SE537265C2 - Reglersystem samt metod för reglering av fordon vid detektion av hinder - Google Patents

Reglersystem samt metod för reglering av fordon vid detektion av hinder Download PDF

Info

Publication number
SE537265C2
SE537265C2 SE1350335A SE1350335A SE537265C2 SE 537265 C2 SE537265 C2 SE 537265C2 SE 1350335 A SE1350335 A SE 1350335A SE 1350335 A SE1350335 A SE 1350335A SE 537265 C2 SE537265 C2 SE 537265C2
Authority
SE
Sweden
Prior art keywords
vehicle
obstacle
trajectory
obstacles
information
Prior art date
Application number
SE1350335A
Other languages
English (en)
Swedish (sv)
Other versions
SE1350335A1 (sv
Inventor
Jon Andersson
Joseph Ah-King
Tom Nyström
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1350335A priority Critical patent/SE537265C2/sv
Priority to PCT/SE2014/050290 priority patent/WO2014148978A1/en
Priority to DE112014001069.3T priority patent/DE112014001069T5/de
Publication of SE1350335A1 publication Critical patent/SE1350335A1/sv
Publication of SE537265C2 publication Critical patent/SE537265C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • 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
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/201—Dimensions of vehicle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
SE1350335A 2013-03-19 2013-03-19 Reglersystem samt metod för reglering av fordon vid detektion av hinder SE537265C2 (sv)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE1350335A SE537265C2 (sv) 2013-03-19 2013-03-19 Reglersystem samt metod för reglering av fordon vid detektion av hinder
PCT/SE2014/050290 WO2014148978A1 (en) 2013-03-19 2014-03-11 Control system and method for control of a vehicle in connection with detection of an obstacle
DE112014001069.3T DE112014001069T5 (de) 2013-03-19 2014-03-11 Steuerungssystem und -verfahren zur Steuerung eines Fahrzeugs im Zusammenhang mit der Erkennung eines Hindernisses

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1350335A SE537265C2 (sv) 2013-03-19 2013-03-19 Reglersystem samt metod för reglering av fordon vid detektion av hinder

Publications (2)

Publication Number Publication Date
SE1350335A1 SE1350335A1 (sv) 2014-09-20
SE537265C2 true SE537265C2 (sv) 2015-03-17

Family

ID=51580504

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1350335A SE537265C2 (sv) 2013-03-19 2013-03-19 Reglersystem samt metod för reglering av fordon vid detektion av hinder

Country Status (3)

Country Link
DE (1) DE112014001069T5 (de)
SE (1) SE537265C2 (de)
WO (1) WO2014148978A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017003279A1 (de) 2016-04-21 2017-10-26 Scania Cv Ab Verfahren und system zur steuerung des fahrens eines fahrzeugs einer strasse entlang
FR3101721A1 (fr) * 2019-10-07 2021-04-09 Psa Automobiles Sa Vehicule comportant un dispositif de navigation prenant en compte la garde au sol du vehicule

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3034213B1 (fr) 2015-03-24 2018-06-01 Insa De Rennes Methode de correction amelioree d'une trajectoire dans un dispositif d'aide au deplacement de personnes
US10203696B2 (en) 2016-07-26 2019-02-12 Waymo Llc Determining drivability of objects for autonomous vehicles
US20190271985A1 (en) * 2016-11-11 2019-09-05 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
US10417508B2 (en) 2017-07-19 2019-09-17 Aptiv Technologies Limited Object height determination for automated vehicle steering control system
US11945524B2 (en) 2021-03-24 2024-04-02 Deere & Company Work vehicle undercarriage clearance system and method
EP4325319A1 (de) * 2022-08-17 2024-02-21 Sandvik Mining and Construction Oy Routenanpassung für bergbaufahrzeug
EP4325318A1 (de) * 2022-08-17 2024-02-21 Sandvik Mining and Construction Oy Hinderniserkennung für bergbaufahrzeug
CN116811914B (zh) * 2023-06-29 2024-07-19 重庆亿连信息科技有限公司 一种无人驾驶车载障碍感应***和方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8050863B2 (en) * 2006-03-16 2011-11-01 Gray & Company, Inc. Navigation and control system for autonomous vehicles
US8947531B2 (en) * 2006-06-19 2015-02-03 Oshkosh Corporation Vehicle diagnostics based on information communicated between vehicles
US8755997B2 (en) * 2008-07-30 2014-06-17 Honeywell International Inc. Laser ranging process for road and obstacle detection in navigating an autonomous vehicle
DE102009024083A1 (de) * 2009-06-05 2010-12-09 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Fahrzeugs und Parkassistenzsystem für ein Fahrzeug
DE102011077333A1 (de) * 2011-06-10 2012-12-27 Robert Bosch Gmbh Fahrerassistenzsystem mit Objektdetektion
DE102011115353A1 (de) * 2011-08-24 2012-04-19 Daimler Ag Bodenfreiheitsassistent für ein Kraftfahrzeug

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017003279A1 (de) 2016-04-21 2017-10-26 Scania Cv Ab Verfahren und system zur steuerung des fahrens eines fahrzeugs einer strasse entlang
FR3101721A1 (fr) * 2019-10-07 2021-04-09 Psa Automobiles Sa Vehicule comportant un dispositif de navigation prenant en compte la garde au sol du vehicule

Also Published As

Publication number Publication date
DE112014001069T5 (de) 2015-11-12
WO2014148978A1 (en) 2014-09-25
SE1350335A1 (sv) 2014-09-20

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