehicle based on the sensor information and the object information depending on the one hand on the position determination accuracy and on the other hand on the activity performed by the autonomous vehicle.
- a further receiving means for global navigation satellite systems can be provided, which receives and processes data from one or more global navigation satellite systems.
- a means can also be designed as software, software module or the like and is not limited to the design as a physical unit.
- FIG. 1 shows a flow chart with method steps of an exemplary embodiment of a method for navigating the autonomous vehicle.
- FIG. 2 shows an exemplary situation during navigation.
- FIG. 3 shows a situation in which an object identification identifier is detected.
- FIG. 4 shows a situation in which information is acquired from an external measuring device.
- FIG. 5 shows a schematic representation of an apparatus and a system according to one embodiment.
- FIG. 1 method steps of the method for navigating an autonomous vehicle are shown in a sequence.
- a first step S1 the vehicle initially navigates using a global satellite navigation system.
- the vehicle drives, for example, over a free area in a container port.
- step S2a the system checks in step S2a or in step S2b whether the position determination accuracy by means of the global navigation system falls below a threshold value (S2a) or whether the vehicle approaches a container to be picked up, so that the activity carried out by the autonomous vehicle changes (S2b), to an approach to an object to be picked up and, if one of the cases occurs, switches to in step S3 a mode in which the position is no longer determined by the global navigation satellite system, but by means of sensor information and object information.
- S2a a threshold value
- S2b the activity carried out by the autonomous vehicle changes
- the system then receives sensor information from a sensor system of the vehicle in step S4.
- step S5 information on objects in the vicinity of the vehicle is also received via an interface to an administration system, here a wireless transmission from a logistics system.
- an administration system here a wireless transmission from a logistics system.
- the autonomous vehicle receives information about the positions and dimensions of containers in its vicinity.
- step S6 the autonomous vehicle can then determine where the vehicle is relative to the vehicle based on the information about the dimensions and the positions of the containers in the environment, as well as the environment information of the vehicle, which are detected by the sensors of the vehicle Objects.
- an absolute position of the vehicle can then be calculated in the same step, so that the exact position of the vehicle can be determined with greater robustness and only with information from an existing storage system without the use of navigation satellites.
- the autonomous vehicle 100 can detect the containers 201 and 202 by means of the sensors 11 1 a and 11 1 b. With the aid of object information about the dimensions of the container 202 and the absolute position of the container, the vehicle 100 can then determine its position both in a relative and in an absolute manner.
- the detection of the object identification identifier 203 of a container 201 is shown as a further exemplary situation.
- the vehicle 100 with the sensor 111 a approaches the container 201.
- the OR code 203 is attached to this. This is recognized or recorded by the sensor 111a, which is designed here as a camera.
- the vehicle 100 can then request information about the container 201, such as its dimensions, from the management system (not shown here). This information can then be used in the calculation described above to determine the position of the vehicle.
- FIG. 4 the situation is also shown by way of example in which an external measuring device is used.
- the vehicle 100 with the sensor 111a embodied here as a camera approaches the object 401, here a container bridge.
- This container bridge has an external measuring device 402 which measures the distance 403 to the vehicle 100.
- the measurement result is output on the display 404 of the measuring device 402.
- the vehicle 100 records the measurement result of the external measuring device 402 by means of the camera 111 by recording the distance displayed on the display 404 of the measuring device 402 and processing it further by means of image processing. This distance determined in this way can then be used to determine the position, as described above.
- FIG. 5 shows a device and an associated system for navigating a vehicle according to an exemplary embodiment.
- the device 110 of the vehicle 100 here has a sensor system 111 with a plurality of sensors 111 a and 111 b, which record objects in the respective detection areas. The output of this sensor system is passed on to the sensor information receiving means 112. Furthermore, the device has an object information receiving means 113 which receives the object information from a management system 501 of the system.
- the system also has a calculation means 114, which is arranged in the device 110 in the exemplary embodiment shown. As described above, this calculation means is set up to collect information on the surroundings from the object information sensor. capture means 113 to determine received object information. The output of the computing means 114 and the sensor information receiving means 112 is then fed to the position determining means 115, which can determine the position of the vehicle 100 based on this information.
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- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Structural Engineering (AREA)
- Human Computer Interaction (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019203484.5A DE102019203484A1 (de) | 2019-03-14 | 2019-03-14 | Verfahren, Vorrichtung und System zur Navigation autonomer Fahrzeuge |
PCT/EP2020/053512 WO2020182391A1 (de) | 2019-03-14 | 2020-02-12 | Verfahren, vorrichtung und system zur navigation autonomer fahrzeuge |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3938734A1 true EP3938734A1 (de) | 2022-01-19 |
Family
ID=69593658
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20705648.2A Withdrawn EP3938734A1 (de) | 2019-03-14 | 2020-02-12 | Verfahren, vorrichtung und system zur navigation autonomer fahrzeuge |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220155076A1 (de) |
EP (1) | EP3938734A1 (de) |
CN (1) | CN113544465A (de) |
DE (1) | DE102019203484A1 (de) |
WO (1) | WO2020182391A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20200131537A (ko) * | 2019-05-14 | 2020-11-24 | (주)아모레퍼시픽 | 분사 가능한 화장료 조성물 및 화장료 |
DE102020205314A1 (de) | 2020-04-27 | 2021-10-28 | Zf Friedrichshafen Ag | Detektionselement, Fahrzeug und Verfahren |
DE102020213282A1 (de) | 2020-10-21 | 2022-04-14 | Zf Friedrichshafen Ag | Kamerabasierte Inventarisierung von Frachtkontainern |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060069470A1 (en) * | 2004-09-30 | 2006-03-30 | International Business Machines Corporation | Bi-directional absolute automated tracking system for material handling |
US20070129879A1 (en) * | 2005-12-07 | 2007-06-07 | Honeywell International Inc. | Precision approach guidance using global navigation satellite system (GNSS) and ultra-wideband (UWB) technology |
US7826969B2 (en) * | 2006-12-21 | 2010-11-02 | Deere & Company | Determining position of a vehicle with reference to a landmark |
GB0802444D0 (en) * | 2008-02-09 | 2008-03-19 | Trw Ltd | Navigational device for a vehicle |
US20110039573A1 (en) * | 2009-08-13 | 2011-02-17 | Qualcomm Incorporated | Accessing positional information for a mobile station using a data code label |
US8862395B2 (en) * | 2011-01-31 | 2014-10-14 | Raytheon Company | Coded marker navigation system and method |
US8825371B2 (en) * | 2012-12-19 | 2014-09-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Navigation of on-road vehicle based on vertical elements |
CN103293543B (zh) * | 2013-06-03 | 2015-05-06 | 安徽富煌和利时科技股份有限公司 | 一种利用gps定位信息自动实现行车区段提示的***及提示方法 |
DE102014002150B3 (de) * | 2014-02-15 | 2015-07-23 | Audi Ag | Verfahren zur Ermittlung der absoluten Position einer mobilen Einheit und mobile Einheit |
US9948512B2 (en) * | 2016-01-14 | 2018-04-17 | Veniam, Inc. | Systems and methods for remote configuration update and distribution in a network of moving things |
DE102016108446A1 (de) | 2016-05-06 | 2017-11-09 | Terex Mhps Gmbh | System und Verfahren zur Bestimmung der Position eines Transportfahrzeugs sowie Transportfahrzeug |
WO2018014088A1 (en) * | 2016-07-22 | 2018-01-25 | Commonwealth Scientific And Industrial Research Organisation | Low resolution adaptive distance display |
CA3038898A1 (en) * | 2016-09-30 | 2018-04-05 | Staples, Inc. | Hybrid modular storage fetching system |
US10538418B2 (en) * | 2017-05-23 | 2020-01-21 | Baldomar Systems Llc | Automating the operation of vehicle lifts |
US10818187B2 (en) * | 2017-07-17 | 2020-10-27 | Uatc, Llc | Systems and methods for deploying an autonomous vehicle to oversee autonomous navigation |
DE102017118078A1 (de) * | 2017-08-09 | 2019-02-14 | Safran Electronics & Defense | Lokalisationseinrichtung für ein Kraftfahrzeug, Fahrerassistenzeinrichtung, Kraftfahrzeug sowie Verfahren zum Lokalisieren eines Kraftfahrzeugs |
CN108931801B (zh) * | 2018-06-06 | 2022-05-17 | 苏州智加科技有限公司 | 一种集装箱码头区域的车辆自动驾驶方法和*** |
-
2019
- 2019-03-14 DE DE102019203484.5A patent/DE102019203484A1/de active Pending
-
2020
- 2020-02-12 EP EP20705648.2A patent/EP3938734A1/de not_active Withdrawn
- 2020-02-12 US US17/438,472 patent/US20220155076A1/en not_active Abandoned
- 2020-02-12 WO PCT/EP2020/053512 patent/WO2020182391A1/de active Application Filing
- 2020-02-12 CN CN202080018605.7A patent/CN113544465A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
US20220155076A1 (en) | 2022-05-19 |
DE102019203484A1 (de) | 2020-09-17 |
CN113544465A (zh) | 2021-10-22 |
WO2020182391A1 (de) | 2020-09-17 |
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