СПОСОБ И СИСТЕМА ДЛЯ ФОРМИРОВАНИЯ ТРАЕКТОРИИ ДЛЯ БЕСПИЛОТНОГО АВТОМОБИЛЯ (SDC)

Изобретение относится к способу и системе формирования траектории для беспилотного автомобиля (SDC). Способ формирования траектории для беспилотного автомобиля, причем SDC ассоциирован с электронным устройством. Способ выполняют посредством электронного устройства, при этом способ содержит этапы, на которых определяют, посредством электронного устройства, присутствие по меньшей мере одного стороннего объекта вокруг SDC, определяют, посредством электронного устройства, текущее местоположение стороннего объекта, формируют, посредством электронного устройства, множество предсказанных траекторий для стороннего объекта на основе текущего местоположения стороннего объекта, причем по меньшей мере одна из множества траекторий включает в себя маневр, выполнимый, посредством стороннего объекта, в будущем местоположении стороннего объекта в качестве части выполнения по меньшей мере одной из множества траекторий, вычисляют по меньшей мере для одной из множества траекторий, включающей в себя маневр, ...

СИСТЕМА ПОДДЕРЖКИ ДОСТАВКИ УПАКОВАННЫХ ПОСЫЛОК, СПОСОБ ПОДДЕРЖКИ ДОСТАВКИ УПАКОВАННЫХ ПОСЫЛОК, ЭНЕРГОНЕЗАВИСИМЫЙ МАШИНОЧИТАЕМЫЙ НОСИТЕЛЬ ХРАНЕНИЯ ДАННЫХ, СОХРАНЯЮЩИЙ ПРОГРАММУ, И МОБИЛЬНЫЙ МОДУЛЬ

Изобретение относится к средствам поддержки доставки упакованных посылок. Технический результат заключается в расширении арсенала средств поддержки доставки. Группа изобретений содержит систему, мобильный модуль, энергонезависимый машиночитаемый носитель хранения данных и способы поддержки доставки упакованных посылок. Заявленная система поддержки доставки упакованных посылок включает мобильный модуль и устройство администрирования, включающее в себя средство получения, выполненное с возможностью получать по меньшей мере одного из запроса на доставку для того, чтобы доставлять упакованную посылку, погруженную в мобильный модуль, и запроса на получение посылки для того, чтобы забирать упакованную посылку с помощью мобильного модуля, и средство подачи, выполненное с возможностью подавать в мобильный модуль инструкцию для инструктирования мобильному модулю перемещаться в местоположение, указываемое посредством по меньшей мере одного из запроса на доставку и запроса на забирание. 6 н. и 4 з.п ...

СИСТЕМА УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ И УСТРОЙСТВО УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ ДЛЯ АВТОНОМНОГО ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к системе и устройству управления транспортным средством для автономного транспортного средства. Система управления транспортным средством для автономного транспортного средства содержит первое устройство управления, множество первых датчиков, выполненных с возможностью получения информации о движении транспортного средства и информации об окружающей обстановке транспортного средства, и второе устройство управления. Первое устройство управления выполнено с возможностью формирования первого плана вождения, включающего в себя желательные поперечные позиции на полосе движения или желательные диапазоны поперечных позиций на полосе движения, которые расположены друг за другом в направлении движения транспортного средства. Второе устройство управления выполнено с возможностью обмена данными с первым устройством управления, формирования, на основе первого плана вождения, полученного от первого устройства управления, и информации, полученной посредством первых датчиков, второго ...

ТРАНСПОРТНОЕ СРЕДСТВО

Изобретение относится к транспортному средству с возможностью автономного вождения. Транспортное средство, в котором может быть установлена система автономного вождения, содержит платформу транспортного средства, которая управляет транспортным средством в соответствии с командой системы автономного вождения и интерфейс управления транспортным средством, который осуществляет взаимодействие между платформой транспортного средства и системой автономного вождения. Интерфейс управления транспортным средством передает на систему автономного вождения сигнал, обозначающий направление движения транспортного средства, которое определяется по правилу большинства в связи с направлениями вращения колес. Достигается повышение точности автономного вождения. 3 з.п. ф-лы, 19 ил.

СПОСОБ СОДЕЙСТВИЯ ДВИЖЕНИЮ И УСТРОЙСТВО СОДЕЙСТВИЯ ДВИЖЕНИЮ

Изобретение относится к способу и устройству содействия движению. Способ содействия движению включает в себя этапы, на которых обнаруживают окружение транспортного средства, генерируют первый путь движения на основе окружения и выполняют управление содействием движению транспортного средства на основе первого пути движения, генерируют второй путь движения на основе информации карты вблизи окрестности транспортного средства, определяют, что первый путь движения и второй путь движения имеют сходство, и переключают путь движения, по которому транспортному средству предписывается следовать посредством управления содействием движению, с первого пути движения на второй путь движения, когда первый путь движения и второй путь движения определены как имеющие сходство. Первый и второй пути движения имеют сходство, когда расхождение между ними меньше предварительно определенного порогового значения в точке, имеющей расстояние от транспортного средства, большее или равное расстоянию точки наблюдения ...

СИСТЕМА ИСТОЧНИКА ЭЛЕКТРИЧЕСКОЙ МОЩНОСТИ ДЛЯ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к системе источника электрической мощности для транспортного средства, которое содержит высоковольтный аккумулятор, а также первую, вторую и третью конструкции источников электрической мощности, выполненных с возможностью снабжаться электрической мощностью от высоковольтного аккумулятора. Первая конструкция источника электрической мощности соединена с первой нагрузкой, которая включает в себя систему автоматического вождения, первый DCDC-преобразователь и первый аккумулятор. Вторая конструкция источника электрической мощности соединена со второй нагрузкой, включающей в себя электронный блок управления рулевого управления, электронный блок управления тормоза, второй DCDC-преобразователь, второй аккумулятор и блок обмена информацией, выполненный с возможностью обмена управляющей информацией с системой автоматического вождения. Третья конструкция источника электрической мощности соединена с третьей нагрузкой, включающей в себя электронный блок управления рулевого управления ...

Акустический фазовый пеленгатор

Изобретение относится к робототехнике, а именно к аппаратуре для ориентации транспортных роботов по акустическому сигналу стационарного маяка или маяка ведущего транспортного устройства. Акустический пеленгатор, определяющий направление на источник акустического гармонического сигнала, состоит из образующих две ортогональные измерительные базы трех микрофонов, трех блоков предварительной обработки сигналов, включающих предварительные усилители, полосовые фильтры, усилители-ограничители, инверторы и формирователи коротких импульсов, выпрямителей, схемы сравнения, делителя на два, блока логики, счетчиков, триггеров, параллельных регистров, тактового генератора, микроконтроллера. Техническим результатом пеленгатора является устранение неоднозначности пеленга за счет определения знака фазового сдвига по двум ортогональным базам за счет применения блока логики и триггеров знака, а также снижение погрешности пеленгации за счет выбора таблицы обратных тригонометрических функций из памяти микроконтроллера ...

СЕРВЕРНОЕ УСТРОЙСТВО, ТРАНСПОРТНОЕ СРЕДСТВО, СИСТЕМА ПРЕДОСТАВЛЕНИЯ УСЛУГ И ЭНЕРГОНЕЗАВИСИМЫЙ НОСИТЕЛЬ ИНФОРМАЦИИ ДЛЯ ЗАПИСИ ПРОГРАММЫ

Изобретением раскрыто серверное устройство, транспортное средство, система предоставления услуг и энергонезависимый носитель информации, на котором записана программа. Серверное устройство содержит: средство связи, выполненное с возможностью получения от информационного терминала пользователя информации, относящейся к выбранной пользователем услуге, информации о пакете, относящейся к пакету пользователя, первой информации о местоположении, указывающей местоположение для приема пакета от пользователя, первой информации о времени, указывающей время приема пакета от пользователя, второй информации о местоположении, указывающей местоположение для возврата пакета, и второй информации о времени, указывающей время возврата пакета; и средство распределения, выполненное с возможностью распределения установленного транспортного средства на основании информации о пакете, первой информации о местоположении и первой информации о времени. 4 н. и 8 з.п. ф-лы, 6 ил.

ОПЕРАТИВНОЕ УПРАВЛЕНИЕ АВТОНОМНЫМ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к оперативному управлению автономным транспортным средством. Способ оперативного управления автономным транспортным средством при перемещении по сети движения транспортных средств содержит этап, на котором осуществляют перемещение посредством автономного транспортного средства по сети движения транспортных средств. Перемещение по сети движения транспортных средств включает в себя этапы, на которых осуществляют работу экземпляра модуля оценки оперативного управления для конкретного сценария, причем экземпляр модуля оценки оперативного управления для конкретного сценария представляет собой экземпляр модуля оценки оперативного управления для конкретного сценария, созданный для отдельного оперативного сценария транспортного средства, принимают возможное действие по управлению транспортным средством от экземпляра модуля оценки оперативного управления для конкретного сценария и осуществляют перемещение по участку сети движения транспортных средств на основе возможного действия ...

СПОСОБ УПРАВЛЕНИЯ ПАРКОВКОЙ И ОБОРУДОВАНИЕ УПРАВЛЕНИЯ ПАРКОВКОЙ

Изобретение относится к системам помощи при парковке транспортным средством. Способ управления парковкой для управления транспортным средством для парковки на основе рабочей команды, полученной изнутри или извне транспортного средства. Способ управления парковкой содержит этапы, на которых выполняют определение того, присутствует или нет пассажир в салоне транспортного средства, и когда выполняется определение того, что пассажир не присутствует в салоне транспортного средства, управляют транспортным средством таким образом, что время операции парковки сокращается по сравнению с тем, когда выполняется определение того, что пассажир присутствует в салоне транспортного средства. Достигается повышение безопасности парковки транспортного средства. 2 н. и 13 з.п. ф-лы, 14 ил.

ТРАНСПОРТНОЕ СРЕДСТВО, СПОСОБ И МАШИНОЧИТАЕМЫЙ НОСИТЕЛЬ ДЛЯ АВТОНОМНОЙ ПАРКОВКИ ТРАНСПОРТНЫХ СРЕДСТВ НА МЕСТАХ ДЛЯ ПЕРПЕНДИКУЛЯРНОЙ ПАРКОВКИ

СПОСОБ И СИСТЕМА ДЛЯ ВИРТУАЛЬНОГО ПУТИ ДЛЯ РУЛЕНИЯ

СИСТЕМА РАЗВЕРТЫВАНИЯ АВТОМОБИЛЬНОГО БЕСПИЛОТНОГО АППАРАТА

МАШИНА ДЛЯ ОЧИСТКИ ПОЛА

УПРАВЛЕНИЕ ЧЕЛОВЕКО-МАШИННЫМ ИНТЕРФЕЙСОМ ТРАНСПОРТНОГО СРЕДСТВА

VERFAHREN UND VORRICHTUNG ZUM ÜBERWACHEN EINES AUTONOMEN FAHRZEUGS

Ein autonomes Fahrzeugsteuerungssystem beinhaltet ein Wahrnehmungsmodul eines Raumüberwachungssystems beinhaltet, das zum Überwachen einer räumlichen Umgebung in der Nähe des autonomen Fahrzeugs angeordnet sind. Ein Verfahren zum Bewerten des fahrdynamischen Betriebs beinhaltet das Bestimmen einer gewünschten Trajektorie für das autonome Fahrzeug, worin die gewünschte Trajektorie gewünschte Fahrzeugpositionen einschließlich einer x-Position, einer y-Position und einer Richtung beinhaltet. Fahrzeugsteuerbefehle werden basierend auf der gewünschten Trajektorie ermittelt und beinhalten einen befohlenen Lenkwinkel, einen Beschleunigungsbefehl und einen Bremsbefehl. Es werden die tatsächlichen Fahrzeugzustände ermittelt, die auf die Steuerbefehle des Fahrzeugs reagieren. Eine geschätzte Trajektorie wird basierend auf den tatsächlichen Fahrzeugzuständen und ein Trajektorienfehler basierend auf einer Differenz zwischen der gewünschten Trajektorie und der geschätzten Trajektorie bestimmt. Der Trajektorienfehler ...

Vorrichtung und Verfahren zum Bestimmen einer Kehrtwendestrategie eines autonomen Fahrzeugs

Eine Vorrichtung und ein Verfahren zum Bestimmen einer Kehrtwende-Strategie eines Fahrzeugs zum autonomen Fahren sind offenbart. Die Vorrichtung zum Bestimmen einer Kehrtwende-Strategie eines Fahrzeugs zum autonomen Fahren enthält eine Lernvorrichtung, die eine Kehrtwende-Strategie für jede Situation durch Unterteilen von Situationsinformationen, die bei einer Kehrtwende des Fahrzeugs zum autonomen Fahren zu berücksichtigen sind, in Gruppen lernt, und eine Steuerung, die die Kehrtwende-Strategie des Fahrzeugs zum autonomen Fahren basierend auf der durch die Lernvorrichtung gelernten Kehrtwende-Strategie für jede Situation bestimmt.

FAHRUNTERSTÜTZUNGSVORRICHTUNG, FAHRUNTERSTÜTZUNGSSYSTEM, FAHRUNTERSTÜTZUNGSVERFAHREN, FAHRUNTERSTÜTZUNGSPROGRAMM, UND AUTOMATISCH ANGETRIEBENES FAHRZEUG

Ein Fahrer kann intuitiv und bequem eine Bedienung zum Anweisen eines Fahrspurwechsels an einem Fahrzeug durchführen. In einer Fahrunterstützungsvorrichtung (10) gibt eine Bildausgabeeinheit (14) ein Bild, welches ein eigenes Fahrzeugobjekt, welches ein eigenes Fahrzeug zeigt, und eine Vielzahl von Fahrspuren umfasst, an eine Anzeigeeinheit (31) aus. Eine Bedienungssignaleingabeeinheit (14) erhält eine Bedienung eines Benutzers zum Bewegen des eigenen Fahrzeugobjekts in dem auf der Anzeigeeinheit (31) angezeigten Bild von einer ersten Fahrspur zu einer zweiten Fahrspur. Eine Befehlsausgabeeinheit (14) gibt an eine automatische Fahrsteuereinheit 20, welche das automatische Fahren steuert, einen Befehl zum Anweisen eines Wechsels einer Fahrspur des eigenen Fahrzeugs von der ersten Fahrspur zu der zweiten Fahrspur aus., wenn die Bedienung erhalten worden ist.

INTELLIGENTES HALTERUNGSSYSTEM UND -VERFAHREN

Es werden Systeme und Verfahren zur Bestimmung und Korrektur von autonomen Transportungleichgewichten bereitgestellt. Ein Transportfahrzeug wird auf einer Strecke betrieben. Eine Halterungsplatte ist über eine Verbindung mit dem Transportfahrzeug gekoppelt, um eine Nutzlast zu tragen. Ein Sensor bestimmt die Position der Verbindung. Eine Steuerung modifiziert den Betrieb des Transportfahrzeugs als Reaktion auf eine Änderung der Position des Gelenks, um Ungleichgewichte zu korrigieren.

Konzept zum Generieren für Parkraum für Fahrzeuge

Die Erfindung betrifft ein Verfahren zum Generieren von Parkraum für Fahrzeuge, umfassend die folgenden Schritte:- Ermitteln, ob ein Bedarf für einen Parkraum für Fahrzeuge innerhalb eines eine Fahrbahn umfassenden geographischen Gebiets besteht,- bei Bedarf für einen Parkraum Ermitteln, ob ein Seitenbereich der Fahrbahn zur Verwendung als Parkraum festgelegt werden kann,- wenn ja, Festlegen des Seitenbereichs der Fahrbahn zur Verwendung als Parkraum und- Signalisieren, dass der festgelegte Seitenbereich zum Parken für Fahrzeuge freigegeben ist.Die Erfindung betrifft ferner ein System zum Generieren von Parkraum für Fahrzeuge sowie ein Computerprogramm.

Autonomes Abschleppen von Fahrzeugen

Ein Computer beinhaltet einen Prozessor und einen Speicher, der Anweisungen speichert, die durch den Prozessor ausführbar sind, sodass der Computer zu Folgendem programmiert ist: Anweisen, dass ein Host-Fahrzeug einem Führungsfahrzeug folgt; Überwachen des Fahrverhaltens des Führungsfahrzeugs; und Anweisen, dass das Host-Fahrzeug aufhört, dem Führungsfahrzeug zu folgen, auf Grundlage einer anormalen Fahrhandlung des Führungsfahrzeugs.

Verfahren zum Führen eines Geländefahrzeugs entlang eines kurvenförmigen Weges

Während ein Geländefahrzeug von einem Bediener gefahren einen kurvenförmigen Weg abfährt, bestimmt ein Datenprozessor gemäß einem Kleinste-Quadrate-Algorithmus oder einem modifizierten Kleinste-Quadrate-Algorithmus eine Fehlerschätzung zwischen den Punkten auf dem kurvenförmigen Weg und einem allgemein kreisförmigen Umfang um einen geschätzten Mittelpunkt entsprechend der Ausrichtung des kurvenförmigen Weges zu dem allgemein kreisförmigen Umfang. Der Datenprozessor oder die Benutzerschnittstelle stellt einen Indikator für einen Bediener des Fahrzeugs bereit, der angibt, dass eine Bogenlänge oder eine Winkelverschiebung des kurvenförmigen Weges in Bezug auf den geschätzten Mittelpunkt ausreichend ist, um den geschätzten Mittelpunkt und den Radius des allgemein kreisförmigen Umfangs genau zu schätzen, falls die bestimmte Fehlerschätzung kleiner als ein Fehlerschwellwert ist.

Autonome Fahrzeugantriebssysteme und Verfahren für kritische Zustände

Ein Verfahren zum autonomen Betreiben eines Fahrzeugs ist vorgesehen. Das Verfahren beinhaltet das Empfangen von mindestens Fahrzeugzustandsdaten und Fahrzeugobjekt-Umgebungsdaten an einem Prozessor; Erzeugen, mit dem Prozessor, eines optimalen Wegs für das Fahrzeug mit einer Kostenfunktion basierend auf den Fahrzeugzustandsdaten und den Fahrzeugobjekt-Umgebungsdaten; Identifizieren mindestens einer kritischen Zustandsbeschränkung basierend auf mindestens einem des Fahrzeugs oder der Fahrzeugumgebung mit dem Prozessor; Modifizieren mindestens eines ersten Abschnitts des optimalen Wegs mit dem Prozessor basierend auf der mindestens einen kritischen Bedingung, um einen kurzreichweitigen Trajektorienabschnitt zu erhalten; Erzeugen einer resultierenden Trajektorie mit dem kurzreichweitigen Trajektorienabschnitt; und Implementieren der resultierenden Trajektorie am Fahrzeug.

FAHRZEUGWEGIDENTIFIKATION

Diese Offenbarung stellt eine Fahrzeugwegidentifikation bereit. Eine Zielposition kann aus einem Satz von Punkten, die eine Straße definieren, ausgewählt werden. Ein Weg kann aus einer Vielzahl von möglichen Wegen zu der Zielposition von einer aktuellen Fahrzeugposition außerhalb des Satzes von Punkten basierend auf einer Weglänge, einem Kollisionsrisiko, einer Krümmung des Weges und einem Verkehrszustand auf der Straße ausgewählt werden. Das Fahrzeug kann gemäß dem ausgewählten Weg navigiert werden.

STEUERUNGSSYSTEME, STEUERUNGSVERFAHREN UND STEUERUNGEN FÜR EIN AUTONOMES FAHRZEUG

Es sind Systeme und Verfahren zum Steuern eines autonomen Fahrzeugs (AV) vorgesehen. Ein Kartengeneratormodul verarbeitet Sensordaten, um eine Weltdarstellung eines bestimmten Fahrszenarios (PDS) zu erzeugen. Ein Szenenverständnismodul (SUM) verarbeitet Navigationsroutendaten, Positionsdaten und eine Merkmalskarte zum Definieren einer autonomen Fahraufgabe (ADT) und zerlegt das ADT in eine Folge von Teilaufgaben. Die SUMME wählt eine bestimmte Kombination von sensomotorischen Primitivmodulen (SPMs) aus, die für das PDS aktiviert und ausgeführt werden sollen. Jedes der SPMs behandelt eine Teilaufgabe in der Folge. Ein Primitivprozessormodul führt die jeweilige Kombination der SPMs so aus, dass jedes ein Fahrzeugtrajektorie- und Geschwindigkeitsprofil (VTS) erzeugt. Ein ausgewähltes der VTS-Profile wird dann verarbeitet, um die Steuersignale zu erzeugen, die dann an einer Low-Level-Steuerung verarbeitet werden, um Befehle zu erzeugen, die eines oder mehrere der Stellglieder des AV steuern ...

Apparatus and method for controling a process

Systems, methods, and drives for fusion of predicted path attributes and drive history

Providing path attributes to controllers in a vehicle includes determining a most probable path for a vehicle, 602. Attributed predicted path attributes are obtained based on a map data 604 and drive history path attributes are obtained based on a drive history 606. Combined path attributes are then generated based on the path attributes from the attributed predicted path and the path attributes from the drive history, 608. The combined path attributes are then provided to one or more controllers, 610. The controllers may include adaptive cruise control, energy management control, curve warning, headlight control, lane departure warning, hill powertrain optimisation, driver notification, driver assistance and/or automated driving.

Control architectures for autonomous vehicles

A system for controlling an autonomous vehicle comprising; determining a control scenario (1802) in accordance with a determination that the scenario meets either a first, second or third set of conditions (1804). Dependent on which set of conditions is met a first group of control components, a second set of control components or a third set of control components made up of the firs and second sets is selected (1806, 1812 & 1818). Based on which set of components is selected a set of steering and speed commands are produced (1808, 1814 & 1820) and these commands are used to navigate the vehicle (1810, 1816 & 1822). The system may operate dynamically or with a static scenario and use different frequencies of steering data.

Autonomous vehicle towing

Enhanced vehicle operation

Trajectory planning of vehicles using route information

A method comprising receiving (706, 708, fig 7A) information indicating a presence of an object operating in an environment; determining (712) a trajectory representative a future travel of the object, the trajectory including at least a position, a speed, and a direction of the future travel of the object; determining (722) an expected route of the object, wherein the expected route is pre-planned and includes an expected future position of the object at a future time; comparing 726 the trajectory of the object to the expected route of the object; and in accordance with the comparison that the trajectory of the object is inconsistent with the expected route of the object, updating 736 the trajectory of the object based on decreasing 734 an emphasis of the expected route of the object ...

Motion control of a motion device

A method for generating182 a trajectory to control the movement of a motion device such as a load handling device (130, Fig 6) associated with a grid framework storage framework structure (1, Fig 1). The method involves (i) receiving a trajectory specification comprising a commanded position, (ii) receiving at least one jerk constraint 188d and (iii) using at least one of the jerk constraints to generate a sequence of one or more trajectory segments. Maximum velocity 118a, acceleration 188b, deceleration 188c are also constraints 188 which feed into generator 182. Each trajectory segment is respective portions of the trajectory prescribing at least one jerk reference, an acceleration reference, a velocity reference, and a position reference as a function of time (motion profile 194); and each generated by applying a velocity transition algorithm which computes a peak acceleration as a function of the velocity delta. Any difference between final velocity and the reference thereof, defines ...

Scoring autonomous vehicle trajectories using reasonable crowd data

MOBILE DEVICE AND TAX PROCEDURE FOR IT

Interaktives System

Die Erfindung betrifft ein interaktives System an einer Fahrbahn, insbesondere einer Rennstrecke (3), für personengesteuerte Fahrzeuge, wobei in zumindest einem Bereich der Fahrbahn zumindest ein virtuelles Element dargestellt ist.

Fault tolerant method and apparatus for control of an autonomous technical installation based on a consolidated environmental model

Die vorliegende Erfindung beschreibt ein innovatives Verfahren wie ein komplexes elektronisches System zur Steuerung eines sicherheitskritischen technischen Prozesses, z.B. die Führung eines autonomen Fahrzeugs, realisiert werden kann. Es wird zwischen einfacher und komplexer Software unterschieden, wobei die einfache Software auf einer fehlertoleranten Hardware ausgeführt wird und wo mehrere diversitäre Versionen der komplexen Software gleichzeitig auf unabhängigen Fault-Containment Units (FCU) ausgeführt werden. Aus einer Anzahl von diversitären Umweltmodellen wird ein konsolidiertes Umweltmodell entwickelt dass die Grundlage für die Trajektorenplanung darstellt.

EQUIPMENT FOR AUTOMATIC DRIVING

PROCEDURE FOR THE GENERATION OF COUPLING COURSES, USABLE FOR THE GUIDANCE OF A VEHICLE FOR A GIVEN GOAL COURSE

Autonomous vehicle control using submaps

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

Work machine control system, work machine, and work machine control method

The purpose of the present invention is to suppress reductions to the accuracy of position estimation for a work machine, even in cases in which map data and detected data from a non-contact sensor do not properly match. This work machine control system comprises: a position sensor (31) which detects the position of a work machine (2) traveling on a travel path (HL); a first non-contact sensor (32) and a second non-contact sensor (33) which are provided to the work machine and detect the positions of objects around the work machine (2); a map data creation unit (11) which creates map data on the basis of detected data from the position sensor (31) and detected data from the first non-contact sensor (32); a first position calculation unit (13) which calculates a first position for the work machine (2) by comparing the map data and the detected data from the first non-contact sensor (32); a second position calculation unit (14) which calculates a second position for the work machine (2) on ...

Communications for autonomous vehicles

Aspects of the disclosure provide a method of facilitating communications from an autonomous vehicle (100) to a user. For instance, a method may include, while attempting to pick up the user and prior to the user entering an vehicle, inputting a current location of the vehicle and map information (200) into a model in order to identify a type of communication action for communicating a location of the vehicle to the user; enabling a first communication based on the type of the communication action; determining whether the user has responded to the first communication from received sensor data; and enabling a second communication based on the determination of whether the user has responded to the communication.

Self-driving-golf-cart driving path central controlling device

Disclosed is a self-driving-golf-cart driving path central controlling device comprising a self-driving-golf-cart driving path determining module, a self-driving-golf-cart driving path excluding module and a central controlling module, the self-driving-golf-cart driving path central controlling device determines, from a plurality of self-driving-golf-cart driving paths, an individual self-driving-golf-cart driving path for each self-driving-golf-cart and controls each self-driving-golf-cart to drive, in a self-driving manner, on the individual self-driving-golf-cart driving path which is determined for said each self-driving golf-cart. Cdo CTa o.6. {.e o o e - p - - ...

Work machine management apparatus

A work machine management method includes: setting a plurality of switchback points of a work machine for a single loading point in a work place of a mine; setting at least one work point of the work machine in the work place; generating a plurality of target travel tracks along which the work machine travels in the work place, each of the plurality of target travel tracks connecting a position of the at least one work point and a position of each of the plurality of switchback points; and selecting, among the plurality of target travel tracks, a target travel track along which the work machine travels in the work place.

Methods and apparatus to control vehicle steering

Methods, apparatus, systems and articles of manufacture are disclosed that control vehicle steering. An example apparatus includes: a path acquisition interface configured to obtain, via a user interface a sampling interval; and a controller configured to, during acquisition mode: determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of the front wheel; and cause, utilizing the steering angle, a global navigation satellite system (GNSS) receiver to travel from a first position to a second position, the GNSS receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by the sampling interval. - 88- ...

Determining pickup and destination locations for autonomous vehicles

DETERMINING PICKUP AND DESTINATION LOCATIONS FOR AUTONOMOUS VEHICLES A system comprising: memory (104) storing detailed map information (300) identifying a plurality of predetermined locations where a vehicle is able to pick up or drop off passengers; and one or more server computers (110) each having one or more processors, the one or more server computers (110) being configured to: receive a request from a client computing device, the request identifying a first location; select a set of one or more suggested locations by: comparing the plurality of predetermined locations to the first location; identifying predetermined locations of the plurality of predetermined locations that are within a threshold distance of the first location; and scoring by assigning a value to each of the identified predetermined locations based on logistical constraints a person or autonomous vehicle encounters in reaching the predetermined locations from the first location; and provide the set of one or more ...

A Multi-sensor Data Fusion Based Vehicle Cruise System and Method

The invention discloses a multi-sensor data fusion-based vehicle cruise system and a method, relating to the field of vehicle safety. A vehicle cruise system and method, using multi-sensors to sense the environment, and re-characterizing the information of different sensors in order to realize high-level nonlinear data fusion, using the fused data to build a local 3D map to assist decision-making, can achieve the system's depth perception of the driving environment and realize good self adaptation and decision-making. In addition, the invention can identify the types of obstacles, make more effective decision feedback for obstacles with higher danger degree, and improve the real-time decision and flexibility of the vehicle cruise system. The multi-sensor data fusion-based vehicle cruise system and the method provided by the invention have the strong comprehensive capability of situation awareness to perceive obstacles around the vehicle, strong strain flexibility to obstacles, diversified ...

Operator assistance for autonomous vehicles

Disclosed are autonomous vehicles that may autonomously navigate at least a portion of a route defined by a service request allocator. The autonomous vehicle may, at a certain portion of the route, request remote assistance. In response to the request, an operator may provide input to a console that indicates control positions for one or more vehicle controls such as steering position, brake position, and/or accelerator position. A command is sent to the autonomous vehicle indicating how the vehicle should proceed along the route. When the vehicle reaches a location where remote assistance is no longer required, the autonomous vehicle is released from manual control and may then continue executing the route under autonomous control.

Control system for work vehicle, method for setting trajectory of work machine, and work vehicle

This control system for a work vehicle is provided with a controller. The controller acquires current topography data indicating the current surface of an area to be worked. The controller displaces a target design surface in the vertical direction using the current surface as a reference.

Flight control method and apparatus for unmanned aerial vehicle, and remote controller

A flight control method and apparatus for an unmanned aerial vehicle, and a remote controller. The method comprises: acquiring, from a remote controller, a plurality of pieces of positioning data obtained through performing a positioning operation (201); according to the plurality of pieces of positioning data, determining a plurality of target locations (202); according to the plurality of target locations, calculating a flight route (203); and sending the flight route to an unmanned aerial vehicle so same flies according to the flight route (204). In this method, there is no need to carry a plurality of sets of devices, thereby reducing hardware costs. Since a remote control device is integrated with a surveying and mapping function, there is no need to carry various devices, and there is also no need to exchange data between various devices, thereby improving the simplicity and convenience of operations, and improving the operation efficiency of an unmanned aerial vehicle. In addition ...

Autonomous vehicles

Aspects of the present disclosure relate to a vehicle 100 for maneuvering a passenger to a destination autonomously. The vehicle 100 includes one or more computing devices 110 and a set of user input buttons 612, 614 for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button 612 different from the dual-purpose button 614 configured to stop the vehicle. The dual-purpose button 614 has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

Autonomous vehicles

Aspects of the present disclosure relate to a vehicle 100 for maneuvering a passenger to a destination autonomously. The vehicle 100 includes one or more computing devices 110 and a set of user input buttons 612, 614 for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button 612 different from the dual-purpose button 614 configured to stop the vehicle. The dual-purpose button 614 has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

Methods and systems for clearing sensor occlusions

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

Control system for work vehicle, method for setting trajectory of work implement, and work vehicle

GUIN I KUL OYO I -IVI I-UK VVUI\ V MI L-, IVI1-U -UK OI- I IINIO TRAJECTORY OF WORK IMPLEMENT, AND WORK VEHICLE A control system for a work vehicle includes a controller. The controller acquires the travel direction of the work vehicle. The controller acquires current terrain data indicating the current 5 terrain existing in the travel direction of the work vehicle. The controller decides a target profile of the work site based on the current terrain data. The controller generates a command signal for operating a work implement according to the target profile. The controller updates the travel direction of the work vehicle. The controller updates the target profile based on the updated travel direction. [0 ...

RIDER-CONTROLLED TRACKLESS RIDE SYSTEM

A trackless vehicle may be dispatched in a ride path comprising a predefined path and a set of optional predefined paths by receiving, such as by an on-board trackless vehicle controller, a rider identifier associated with a rider who is associated with the trackless vehicle, either a rider about to board the trackless vehicle or a rider who has boarded the trackless vehicle. Upon receipt, identification, and validation of the rider identifier, a predetermined set of optional predefined paths available to and associated with the validated rider identifier are identified and one or more of the predefined paths are selected, with the trackless vehicle being commanded to proceed onto the selected predefined path. Page 17 of 17 ...

DEFINITION OF DATA REQUIRED FOR AUTOMATIC CONTROL OF MOBILE MINING MACHINE

The present invention relates to a method for defining an environment model and route for the purpose of arranging automatic control of a mobile mining machine.In the method, an initialisation point is defined for the definition of the environment model in a first area. Data for the environment model are defined on the basis of first location data, when driving the mining machine from the first area to a second area, the first location data being relative to said initialisation point. Data for route points of the route are defined by using at least some of the environment model data and second location data obtained when driving the mining machine between the second and first areas, the second location data being relative to said initialisation point. The data defining the route are stored for use in automatically controlling the mining machine.

SYSTEMS AND METHODS FOR CALIBRATION OF A POSE OF A SENSOR RELATIVE TO A MATERIALS HANDLING VEHICLE

Methods and systems for a materials handling vehicle comprising a processor and a sensor to record warehouse features. The processor is configured to generate and extract features from sensor data, create a factor graph (FG) including a sensor extrinsics node (e0), and generate an initial vehicle node (v0), initial sensor frame node (c0), and initial sensor feature node (f0) that comprises a selected extracted feature associated with c0 and v0 in an initial data association. A subsequent vehicle node (v1) is generated based on an accumulated odometry amount, and a subsequent sensor frame node (c1) is generated and associated with e0, v1, and one of f0 or a subsequent sensor feature node (f1) in a subsequent data association. The FG is optimized to provide a sensor calibration output based on the data associations, and the vehicle is navigated based on the sensor calibration output.

PERFORMANCE ARENA FOR ROBOTS WITH POSITION LOCATION SYSTEM

The present invention relates to a method and apparatus to determine the position of an image sensor relative to a predetermined continuous pattern of colors and/or objects based on the images said patterns of colors and/or objects produces within the image sensor.

AUTONOMOUS VEHICLE FOR PUSHING FEED, METHODS AND SYSTEMS THEREOF

VEHICLE TRACKING

The present invention relates to a method and system for accurately predicting future trajectories of observed objects in dense and ever-changing city environments. More particularly, the present invention relates to the use of prior trajectories extracted from mapping data to estimate the future movement of an observed object. As an example, an observed object may be a moving vehicle. Aspects and/or embodiments seek to provide a method and system for predicting future movements of a newly observed object, such as a vehicle, using motion prior data extracted from map data.

METHOD AND SYSTEM FOR CONTROLLING COMMUNICATION OF A MINING AND/OR CONSTRUCTION MACHINE

The present invention relates to a method for 1 for controlling transmission of data in a data communication network (220), the transmission of data being a transmission of data between a mining and/or construction machine (100) and a network node (210) of said data communication network (220), said transmission of data being carried out at least partly over a wireless communication link (208). The method comprises: - estimating a measure of the communication capacity of said wireless link (208), the estimation being based at least partly on a round-trip time of a transmission over said wireless communication link (208), and - adapting the data transmission load of said mining and/or construction machine (100) on the wireless communication link (208) on the basis of said measure. The invention also relates to a system and a mining and/or construction machine (100).

SPARSE MAP FOR AUTONOMOUS VEHICLE NAVIGATION

NAVIGATION USING PLANNED ROBOT TRAVEL PATHS

A method for generating a navigation map of an environment in which a plurality of robots will navigate, includes obtaining an image of the environment defined by a plurality of pixels, each having a cost value. The environment includes an image of a fixed object having a set of pixels corresponding to its location and having a first defined cost value. The method includes obtaining a planned path image for the robots, which include a first set of pixels corresponding to the location of each robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel toward a destination. The first set of pixels of each robot having the first defined cost value and the second set of pixels having a second defined cost value. The second defined cost value is less than the first defined cost value.

INTENTION SIGNALING FOR AN AUTONOMOUS VEHICLE

An intention signaling system for an autonomous vehicle (AV) can monitor sensor information indicating a situational environment of the AV, and detect an external entity based, at least in part, on the sensor data. The intention signaling system can generate an output to signal one of an intent of the AV or an acquiescence of the AV to the external entity.

AUTONOMOUS VEHICLE CONTROL USING SUBMAPS

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

DETERMINING DRIVABILITY OF OBJECTS FOR AUTONOMOUS VEHICLES

Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle 100. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.

VEHICLE TRAVEL CONTROL METHOD AND TRAVEL CONTROL DEVICE

A vehicle travel control method in which a target trajectory (OP) along which an own vehicle (V) should travel is detected and the own vehicle is made to automatically travel along the detected target trajectory, wherein a forward observation point distance from the own vehicle to a forward observation point is tentatively set in accordance with at least travel lane information, an own vehicle travel trajectory is estimated in which the own vehicle conforms to the target trajectory at the forward observation point when the own vehicle is presumed to have traveled the tentatively set forward observation point distance, the maximum value (?dmax), from the current location of the own vehicle to the forward observation point, of the lateral displacement between the estimated own vehicle travel trajectory and the target trajectory is detected, and a forward observation point distance by which the maximum value of the lateral displacement is less than or equal to a prescribed value (D) is officially ...

APPARATUS AND METHODS FOR VEHICLE STEERING TO FOLLOW A CURVED PATH

Methods, apparatus, systems and articles of manufacture are disclosed for vehicle steering to follow a curved path. An example vehicle disclosed herein includes a front axle, a rear axle, a location sensor, and a tracking mode controller to determine a wheel steering angle based on a turn center location corresponding to a navigation curve and one or more measurements between the turn center location and the vehicle, determine a heading error offset adjustment based on the turn center location and the one or more measurements between the turn center location and the vehicle, and cause the vehicle to move along the navigation curve based on the wheel steering angle and the heading error offset adjustment.

CAMERA SYSTEMS USING FILTERS AND EXPOSURE TIMES TO DETECT FLICKERING ILLUMINATED OBJECTS

The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle 100 in order to capture images of the vehicle's environment. The first camera 300 has a first exposure time and being without an ND filter. The system also includes a second camera 350 mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

AUTOMATED LOADING OF DELIVERY VEHICLES USING AUTOMATED GUIDED VEHICLES

A system and method for automated loading of delivery vehicles using automated guided vehicles is described. In an example implementation, a loading coordination engine may determine a delivery destination of a first item based on item data associated with the first item, assign the first item to a location in a delivery vehicle, and generate a task list including an instruction to an automated guided vehicle to position the first item in the delivery vehicle based on the assigned location in the delivery vehicle. In some instances, the automated guided vehicle may navigate to a loading area to retrieve the first item from the loading area, navigate to a point proximate to the assigned location in the delivery vehicle, and place the first item at the assigned location based on the task list.

AUTONOMOUS VEHICLE OPERATIONAL MANAGEMENT

Autonomous vehicle operational management may include traversing, by an autonomous vehicle, a vehicle transportation network. Traversing the vehicle transportation network may include generating an autonomous vehicle operational control environment for operating scenario-specific operational control evaluation module instances. A scenario-specific operational control evaluation module instance may be an instance of a respective scenario-specific operational control evaluation module. A scenario-specific operational control evaluation module may model a respective distinct vehicle operational scenario. A scenario-specific operational control evaluation module instance may generate a respective candidate vehicle control action responsive to the respective corresponding distinct vehicle operational scenario. Traversing the vehicle transportation network may include operating a scenario-specific operational control evaluation module instance, receiving a first candidate vehicle control action ...

CONTROL SYSTEM FOR WORK MACHINE, WORK MACHINE, AND CONTROL METHOD FOR WORK MACHINE

A control system for a work machine includes a non-contact sensor, a position output device, a correction position calculation unit, and a control device. The non-contact sensor detects a periphery of a work machine. The position output device determines a position of the work machine based on at least a detection result of the non-contact sensor, and outputs information of the position. The correction position calculation unit corrects the position determined by the position output device based on delay time including at least a delay in communication with the position output device. The control device generates a command for controlling the work machine using the corrected position corrected by the correction position calculation unit.

CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION

A controller for providing user input of a desired direction of motion or orientation for a transporter The controller has an input for receiving specification by a user of a value based on a detected body orientation of the user. User-specified input may be conveyed by the user using any of a large variety of input modalities, including: ultrasonic body position sensing; foot force sensing; handlebar lean; active handlebar; mechanical sensing of body position; and linear slide directional input. An apparatus that may include an active handlebar is provided for prompting a rider to be positioned on a vehicle in such a mariner as to reduce lateral instability due to lateral acceleration of the vehicle.

MOBILE ROBOTIC SYSTEM

A mobile robotic system may include an automated guided vehicle, and a floor assembly including a support surface and a reconfigurable pathway, wherein the automated guided vehicle is configured to travel on the support surface and follow the reconfigurable pathway.

APPARATUS AND METHOD FOR NAVIGATION CONTROL

Described herein are an apparatus and a method for controlling movement of a vehicle along a transportation path. The method includes receiving, by circuitry of an information processing apparatus, first marker information that is generated based on a first marker being detected by the vehicle, wherein the first marker being one of a plurality of markers located at predetermined positions. The circuitry further determines a second marker of the plurality of markers to which the vehicle is to be moved from the first marker and thereafter generates first control information to control movement of the vehicle from the first marker to the second marker based on the first marker information and predetermined navigation information associated with the first marker, wherein the predetermined navigation information indicates the location of the second marker relative to the first marker. The circuitry further transmits the first control information to the vehicle.

INDUSTRIAL VEHICLE COMPRISING TAG READER AND READER MODULE

According to one embodiment of the present disclosure, an industrial vehicle is provided comprising industrial vehicle hardware, a user interface, tag reader, reader module, and vehicle controller. The tag reader and the reader module cooperate to identify individual tags of a tag layout comprising a plurality of zone identification tags and a plurality of zone tags. Each zone identification tag occupies a position in the tag layout that corresponds to a unique set of zone tags. Each unique set of zone tags comprises a plurality of zone tags. The reader module discriminates between the plurality of zone identification tags and the plurality of zone tags identified in the tag layout, correlates an identified zone identification tag with a unique set of zone tags, and correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both.

METHOD AND APPARATUS FOR EFFICIENT SCHEDULING FOR MULTIPLE AUTOMATED NON-HOLONOMIC VEHICLES USING A COORDINATED PATH PLANNER

A method for coordinating path planning for one or more automated vehicles is described, including querying an online path planner for possible solutions for at least one executable task for each of the one or more automated vehicles, examining the results of the query, deciding a coordinated path plan for each vehicle, and communicating the coordinated path plan to a traffic manager, wherein the traffic manager ensures that the one or more automated vehicles perform each executable task according to the coordinated path plan.

METHOD AND APPARATUS FOR EFFICIENT SCHEDULING FOR MULTIPLE AUTOMATED NON-HOLONOMIC VEHICLES USING A COORDINATED PATH PLANNER

A method for coordinating path planning for one or more automated vehicles is described, including querying an online path planner for possible solutions for at least one executable task for each of the one or more automated vehicles, examining the results of the query, deciding a coordinated path plan for each vehicle, and communicating the coordinated path plan to a traffic manager, wherein the traffic manager ensures that the one or more automated vehicles perform each executable task according to the coordinated path plan.

SYSTEM AND METHOD FOR COORDINATING MOVEMENT OF MOBILE DRIVE UNITS

A system for transporting inventory items, comprising: a plurality of mobile drive units, wherein at least a first mobile drive unit is operable to: receive a command to move in a first direction; initiate movement in a first direction along a path segment; detect an object located on the path segment in the first direction from the first mobile drive unit; determine whether the object comprises a second mobile drive unit moving in the first direction; in response to determining that the object comprises a second mobile drive unit continue movement in the first direction; and in response to determining that the object does not comprise a second mobile drive unit moving in the first direction, terminate movement in the first direction.

SYSTEM AND METHOD FOR TRAJECTORY CONTROL OF A TRANSPORT VEHICLE USED WITH A HARVESTER

Vehicle scheduling device

AUTONOMOUS PARKING METHODS AND SYSTEMS FOR AUTONOMOUS VEHICLES

Moving body

Portable device

Basic station and automatic working system based on differential positioning technique

System provided with an assistance-controller for assisting an operator of the system, control-operation assisting device, control-operation assisting method, driving-operation assisting device, and driving-operation assisting method

A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile S to travel along the target travel path P, and a difference calculating circuit calculates a difference delta between the ideal control magnitude S and a current control magnitude S. An operation system assistance controller controls the operation system based on the magnitude of the calculated difference delta to assist the control operation of the operator, the control-operation-state of the operator, the environment-state, and the required operation-precision. Accordingly, it is possible to provide the operator with control operation assistance that is a function of the magnitude of the difference delta from an ideal control state, the control-operation-state of the operator, the environment-state, and the required operation-precision, and ...

Valet parking method and valet parking system

APPARATUS AND METHOD FOR SITUATION DEPENDENT WHEEL ANGLE CONTROL (HAD OR ADAS)

Travel control device

Method for creating a digital map for an automated vehicle

Sideslip compensated control method for autonomous vehicles

METHOD AND DEVICE FOR DETERMINING A PATH LATERAL AND AN AIRCRAFT FLIGHT MANAGEMENT SYSTEM THEREFOR

METHOD FOR BURNING IN THE CONTROL FOR AN AUTONOMOUS VEHICLE.

브레이크 작동을 위한 주행해야 할 거리의 결정을 포함하여 자동차를 조종하기 위한 방법, 제어 유닛, 운전자 보조 시스템, 및 자동차

... 본 발명은, 자동차(1)를 조종하기 위한 궤적이 결정되고, 해당 궤적을 따라 자동차(1)를 조종하는 동안, 해당 궤적의 전환점까지의 거리를 기술하는 통지 거리(DTH) 및 자동차(1)의 주위(7)에 있는 물체(8)까지의 거리를 기술하는 충돌 거리(DTC)가 결정되고, 통지 거리(DTH) 및 충돌 거리(DTC)에 기초하여, 자동차(1)의 브레이크 시스템의 작동시까지 주행해야 할 거리(R)가 결정되는, 자동차(1)를 조종하기 위한 방법에 관한 것으로서, 통지 거리(DTH)의 시간 곡선에 있어서의 변경에 기초하여, 수정된 통지 거리(DTHk)가 계속적으로 결정되고, 충돌 거리(DTC)의 시간 곡선에 있어서의 변경에 기초하여, 수정된 충돌 거리(DTCk)가 계속적으로 결정되고, 수정된 통지 거리(DTHk) 및 수정된 충돌 거리에 기초하여 주행해야 할 거리(R)가 결정된다.

INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

TRAJECTORY TRACKING CONTROL SYSTEM AND METHOD FOR MOBILE UNIT

A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature. © KIPO & WIPO 2009 ...

Definition of control data for automatic control of mobile mining machine

The present invention relates to a method for arranging automatic control of a mobile mining machine equipped with a bucket. The method comprises generating a general purpose bucket emptying model that defines at least the path of the bucket of the mining machine for emptying it. The bucket emptying model is stored on a memory means. The bucket emptying model is fetched from the memory means in response to a need to define emptying the bucket for the route. At least data defining the path of the bucket in the fetched bucket emptying model are appended to the path data for use in the automatic control of the mining machine.

Sensor system and method for use with an automated guided vehicle (agv)

A sensor system for use with an automated guided vehicle (AGV) includes a plurality of sensor units electronically coupled to a sensor control module via parallel communications. Each sensor unit may include a sensor array having a plurality of sensor elements, a conditioning circuit having one or more filter/amplifiers, and a conversion circuit. The sensor control module may be configured to communicate with other AGV components via serial communications. The sensor system is capable of obtaining and storing sensor readings with or without associated offset values and can use the sensor readings to determine the center of a magnetic field using methods that require relatively little processing power. A method of calibrating the sensor system may include determining and storing offset values for a plurality of sensor elements and may be performed with the sensor system installed or uninstalled to the AGV.

APPARATUS AND METHOD FOR ESTABLISHING ROUTE OF MOVING OBJECT

An apparatus for establishing a route of a moving object, the apparatus including: an information reception unit configured to receive map data from the outside, a global route generation unit configured to generate a global route based on the map data and location information and destination information of a moving object, a surrounding environment sensor unit configured to sense information regarding a surrounding environment of the moving object when the moving object runs, a local route generation unit configured to generate one or more local routes based on the sensed information regarding a surrounding environment, a running unit configured to run the moving object based on the local route, and, when two or more local routes are generated, establish a route of the moving object through matching between the global route and the local routes, and running the moving object. 1. An apparatus for establishing a route of a moving object , the apparatus comprising:an information reception unit configured to receive map data from the outside;a global route generation unit configured to generate a global route based on the map data and location information and destination information of a moving object;a surrounding environment sensor unit configured to sense information regarding a surrounding environment of the moving object when the moving object runs;a local route generation unit configured to generate one or more local routes based on the sensed information regarding a surrounding environment; anda running unit configured to run the moving object based on the local route, and, when two or more local routes are generated, establish a route of the moving object through matching between the global route and the local routes, and running the moving object.2. The apparatus of claim 1 , wherein the local route generation unit generates a local route for avoiding an obstacle based on the sensed information regarding the surrounding environment.3. The apparatus of claim 1 ...

VEHICLE AUTOMATIC STEERING CONTROL APPARATUS

A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. Specifically, when the off-lane obstacles are present on both the left and right sides of the subject lane, the target in-lane ratio is such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or right of the subject lane, the target in-lane ratio is set such that a lateral position away from the off-lane obstacle by a lateral distance set in advance is the target lateral position. 1. A vehicle automatic steering control apparatus , comprising:a lane detecting means for detecting a cruising lane in which an own vehicle is traveling;an off-lane obstacle detecting means for detecting an obstacle positioned outside of the cruising lane, including a vehicle traveling in an adjacent lane;a relative position calculating means for determining a relative position of the off-lane obstacle in relation to the own vehicle;an in-lane ratio calculating means for calculating an in-lane ratio expressing the ratio of distances from both left and right edges of the cruising lane at which the own vehicle should travel based on the relative position of the off-lane obstacle;a traveling trajectory calculating means for calculating an expected traveling trajectory on which the own vehicle should travel based on the in-lane ratio; andan automatic steering means for performing steering control such that the vehicle travels in adherence to the expected traveling trajectory determined by the travelling trajectory calculating means.2. The vehicle automatic steering control ...

System and Method for Coordinating Movement of Mobile Drive Units

A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.

SENSOR DATA PROCESSING

Apparatus for and method of processing sensor data for the purpose of navigating a vehicle (for example an autonomous or semi-autonomous vehicle), the sensor data being from a sensor (for example a camera) mounted on the vehicle. The method can include can include: for a number of time-steps, measuring a value of a parameter of a scene using the sensor to produce a sequence of images of the scene; determining a value of one or more image quality metrics (for example, spatial entropy and spatial information) in each image in the sequence; and identifying as either valid or invalid, a sub-sequence of images in the sequence based on the determined metric values. 1. A method of processing sensor data for navigating a vehicle , the sensor data being from a sensor mounted on a vehicle , the method comprising:for a number of time-steps, measuring a value of a parameter of a scene using the sensor to produce a sequence of images of the scene;determining a metric value of one or more image quality metrics in each image in the sequence; andidentifying as either valid or invalid, a sub-sequence of images in the sequence based on the determined metric values.2. A method according to claim 1 , in combination with guidance of a vehicle which is an autonomous vehicle claim 1 , or a semi-autonomous vehicle.3. A method according to comprising:performing a perception process for the autonomous vehicle in which image sub-sequences identified as valid are treated differently to image sub-sequences identified as invalid.4. A method according to claim 1 , wherein the identifying as either valid or invalid claim 1 , a sub-sequence of images in the sequence based on the determined metric values claim 1 , comprises:identifying as either valid or invalid, a sub-sequence of images in the sequence based on an evolution of the determined metric values within that sub-sequence.5. A method according to claim 1 , wherein the one or more image quality metric values comprise more than one different ...

SYSTEM AND METHOD FOR TRAJECTORY CONTROL OF A TRANSPORT VEHICLE USED WITH A HARVESTER

A control system and method is provided to control the trajectory of a transport vehicle () to follow the trajectory of a harvester (). The harvester can send control information such as the harvester's current position and future position waypoints to the transport vehicle. The control system can then use the information from the harvester to determine the trajectory for the transport vehicle. 1. A method for controlling a trajectory of a transport vehicle during an unload on the go operation with a harvester , the method comprising:operating a harvester along an unknown travel path;measuring a position and velocity for the harvester;measuring a position and velocity for the transport vehicle;determining an unload tube position for the harvester;calculating future waypoints for the harvester using the measured position and velocity for the harvester;calculating a trajectory for a transport vehicle using the calculated future waypoints, the determined unload tube position, the measured position and velocity of the transport vehicle, and the measured position and velocity of the harvester; andcontrolling the transport vehicle to follow the calculated trajectory with commands from a controller.2. The method of wherein said calculating future waypoints comprises:measuring a yaw rate for the harvester;calculating a predicted path for the harvester using the measured yaw rate and the measured position and velocity for the harvester;receiving a predetermine distance interval and a predetermined number of waypoints; andcalculating the future waypoints using the calculated predicted path, the predetermined distance interval and the predetermined number of waypoints.3. The method of wherein said calculating a predicted path comprises:generating an arc passing through the current position for the harvester and being tangent to a current velocity direction for the harvester, the generated arc having a radius corresponding to a calculated turning radius of the harvester and a ...

Zone driving

A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

DRIVING SYSTEM OF UNMANNED VEHICLE AND DRIVING PATH GENERATION METHOD

Based on initial position information on an instructed fixed switch-back point and position information on a loading point, a relative positional relationship between the loading point and the switch-back point is generated. If the position of the loading point moves, then based on position information on the position- moved loading point, information on a direction of an unmanned vehicle at the loading point and information on a relative positional relationship, a new switch-back point is set at a position where the relative positional relationship can be maintained. When the initial position of the switch-back point is instructed, then on the basis of the initial position information on the switch-back point, a driving path leading to the loading point via the instructed switch-back point is generated and, when the position of the loading point moves, a driving path leading to the position-moved loading point via the new switch-back point is generated. 1. A driving system of an unmanned vehicle , which generates a driving path for the unmanned vehicle and causes to travel the unmanned vehicle along the generated driving path to a target point , the system comprising:stopover point instructing means which instructs initial position information of a stopover point, which is on a driving path and just before a target point, as a moving point which moves in position according to a position movement of the target point;relative positional relationship information generating means which generates information on a relative positional relationship between the target point and the stopover point on the basis of the initial position information on the stopover point instructed by the stopover point instructing means and position information on the target point;stopover point setting means which, when the position of the target point moves, sets a new stopover point at a position where the relative positional relationship can be maintained on the basis of position ...

Trajectory planning

A method and apparatus for determining a trajectory for a vehicle are disclosed, wherein the method can include identifying a starting position (p 0 ) for the vehicle; identifying a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p 0 ), the desired terminal position (P), and the linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by requirements that: an acceleration of the vehicle during the trajectory is less than a threshold value for the acceleration; and the threshold value for the acceleration is dependent on an infinity norm of a velocity of the vehicle. The vehicle may have a curvature limit.

Traffic signal mapping and detection

A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.

Drive-Control Systems for Vehicles Such as Personal-Transportation Vehicles

Drive-control systems for personal-transportation vehicles can function as active driving aids that enable autonomous and semi-autonomous cooperative navigation of electric-powered wheelchairs (EPWs) and other vehicles both indoors, and in dynamic, outdoor environments. The systems can help to compensate for the loss of cognitive, perceptive, or motor function in the driver by interpreting the driver's intent and seeing out into the environment on the driver's behalf. The systems can incorporate intelligent sensing and drive-control means that work in concert with the driver to aid in negotiating changing terrain, avoiding obstacles/collisions, maintaining a straight trajectory, etc. In addition, the systems can be configured to facilitate higher-level path planning, and execution of non-linear routes of travel in a safe and efficient manner.

Safely Navigating on Roads Through Maintaining Safe Distance from Other Vehicles

Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining lane information that provides an estimated location of a lane of a road on which a vehicle is traveling. The example method further includes determining that the lane information has become unavailable or unreliable and, in response, using a sensor to monitor a first distance and a second distance between the vehicle and a neighboring vehicle, determining first and second relative positions of the neighboring vehicle based on the first and second distances, respectively, and, based on the first and second relative positions, determining an estimated path of the neighboring vehicle. The example method further includes, based on the estimated path, determining an updated estimated location of the lane, and controlling the vehicle based on the updated estimated location of the lane. 1. A method , comprising:obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, wherein the computer system is configured to control the vehicle in an autonomous mode;determining, by the computer system, that the lane information has become unavailable or unreliable; and (i) using at least one sensor to monitor at least a first distance and a second distance, wherein the first distance comprises a distance between the vehicle and a neighboring vehicle at a first time and the second distance comprises a distance between the vehicle and the neighboring vehicle at a second time,', '(ii) based on the first distance, determining a first relative position of the neighboring vehicle,', '(iii) based on the second distance, determining a second relative position of the neighboring vehicle,', '(iv) based on the first relative position and the second relative position, determining an estimated path of the neighboring vehicle,', '(v) based on the estimated path, ...

Straight Line Path Planning

A solution for navigating a vehicle is provided. The vehicle is navigated from a start location to a target location using a set of linear paths. A current linear path is identified between a current location of the vehicle and the target location. At least a portion of the current linear path is evaluated for a presence of an obstacle. In response to no obstacle being present along the current linear path, the vehicle is instructed to travel along the current linear path to the target location. In response to an obstacle being present, the vehicle is instructed to travel along a different linear path from the current location to an intermediate location, which is selected based on an extent of the obstacle and the current linear path. The process can be repeated until the vehicle arrives at the target location. 1. A method comprising: identifying a current linear path between the current location and the target location;', 'evaluating a set of cells along the current linear path for a presence of an obstacle;', 'instructing the vehicle to travel along the current linear path in response to evaluating all cells between the current location and the target location along the current linear path as not including an obstacle; and', 'in response to evaluating a cell in the set of cells as including an obstacle, instructing the vehicle to travel along a distinct linear path from the current location to an intermediate location, wherein the intermediate location is selected based on an extent of the obstacle and the current linear path., 'selecting a set of linear paths for the vehicle to travel between the current location and the target location, the selecting including, for each linear path in the set of linear paths, 'a computer system automatically navigating a vehicle from a current location to a target location, wherein the navigating includes2. The method of claim 1 , wherein each cell corresponds to a minimal navigable area selected based on at least one of: a ...

METHOD AND APPARATUS FOR EFFICIENT SCHEDULING FOR MULTIPLE AUTOMATED NON-HOLONOMIC VEHICLES USING A COORDINATED PATH PLANNER

A method for coordinating path planning for one or more automated vehicles is described, including querying an online path planner for possible solutions for at least one executable task for each of the one or more automated vehicles, examining the results of the query, deciding a coordinated path plan for each vehicle, and communicating the coordinated path plan to a traffic manager, wherein the traffic manager ensures that the one or more automated vehicles perform each executable task according to the coordinated path plan. 116-. (canceled)17. A method for coordinating path planning for a plurality of automated vehicles , the method comprising:providing a multi-level graph comprising high-level nodes corresponding to a region, wherein each of the high-level nodes comprises one or more connection nodes corresponding to a boundary of the region, one or more local nodes corresponding to an interior of the region, and one or more local paths that link the connection nodes, the local nodes, or a combination thereof;constructing, offline, a solution set of roadmap graphs from the multi-level graph, wherein each of the roadmap graphs comprises a start position within one of the high-level nodes linked via a final path to a goal position of another of the high-level nodes, and wherein the final path comprises a portion of the local paths of the high-level nodes;associating a heuristic with each of the roadmap graphs, wherein the heuristic is indicative of the final path of its associated roadmap graph;selecting, online and automatically with one or more central processing units, a coordinated path plan for the automated vehicles from the solution set of roadmap graphs, wherein the coordinated path plan is selected based at least in part upon the heuristic; andoperating the automated vehicles according to the coordinated path plan.18. The method of claim 17 , further comprising removing at least a portion of the roadmap graphs from the solution set of roadmap graphs based ...

AUTOMATED DELIVERY VEHICLE, SYSTEMS AND METHODS FOR AUTOMATED DELIVERY

Provided is a delivery vehicle and methods and systems for automated delivery using the delivery vehicle. The automated delivery method comprises receiving, by a processing device, an order from a buyer. The order specifies one or more products to be delivered to the buyer and itinerary information. The processing device transmits the order to a placer robot. The placer robot positions the one or more products to a delivery vehicle. Then, the delivery vehicle may transport the products to a delivery destination based on the order. The delivery vehicle may be driverless and lightweight and move automatically. The delivery vehicle may move on a flat track using itinerary information of the order. Additionally, the delivery vehicle may use a Global Positioning System to determine own location and compare it to the itinerary information. 1. An automated delivery system comprising:a processing device configured to receive an order from a buyer and transmit the order to a placer robot, the order specifying one or more products to be delivered to the buyer and itinerary information;the placer robot configured to position one or more products to the delivery vehicle based on the transmitted order;the delivery vehicle configured to transport the one or more products based on the transmitted order, the delivery vehicle riding along a flat track, wherein the delivery vehicle includes a guiding pin, the guiding pin being configured to interlock with a guiding groove.2. The automated delivery system of claim 1 , wherein the order is received via a network wirelessly or by wires.3. The automated delivery system of claim 1 , wherein the itinerary information includes instructions on travel distance and travel direction associated with a delivery destination.4. The automated delivery system of claim 1 , wherein the delivery vehicle has no driver and travels automatically.5. The automated delivery system of claim 1 , wherein the order includes an alphanumeric code associated with a ...

APPARATUS AND METHODS FOR VEHICLE STEERING TO FOLLOW A CURVED PATH

Methods, apparatus, systems and articles of manufacture are disclosed for vehicle steering to follow a curved path, An example vehicle disclosed herein includes a front axle, a rear axle, a location sensor, and a tracking mode controller to determine a wheel steering angle based on a tum center location corresponding to a navigation curve and one or more measurements between the turn center location and the vehicle, determine a heading error offset adjustment based on the turn center location and the one or more measurements between the turn center location and the vehicle, and cause the vehicle to move along the navigation curve based on the wheel steering angle and the heading error offset adjustment. 1. An apparatus comprising determine a turn center location based on a radius of curvature for a curved navigation path for a vehicle to follow;', 'determine a distance between the turn center location and at least one of a front axle or a rear axle of the vehicle; and', 'determine a distance between a location sensor and a turn center location;, 'a navigation analyzer toa feedforward wheel angle determiner to determine a wheel steering angle based on (1) the distance between the turn center location and the at least one of the front axle or the rear axle and (2) a distance between the front axle and the rear axle;a heading error offset determiner to determine a heading error offset adjustment based on (1) the distance between the location sensor and the turn center location and (2) a distance between a location sensor and at least one of the front axle or the rear axlea steering controller to cause a vehicle to follow the curved navigation path based on the wheel steering angle and the heading error offset adjustment.2. The apparatus of claim 1 , wherein the vehicle is a rear wheel steer vehicle.3. The apparatus of claim 2 , wherein the location sensor is positioned further toward a front end of the vehicle than the front axle.4. The apparatus of claim 3 , wherein ...

Methods and apparatus to control vehicle steering

Methods, apparatus, systems and articles of manufacture are disclosed that control vehicle steering. An example apparatus includes: a path acquisition interface configured to obtain, via a user interface a sampling interval; and a controller configured to, during acquisition mode: determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of the front wheel; and cause, utilizing the steering angle, a global navigation satellite system (GNSS) receiver to travel from a first position to a second position, the GNSS receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by the sampling interval.

Method for Autonomously Operating a Vehicle, Controller Device for a Vehicle, and Vehicle

A method for operating an autonomously driving vehicle includes operating the vehicle in a first autonomous driving mode by means of a controller device based on sensor data captured by a sensor system of the vehicle, determining, from environmental data which includes at least the sensor data, presence of a handover condition at a handover location within a planned trajectory of the vehicle, establishing a data communication to a leading vehicle being operated in an autonomous driving mode to travel along a leading trajectory including the handover location, and operating the vehicle in a second autonomous driving mode based at least partially on first auxiliary data provided by the leading vehicle. 1. A method for operating an autonomously driving vehicle , the method comprising:operating the vehicle in a first autonomous driving mode by using a controller device based on sensor data captured by a sensor system of the vehicle;determining, from environmental data that includes at least the sensor data, the presence of a handover condition at a handover location within a planned trajectory of the vehicle;establishing a data communication to a leading vehicle being operated in an autonomous driving mode to travel along a leading trajectory including the handover location; andoperating the vehicle in a second autonomous driving mode based at least partially on first auxiliary data provided by the leading vehicle, the first auxiliary data including the leading trajectory.2. The method according to claim 1 , wherein the presence of the handover condition is determined based on the sensor data claim 1 , and wherein establishing the data communication to the leading vehicle comprises establishing a direct data link between a communication interface of the vehicle and a communication interface of the leading vehicle.3. The method according to claim 1 , wherein the environmental data further includes second auxiliary data received via a data network to which the vehicle is ...

Safe Trajectory Selection for Autonomous Vehicles

A method to select one trajectory, the so-called Selected Trajectory (ST), out of a set of trajectories (T-T) to be used by an autonomous or semi-autonomous ground vehicle (GV), wherein the method includes the following steps: (i) assessing said set of trajectories (T-T) with one, two, or a multitude of verification modules (VM-VM) and returning Quality Assessments (Q-Q) for each of the trajectories (T-T); (ii) ranking said trajectories (T-T) with a Ranking Scheme (RS), wherein the Quality Assessments (Q-Q) are taken into account when ranking the trajectories (T-T), and (iii) selecting exactly one trajectory, the Selected Trajectory (TR), based on the rank of the trajectories (T-T). 113. A method to select one trajectory , the so-called Selected Trajectory (ST) , out of a set of trajectories (T-T) to be used by an autonomous or semi-autonomous ground vehicle (GV) , the method comprising the following steps:{'b': 1', '3', '1', '4', '11', '43', '1', '3, 'assessing said set of trajectories (T-T) with one, two, or a multitude of verification modules (VM-VM) and returning Quality Assessments (Q-Q) for each of the trajectories (T-T);'}{'b': 1', '3', '11', '43', '1', '3, 'ranking said trajectories (T-T) with a Ranking Scheme (RS), wherein the Quality Assessments (Q-Q) are taken into account when ranking the trajectories (T-T); and'}{'b': 1', '3, 'selecting exactly one trajectory, the Selected Trajectory (TR), based on the rank of the trajectories (T-T).'}213123. The method according to claim 1 , wherein the set of trajectories (T-T) is generated by two or more Trajectory Generators (TG claim 1 , TG claim 1 , TG).3123. The method according to claim 2 , wherein each Trajectory Generator of the two or more Trajectory Generators (TG claim 2 , TG claim 2 , TG) generates one or more of the trajectories of the set of trajectories independently from the other Trajectory Generators.4. The method according to claim 1 , wherein all Trajectory Generators are diverse claim 1 , in that ...

PLANNING PARKING TRAJECTORY GENERATION FOR SELF-DRIVING VEHICLES USING OPTIMIZATION METHOD

A parking system for autonomous driving vehicles optimizes a solution to a parking problem. The ADV detects a parking lot and selects a parking space. The ADV defines constraints for the parking lot, parking space, and kinematic constraints of the ADV, and generates a plurality of potential parking paths to the parking space, taking into account the constraints of the parking lot, parking space, and kinematics of the ADV, but without taking into any obstacles that may be surrounding the ADV. The ADV determines a cost for traversing each of the parking paths. One or more least cost candidate paths are selected from the parking paths, then one or more candidate paths are eliminated based on obstacles surrounding the ADV. Remaining candidates can be analyzed using a quadratic optimization system. A best parking path can be selected from the remaining candidates to navigate the ADV to the parking space. 1. A computer-implemented method of parking an autonomous driving vehicle (ADV) , the method comprising:determining a plurality of parking space constraints of a selected parking space;determining a plurality of parking paths from a current location of the ADV to the selected parking space based at least in part on the plurality of parking space constraints of the selected parking space;determining a cost for each parking path in the plurality of parking paths;selecting one or more candidate parking paths from the plurality of parking paths having the least cost;eliminating one or more of the selected candidate parking paths based at least in part upon one or more obstacles surrounding the ADV along each of the candidate parking paths;selecting a parking path from the remaining candidate parking paths;generating a reference line to navigate the ADV based on the selected parking path; andnavigating the ADV from the current ADV location to the parking space using the reference line.2. The method of claim 1 , wherein each of the plurality of parking paths comprises one or ...

PLANNING PARKING TRAJECTORY FOR SELF-DRIVING VEHICLES

A parking system for autonomous driving vehicles (ADV) is disclosed that utilizes the perception, planning, and prediction modules of ADV driving logic to more safely and accurately park an ADV. An ADV scans a parking lot for an available space, then determines a sequence of portions or segments of a parking path from the ADV's location to a selected parking space. The sequence of segments involves one or more forward driving segments and one or more reverse driving segments. During the forward driving segments, the ADV logic uses the perception, planning, and prediction modules to identify one or more obstacles to the ADV parking path, and speed and direction of those obstacles. During a reverse driving segment, the ADV logically inverts the orientation of the perception, planning, and prediction modules to continue to track the one or more obstacles and their direction and speed while the ADV is driving in a reverse direction. For each parking path portion, the planning module generates a smooth reference line for the portion, taking into account the one or more obstacles, and their speed and direction. 1. A computer-implemented method of parking an autonomous driving vehicle (ADV) , the method comprising:generating a parking path comprising a first path portion and a second path portion;in response to determining that a direction for the first path portion is a forward direction of the ADV, setting an orientation of a perception and planning module of the ADV to a forward orientation of the ADV, otherwise inverting the orientation of the perception and planning module of the ADV;determining one or more obstacles surrounding the ADV;generating, and navigating, a first reference path for the first portion, in relation to the one or more obstacles;inverting the orientation of the perception and planning module and reversing the direction of the ADV;generating, and navigating, a second reference path for the second portion, in relation to the one or more obstacles.2. ...

ATTRIBUTED ROADWAY TRAJECTORIES FOR SELF-DRIVING VEHICLES

An attributed roadway trajectory comprises at least one ordered series of attributed roadway trajectory points, which are spaced along a curve that is defined in a terrestrial coordinate frame and tracks an along-roadway physical feature of a real-world roadway segment portrayed in a point cloud. Any arbitrary attributed roadway trajectory point on the curve passes a predetermined proximity test for proximity to point cloud points discriminated as representing part of the along-roadway physical feature. Each attributed roadway trajectory point has at least one attribute value representing a characteristic of the real-world roadway segment at a position on the real-world roadway segment spatially associated with the attributed roadway trajectory point. A control system of a self-driving road vehicle can use the attribute value(s) to adjust control of the self-driving road vehicle based on sensor-independent roadway data (e.g. where the position of the attributed roadway trajectory point(s) remains outside of sensor range). 111-. (canceled)12. A self-driving road vehicle , comprising:a body;a locomotion system coupled to the body for accelerating, propelling and decelerating the vehicle along a roadway;a steering system coupled to the body for steering the vehicle;a sensor array carried by the body for sensing driving data, the sensor array having a sensor range;a control system carried by the body, wherein:the control system is coupled to the sensor array for receiving sensed driving data from the sensor array;the control system is coupled to the locomotion system for controlling the locomotion system; andthe control system is coupled to the steering system for controlling the steering system;a data storage module coupled to and accessible by the control system, the data storage module storing at least one attributed roadway trajectory;each attributed roadway trajectory comprising:at least one ordered series of attributed roadway trajectory points, wherein for each ...

Autonomous vehicle localization using submaps

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

REFERENCE LINE SMOOTHING METHOD USING PIECEWISE SPIRAL CURVES WITH WEIGHTED GEOMETRY COSTS

A first reference line representing a routing line from a first location to a second location associated with an autonomous driving vehicle (ADV) is received. The first reference line is segmented into a number of reference line segments. For each of the reference line segments, a quintic polynomial function is defined to represent the reference line segment. An objective function is determined based on the quintic polynomial functions of the reference line segments. An optimization is performed on coefficients of the quintic polynomial functions in view of a set of constraints associated with the reference line segments, such that an output of the objective function reaches minimum while the constraints are satisfied. A second reference line is then generated based on the optimized parameters or coefficients of the quintic polynomial functions of the objective function. The second reference line is then utilized to plan and control the ADV. 1. A computer-implemented method for operating an autonomous driving vehicle (ADV) , the method comprising:processing map data to generate a plurality of points that define a reference line along an ADV route from a first location to a second location, wherein each point includes a two dimensional (2D) coordinate and each consecutive pair of points form a reference line segment along the reference line;initializing optimization parameters, wherein the optimization parameters include a length of each reference line segment, a 2D coordinate of each point, a direction of each reference line segment, a curvature of each reference line segment, and a curvature change rate of each reference line segment; an output of an objective function is minimized, and', 'a set of constraints associated with the reference line segments are satisfied; and, 'iteratively optimizing the optimization parameters of the route such that'}generating a smooth reference line based on the optimized parameters, wherein the smooth reference line is utilized as ...

SYSTEMS, METHODS, COMPUTING PLATFORMS, AND STORAGE MEDIA FOR CONTROLLING AN AUTONOMOUS INVENTORY MANAGEMENT SYSTEM

Systems, methods, computing platforms, and storage media for controlling an autonomous inventory management system are disclosed. Exemplary implementations may: direct a first transport system to a first location; determine a respective drop off location for each of the one or more autonomous storage units; determine a boarding order for the one or more autonomous storage units based at least in part on the respective drop off location for each of the one or more autonomous storage units; direct the one or more autonomous storage units to board the first transport system at the first location; and transport the one or more autonomous storage units from the first location to the one or more respective drop off locations. 1. An autonomous inventory management system , the system comprising: 'direct a first transport system to a first location, wherein the first transport system is configured to transport one or more autonomous storage units from the first location, and wherein each of the one or more autonomous storage units comprises:', 'one or more hardware processors configured by machine-readable instructions toa housing,an inventory storage device physically coupled to the housing, and configured to transport at least one inventory item,a power device, wherein the power device is operationally configured to supply power to electrical components of the autonomous storage unit,a drive device in electrical communication with the power device, the drive device operationally configured to physically move the autonomous storage unit in one or more control territories, a navigation device operationally configured to transmit and receive geographic data and determine a physical location of the autonomous storage unit,', 'a sensing device operationally configured to detect physical objects and transmit and receive physical object data, and, 'and one or more ofa control device, wherein the control device is in electronic communication with the power device, the drive ...

INFORMATION GENERATING APPARATUS AND METHOD OF CONTROLLING THE SAME

An information generating apparatus obtains usage state information about mobile bodies from the mobile bodies and maintenance information about the mobile bodies. The information generation apparatus estimates a maintenance time for each mobile body based on the usage state information and the maintenance information, determines, based on locations of the mobile bodies and the maintenance time estimated for each mobile body, a route by which a maintenance worker of the mobile bodies visits the locations of the mobile bodies, and generates route information including the route determined. The information generating apparatus specifies the mobile bodies of which the worker visits the locations based on whether the maintenance time estimated is within a first period. 1. An information generating apparatus comprising:one or more processors; anda memory storing instructions which, when the instructions are executed by the one or more processors, cause the image processing apparatus to function as:a usage state obtaining unit configured to obtain usage state information about mobile bodies from the mobile bodies;a maintenance information obtaining unit configured to obtain maintenance information about the mobile bodies;an estimating unit configured to estimate a maintenance time for each mobile body based on the usage state information and the maintenance information;a determining unit configured to determine, based on locations of the mobile bodies and the maintenance time estimated for each mobile body, a route by which a worker responsible for maintenance of the mobile bodies visits the locations of the mobile bodies; anda generating unit configured to generate route information including the route determined,wherein the determining unit specifies the mobile bodies of which the worker visits the locations based on whether the maintenance time estimated is within a first period.2. The information generating apparatus according to claim 1 , wherein the determining unit ...

Affecting Functions of a Vehicle Based on Function-Related Information about its Environment

Among other things, information is received about a function-related feature of an environment of a vehicle that has been identified in connection with a location of the vehicle. Execution of a function of the vehicle is affected to alter performance characteristics of the function based on the identified function-related feature.

VEHICLE PERIPHERY MONITORING DEVICE

A vehicle periphery monitoring device includes: a peripheral image acquisition unit that acquires a peripheral image output from an imaging unit that images a periphery of a vehicle; an idling determination unit that determines whether a wheel is idling based on a physical quantity of the wheel of the vehicle; and a display controller that displays the peripheral image on a display, and changes a display form of a predicted course of the wheel on the peripheral image according to an idling state of the wheel. 1. A vehicle periphery monitoring device comprising:a peripheral image acquisition unit that acquires a peripheral image output from an imaging unit that images a periphery of a vehicle;an idling determination unit that determines whether a wheel is idling based on a physical quantity of the wheel of the vehicle; anda display controller that displays the peripheral image on a display, and changes a display form of a predicted course of the wheel on the peripheral image according to an idling state of the wheel.2. The vehicle periphery monitoring device according to claim 1 , further comprising:a steering angle acquisition unit that acquires a steering angle of the vehicle; anda course calculator that calculates the predicted course based on the steering angle.3. The vehicle periphery monitoring device according to claim 1 ,wherein the vehicle includes a steering controller that automatically performs steering.4. The vehicle periphery monitoring device according to claim 2 ,wherein the vehicle is a four-wheeled vehicle, and both front wheels and rear wheels of the vehicle are steered, andthe display controller changes the display form of the predicted course based on the steering angle according to an idling state of each of the front wheels and the rear wheels.5. The vehicle periphery monitoring device according to claim 1 ,wherein the display controller superimposes and displays a predicted course corresponding to a non-idling wheel on the peripheral image, ...

SYSTEM AND METHOD FOR MANAGING SUBMAPS FOR CONTROLLING AUTONOMOUS VEHICLES

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps. 1. A method for maintaining a map system comprising:storing a collection of submaps, each submap of the collection presenting an area of a road network for a geographic region;wherein each submap of the collection is provided (i) an identifier from the collection, (ii) multiple data layers, each data layer representing a feature set of the area of the road network of that submap, and (iii) a connector data set to link the submap with another submap that represents an adjacent area to the area of the road network of that submap; andupdating individual submaps independently of other submaps of the collection.2. The method of claim 1 , wherein the method is performed on a network service claim 1 , and wherein the method further comprises:transmitting an updated submap to an autonomous vehicle that uses the submap in a trip to travel to a destination location.3. The method of claim 1 , further comprising:obtaining sensor input from one or more vehicles that traverse the road network of the geographic region;analyzing the sensor input to detect one or more conditions of the road network; andidentifying one or more submaps that are to include data that identifies the one or more conditions; andwherein updating individual submaps includes updating the identified one or more submaps independently of other submaps of the collection.4. The method of claim 3 , wherein the sensor input includes at least one of image input or Lidar data from the one or more vehicles.5. The method of claim 4 , wherein analyzing the sensor input includes:aggregating the sensor input over a duration of time for a road segment, and determining a vehicle usage pattern for the ...

Method and System for Remotely Controlling a Vehicle

A method of remotely controlling a vehicle involves creating an exterior situation image for the vehicle () using a sensor system () for detecting the surroundings of the vehicle. A trajectory of the vehicle is specified by a driver assistance system () of the vehicle. The exterior situation image and the trajectory are transmitted wirelessly to a remote control () that is arranged spatially separately from the vehicle. The vehicle is controlled by the remote control based on the trajectory and the exterior situation image. 1. A method of remotely controlling a vehicle , the method comprising steps:creating an exterior situation image for the vehicle using a sensor system that detects surroundings of the vehicle;specifying a trajectory for the vehicle using a driver assistance system of the vehicle;wirelessly transmitting the exterior situation image and the trajectory from the vehicle to a remote control that is arranged spatially separately from the vehicle; andcontrolling the vehicle by the remote control based directly or indirectly on at least the trajectory and the exterior situation image.2. The method according to claim 1 , wherein the step of controlling the vehicle comprises using an operating element of the remote control.3. The method according to claim 1 , further comprising correcting trajectory by the remote control to produce a corrected trajectory claim 1 , and wherein the controlling of the vehicle by the remote control is based on the corrected trajectory and the exterior situation image.4. The method according to claim 3 , further comprising transmitting a supplementary image of the surroundings of the vehicle to the remote control claim 3 , and wherein the correcting of the trajectory by the remote control is based on the exterior situation image and the supplementary image.5. The method according to claim 1 , further comprising continuously determining a quality of a data link for the wireless transmitting from the vehicle to the remote control ...

AUTOMATED-TAXI THAT PROPOSES ALTERNATE-DESTINATION TO OPTIMIZE ROUTE

A system for operating an automated-taxi includes an input-device and a controller-circuit. The input-device is operable by a client to indicate a desired-destination of the client. The display is viewable by the client. The controller-circuit is in communication with the input-device and the display. The controller-circuit is configured determine a preferred-route in accordance with the desired-destination and a plurality of other-destinations indicated by a plurality of other-clients of an automated-taxi. The preferred-route includes an alternate-destination for the client. The alternate-destination characterized as within a distance-threshold of the desired-destination of the client. The controller-circuit is further configured to operate the display to request a route-approval from the client for the alternate-destination, and, in response to receiving the route-approval, operate the automated-taxi in accordance with the preferred-route to transport the client to the alternate-destination. 1. A system for operating an automated-taxi , said system comprising:an input-device operable by a client to indicate a desired-destination of the client;a display viewable by the client; anda controller-circuit in communication with the input-device and the display, said controller-circuit configured determine a preferred-route in accordance with the desired-destination and a plurality of other-destinations indicated by a plurality of other-clients of an automated-taxi, wherein the preferred-route includes an alternate-destination for the client, said alternate-destination characterized as within a distance-threshold of the desired-destination of the client, operate the display to request a route-approval from the client for the alternate-destination, and, in response to receiving the route-approval, operate the automated-taxi in accordance with the preferred-route to transport the client to the alternate-destination.2. The system in accordance with claim 1 , wherein claim 1 ...

PLANNING DRIVEN PERCEPTION SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

A perception perceives a driving environment surrounding an ADV based on sensor data obtained from a variety of sensors. Based on the perception data received from the perception module, a planning module is to plan a trajectory for a current driving cycle to drive the ADV. In addition, the planning module determines a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory. The driving intent and the ROIs information is then provided to the perception module as a feedback. The perception module can then processing the sensor data from selective sensors to generate the perception data for a next driving cycle. The selected sensors may be determined and selected based on the driving intent and the ROIs, such that the sensor data of the unrelated sensors may be ignored to reduce the computation cost of the perception module. 1. A computer-implemented method for operating an autonomous driving vehicle , the method comprising:receiving, by a planning module, first perception data from a perception module, the first reception data describing a driving environment surrounding an autonomous driving vehicle (ADV);planning, by the planning module, a trajectory for a current driving cycle based on the first perception data to drive the ADV from a first location to a second location;determining a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory;transmitting the driving intent and the ROIs to the perception module via an application programming interface (API);generating, by the perception module, second perception data for a next driving cycle based on the driving intent and the ROIs; andselectively processing sensor data from certain sensors associated with the ADV based on the driving intent and the ROIs.2. The method of claim 1 , wherein the driving intent is one of following lane claim 1 , changing lane claim 1 , at intersection claim 1 , nudging to left claim 1 , nudging to ...

Systems and methods for transporting containers with a vehicle

Among other things, a vehicle for transporting containers is disclosed. The vehicle can include a base, a rack, and at least one container. The base can include a platform, wheels, and a motor for driving one or more of the wheels. The rack can be mounted to the platform. The rack can include at least one rail. The at least one rail can include a channel defined therein and an end coupling for linking the at least one rail with an external rail. The at least one container can be configured to connect with the at least one rail and include a connection assembly. At least a portion of the connection assembly can be moveably disposed in the channel.

AUTONOMOUS DRIVING VEHICLES WITH REDUNDANT ULTRASONIC RADAR

In one embodiment, an ADV includes a sensor system having a number of sensors mounted at various locations of the ADV. The sensors include a LIDAR unit, an IMU unit, a RADAR unit, and an array of ultrasonic sensors. The array of ultrasonic sensors are disposed on a frontend of the ADV and configured in various sensing directions. The ADV further includes a perception and planning system coupled to the sensor system. The perception and planning system includes a perception module and a planning module. The perception module is configured to perceive a driving environment surrounding the ADV based on sensor data received from the sensors of the sensor system. The sensor data includes ultrasonic sensor data obtained from the ultrasonic sensors. The planning module is configured to plan a trajectory to drive the ADV based on perception data perceiving the driving environment from the perception module. 1. An autonomous driving vehicle , comprising:a sensor system having a plurality of sensors mounted at a plurality of locations of an autonomous driving vehicle (ADV), the plurality of sensors including a LIDAR unit, an IMU unit, a RADAR unit, and an array of ultrasonic sensors, wherein the array of ultrasonic sensors are disposed on a frontend of the ADV and configured in a plurality of sensing directions; and a perception module configured to perceive a driving environment surrounding the ADV based on sensor data received from the sensors of the sensor system, including ultrasonic sensor data obtained from the ultrasonic sensors, and', 'the planning module configured to plan a trajectory to drive the ADV based on perception data perceiving the driving environment from the perception module., 'a perception and planning system coupled to the sensor system, the perception and planning system includes'}2. The autonomous driving vehicle of claim 1 , wherein the ultrasonic sensors disposed substantially symmetrically on the frontend of the ADV with respect to a center of the ...

MOBILE BODY, INFORMATION PROCESSOR, MOBILE BODY SYSTEM, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM

A mobile body includes: an imaging unit; a movement mechanism that moves itself; a wireless communication unit that performs wireless communication; and an information generator that generates, on a basis of external information received from outside by the wireless communication unit, route guidance information for use in allowing the movement mechanism to move itself. 1. A mobile body comprising:a movement mechanism configured to move the mobile body;an imaging unit configured to obtain image data; and receive external information,', 'generate route guidance information for use in allowing the movement mechanism to move the mobile body based on the image data, the external information, position information of the mobile body, and map information, and', 'communicate a negotiation with other mobile bodies to perform a predetermined operation., 'circuitry configured to2. The mobile body according to claim 1 ,wherein the circuitry generates the route guidance information with use of a correspondence relationship between mode setting information, which sets an autonomous move mode of a plurality of autonomous move modes, and a plurality of kinds of information for each of the plurality of autonomous move modes, andwherein the route guidance information includes at least two selectable routes.3. The mobile body according to claim 1 , wherein the external information includes one or both of:GPS information, andsearch history information stored in a memory associated with an information processor.4. The mobile body according to claim 1 ,wherein the image data, the position information, and the map information are stored together with data update time information regarding the image data, andwherein the circuitry generates the route guidance information on a regular basis with use of the data update time information, with updated image data being stored as the image data on a regular basis, and with the map information being automatically updated on a regular basis.5. The ...

TRAVELING CONTROL SYSTEM FOR TRANSPORT VEHICLE AND TRAVELING CONTROL METHOD FOR TRANSPORT VEHICLE

Provided are a traveling control system for a transport vehicle and a traveling control method for a transport vehicle capable of preventing unstable traveling when the transport vehicle travels while pulling a bogie. The traveling control system for a transport vehicle includes an imaging unit () provided corresponding to an operation region of a bogie () that travels together with a transport vehicle (), a mode acquisition unit () configured to acquire a mode of the bogie based on an image including the bogie imaged by the imaging unit, and a mode determination unit () configured to determine a mode of the bogie based on the mode of the bogie acquired by the mode acquisition unit. Traveling of the transport vehicle is controlled based on a determination of the mode determination unit. 1. A traveling control system for a transport vehicle that autonomously travels together with a bogie ,traveling of the transport vehicle being controlled according to a mode of the bogie that travels in an operation region, the traveling control system for a transport vehicle comprising:an imaging unit provided corresponding to an operation region of the transport vehicle; anda mode acquisition unit configured to acquire a mode of the bogie based on an image including the bogie imaged by the imaging unit.2. (canceled)3. The traveling control system for a transport vehicle according to claim 1 , whereina first characteristic unit is attached to the bogie, andthe mode acquisition unit acquires the mode of the bogie based on an image including the first characteristic unit imaged by the imaging unit.4. The traveling control system for a transport vehicle according to claim 3 , further comprising:a mode determination unit configured to determine a mode of the bogie based on the mode of the bogie acquired by the mode acquisition unit, whereinthe traveling of the transport vehicle is controlled based on a determination of the mode determination unit.5. The traveling control system for a ...

LANE-CENTRIC ROAD NETWORK MODEL FOR NAVIGATION

A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface. 1. An apparatus comprising: a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and', 'a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and, 'a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising, 'at least one memory, the at least one memory storing a geographic database storing map data, the geographic database comprising access one or more data records of the plurality of data records, the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and', 'based on information stored in the one or more data records, perform a navigation function., 'at least one processor, ...

Systems and Methods for Implementing Hailing Request

Systems and methods for assisting a user to hail a vehicle using a gesture or application. In one aspect, when a vehicle detects a user hails it with a gesture, it calculates a route and moves to the user autonomously. In another aspect, after a vehicle receives a message from a remote facility, it starts searching for a user nearby and moves to the user autonomously when the user hails it via a gesture or application. 1. A method for a vehicle or device to interact with a user , comprising:1) presenting a sign, wherein the sign is arranged to show that the vehicle or device is vacant or ready for hailing;2) ascertaining the user and analyzing the user's gestures; and3) calculating a route and navigating the vehicle or device to the user along the route when it is ascertained that the user makes a hailing gesture which matches a given profile.2. The method according to claim 1 , further including searching for and finding the user.3. The method according to claim 1 , further including obtaining an approval message from a remote facility before navigating the vehicle or device to the user.4. The method according to claim 1 , further including stopping navigating the vehicle or device to the user after detecting that the user gestures at a direction other than the one toward the vehicle or device.5. The method according to wherein the hailing gesture includes a waving claim 1 , pointing claim 1 , or nodding act.6. The method according to claim 1 , further including navigating the vehicle or device to the user after receiving a hailing message from a remote facility.7. The method according to claim 1 , further including detecting whether the user faces the vehicle or device when the user makes the hailing gesture.8. A method for a vehicle or device to interact with a user claim 1 , comprising:1) displaying a sign, wherein the sign is arranged to show that the vehicle or device is vacant or ready for hailing;2) ascertaining whether the user gestures at the vehicle or ...

Mobile Robotic System for Guiding an Automated Vehicle Along a Reconfigurable Path and Method Thereof

A mobile robotic system including a floor assembly having a support surface and a reconfigurable pathway, wherein an automated guided vehicle is configured to travel on the support surface and follow the reconfigurable pathway. 1. A mobile robotic system comprising a floor assembly comprising a support surface and a reconfigurable pathway , wherein an automated guided vehicle is configured to travel on the support surface and follow the reconfigurable pathway.2. The mobile robotic system of wherein the reconfigurable pathway is continuous.3. The mobile robotic system of wherein the floor assembly comprises a plurality of floor panels defining the support surface.4. The mobile robotic system of wherein each floor panel of the plurality of floor panels comprises a segment of the reconfigurable pathway claim 3 , and an associated plurality of segments define the reconfigurable pathway.5. The mobile robotic system of wherein the segment of each floor panel comprises a first end commencing at a first side of the floor panel and a second end terminating at an opposed second side of the floor panel.6. The mobile robotic system of wherein the second end of the segment is aligned with the first end of the segment.7. The mobile robotic system of wherein the reconfigurable pathway is formed by a sequential placement of the plurality of floor panels to associate the first end of the segment of one of the plurality of floor panels with the second end of the segment of an adjacent one of the plurality of floor panels and generate a travel path for the automated guided vehicle.8. The mobile robotic system of wherein a different sequential placement of the plurality of floor panels generates a different travel path for the automated guided vehicle.9. The mobile robotic system of wherein the second end of the segment is offset from the first end of the segment.10. The mobile robotic system of wherein the reconfigurable pathway is formed by a sequential placement of the plurality of ...

Autonomous vehicle localization using image analysis and manipulation

A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.

Automatic Parking Management System and Automatic Parking Management Method

An operation method is proposed to retain parking man-hours and reducing a cost by means of an automatic parking management system using carriers to transport a vehicle. The automatic parking management system, managing parking of vehicles, includes: a simulator that simulates a status of vehicles from boarding and drop-off areas to inside a parking place; and a resource management subsystem that manages a quantity of vehicle carriers; wherein a number of times of use of the parking place is predicted based on usage history of the parking place and the optimum quantity of vehicle carriers to satisfy aimed work efficiency can be calculated by inputting the predicted number of times of use and using the simulator. Additionally, a time of using the parking place for each user is predicted based on the user's parking place usage history, and a movement instruction to change a position of the vehicle within the parking place is issued in accordance with the prediction result. 1. An automatic parking management system for parking a vehicle in any empty parking space of a plurality of parking spaces at a parking place by a carrier , the automatic parking management system comprising:at least one carrier capable of retaining a newly-arrived vehicle and transporting the vehicle to the empty parking space;a carrier control unit that controls movement of the carrier within the parking place;a simulation unit that guides a virtual carrier to the empty parking space in a simulated manner before having the carrier control unit actually move the carrier; anda parking efficiency calculation unit that calculates a required quantity of carriers and man-hours at the parking place based on a result of the simulated guidance by the simulation unit.2. The automatic parking management system according to claim 1 ,wherein the parking efficiency calculation unit is configured to calculate the quantity of carriers required to complete a desired vehicle transportation work.3. The automatic ...

CAMERA SYSTEMS USING FILTERS AND EXPOSURE TIMES TO DETECT FLICKERING ILLUMINATED OBJECTS

The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode. 1. A method comprising:capturing images using a first camera and a first exposure time, the first camera being mounted in order to capture images of an environment, the first camera being without an ND filter;capturing images using a second camera and a second exposure time, the second camera being mounted in order to capture images of the environment, the second exposure time being greater than or equal to the first exposure time and having an ND filter;using the images captured using the second camera to identify illuminated objects; andusing the images captured using the first camera to identify the locations of objects.2. The method of claim 1 , wherein the first camera and the second camera each include a near infrared filter.3. The method of claim 1 , wherein the second exposure time is on the order of milliseconds.4. The method of claim 3 , wherein the second exposure time is at least 5 milliseconds and the first exposure time is no greater than 5 milliseconds.5. The method of claim 1 , wherein the ND filter is selected according to the second ...

Method and apparatus for providing information on vehicle driving

One or more of an autonomous vehicle, a user terminal, and a server of the present disclosure is connectable to or combinable with, for example, an artificial intelligence module, an unmanned aerial vehicle (UAV), a robot, an augmented reality (AR) device, a virtual reality (VR) device, or a 5G service device. A method of providing driving information of a vehicle from an operating apparatus according to one embodiment of the present disclosure includes acquiring vehicle driving history information of a driver, estimating driving information of a vehicle based on the acquired history information, and transmitting the vehicle driving information, estimated based on the identified information, to a target vehicle when the estimated information satisfies a specific condition.

SOLENOID VALVE DIAGNOSTIC SYSTEM

A system can include a solenoid manifold including a plurality of solenoid valves to control fluid flow between a tube and a plurality of nozzles, wherein one end of the tube is connected to a pump and the other end of the tube is connected to an inlet of the solenoid manifold; and a controller programmed to determine whether at least one solenoid valve of the plurality of solenoid valves is incorrectly in an open position based on pressure measurements representing a fluid pressure within the tube. 1. A system comprising:a solenoid manifold including a plurality of solenoid valves arranged to control fluid flow between a tube and a plurality of nozzles, wherein one end of the tube is connected to a pump and the other end of the tube is connected to an inlet of the solenoid manifold; anda controller programmed to determine whether at least one solenoid valve of the plurality of solenoid valves is incorrectly in an open position based on pressure measurements representing a fluid pressure within the tube.2. The system as recited in claim 1 , further comprising at least one sensor that measures the fluid pressure within the tube.3. The system as recited in claim 2 , wherein the at least one sensor comprises a pressure gauge.4. The system as recited in claim 2 , wherein the at least one sensor is mounted to an external surface of the tube.5. The system as recited in claim 3 , wherein the at least one sensor comprises an ultrasonic transducer that generates ultrasonic signals and measures reflected ultrasonic signals.6. The system as recited in claim 5 , further comprising a flowmeter that determines the fluid pressure based on the reflected ultrasonic signals.7. The system as recited in claim 1 , wherein the controller is further programmed to send a signal indicative of the open position claim 1 , wherein a vehicle alters a vehicle path based on the signal.8. The system as recited in claim 1 , wherein the controller is further programmed to send a signal indicative of ...

PATH PLANNING USING FORECASTS OF OBSCURATION AND MULTIPATH

The technology disclosed teaches a method of path planning using a GNSS Forecast, requesting the GNSS Forecast of signal obscuration on behalf of a vehicle travelling in a region, receiving and using the Forecast to plan a path or route that has GNSS signals available over the path or route that satisfy a predetermined criterium. Also taught are GNSS Forecasts and planned paths or routes for a plurality of flying vehicles used by a flight control system, requesting the GNSS Forecast of signal obscuration on behalf of a flying autonomous or automated vehicle travelling in a region, receiving and using the Forecast and to plan a path with GNSS signals available over the path that satisfy predetermined criteria including accommodating real-time changes in flight paths, without leaving space, that satisfies the predetermined criteria. Also taught is certifying performance of GNSS receivers used on a flying vessel. 1. A method of path planning using a GNSS Forecast , including:requesting the GNSS Forecast of signal obscuration on behalf of a vehicle travelling in a region;receiving the requested GNSS Forecast; andusing the GNSS Forecast to plan a path or route that has GNSS signals available over the path or route that satisfy a predetermined criterium.2. The method of claim 1 , wherein the planned path or route has GNSS signals available for most but not all of the path or route claim 1 , further including in the planned path measures to bridge gaps in the GNSS signals available over the path or route.3. The method of claim 1 , wherein the vehicle is a rolling autonomous or automated vehicle claim 1 , and the region includes buildings that obscure line-of-sight view from the vehicle to GNSS satellites.4. The method of claim 1 , wherein the vehicle is a flying autonomous or automated vehicle and the GNSS Forecast includes forecast 3D cuboids.5. The method of claim 1 , wherein the planned path or route has GNSS signals available for most but not all of the path or route ...

METHOD AND SYSTEM FOR DETECTING POSITION OF A VEHICLE RELATIVE TO TRACKS THE VEHICLE IS RUNNING ON

A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction. 1. A vehicle for an automated storage and retrieval system , wherein the vehicle is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features , wherein the vehicle comprises:a first set of wheels capable of moving the vehicle in a first direction;a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; anda plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.2. The vehicle according to claim 1 , wherein at least two of the plurality of sensors are configured to detect and/or measure in different directions while the vehicle is moving in the first direction or the second direction.3. The vehicle according to claim 1 , wherein at least one of the plurality of sensors is configured to detect track features and to measure a distance to a track feature.4. The vehicle according to claim 3 , wherein at least one of the plurality of sensors is configured to detect track features while the vehicle is moving in the first direction and configured to measure a distance to a track feature while the vehicle is moving in the second direction.5. The vehicle according to claim 4 , ...

Memory Mapping for Hibernation

A computing system has a processing device (e.g., CPU, FPGA, or GPU) and memory regions (e.g., in a DRAM device) used by the processing device during normal operation. The computing system is configured to: monitor use of the memory regions in volatile memory; based on monitoring the use of the memory regions, identify at least one of the memory regions of the volatile memory; initiate a hibernation process; and during the hibernation process, copy data stored in the identified memory regions to non-volatile memory. 1. An apparatus comprising:volatile memory;non-volatile memory; and receive a request from a first process associated with a first memory region of the volatile memory;', 'use the first memory region to store first data, wherein the first data is generated during execution of the first process;', 'associate a respective flag to memory regions of the volatile memory, the respective flag identifying each memory region for copying or not copying, wherein a first flag is associated to the first memory region;', 'detect an event associated with the volatile memory;', 'in response to detecting the event, determine that the first memory region is associated to the first flag; and', 'in response to determining that the first memory region is associated to the first flag, copy the first data stored in the first memory region to the non-volatile memory., 'at least one processing device configured to2. The apparatus of claim 1 , wherein the event is an impending loss of power to the volatile memory.3. The apparatus of claim 1 , wherein the event is initiation of a hibernation process.4. The apparatus of claim 1 , wherein the request includes a memory characterization claim 1 , and the first flag is associated to the first memory region based on the memory characterization.5. The apparatus of claim 1 , wherein the first flag is associated to the first memory region based on usage of the first memory region by the first process.6. The apparatus of claim 1 , wherein ...

WORK MACHINE CONTROL BASED ON MACHINE CAPABILITIES RELATIVE TO WORK ASSIGNMENT CRITERIA

A method of controlling a work machine on a worksite includes receiving an indication of a work machine assignment having a worksite location and corresponding assignment criteria associated with completion of the work machine assignment, receiving a set of worksite conditions at the location, and identifying a set of machine capabilities, each machine capability corresponding to operation of a controllable subsystem on the work machine. The method includes generating a likelihood metric indicative of a likelihood that the assignment criteria will be met based on the set of worksite conditions and the set of machine capabilities, comparing the likelihood metric to a threshold, and generating a control signal that controls the work machine based on the comparison. 1. A method of controlling a work machine on a worksite , the method comprising:receiving an indication of a work machine assignment having a worksite location and corresponding assignment criteria associated with completion of the work machine assignment;receiving a set of worksite conditions at the location;identifying a set of machine capabilities, each machine capability corresponding to operation of a controllable subsystem on the work machine;generating a likelihood metric indicative of a likelihood that the assignment criteria will be met based on the set of worksite conditions and the set of machine capabilities;comparing the likelihood metric to a threshold; andgenerating a control signal that controls the work machine based on the comparison.2. The method of claim 1 , and further comprising:identifying, for each machine capability, a setting adjustment that adjusts the operation of the controllable subsystem; andevaluating an effect of the setting adjustment on the likelihood the assignment criteria will be met.3. The method of claim 2 , wherein generating the control signal comprises:based on the effect of the setting adjustment, adjusting the operation of the controllable system using the ...

CONTROL SYSTEM OF AUTOMATED DRIVING VEHICLE

At the time of automated driving, a plurality of vehicle running paths which show changes along with time of a speed and advancing direction of the vehicle are generated based on the information on the surroundings of the vehicle which is detected by an external sensor. At the time of a manual driving mode, the running paths of the vehicle at the different driving scenes are stored as specific vehicle running paths which show the driving characteristics of the driver. At the time of automated driving, when the driving scene becomes a driving scene for which the specific vehicle running path is stored, a vehicle running path close to the stored specific vehicle running path is selected from among the plurality of generated vehicle running paths, and the vehicle is automatically driven along this selected vehicle running path. 1. A control system of an automated driving vehicle comprising an external sensor which detects information of surroundings of a host vehicle , a storage device which stores map information , and an electronic control unit , said electronic control unit comprising:a driving plan generation unit which generates a plurality of vehicle running paths which show changes along with time of a speed and advancing direction of the host vehicle based on the map information stored in the storage device and the information of surroundings of the host vehicle which is detected by the external sensor and decides on a single vehicle running path from among these plurality of vehicle running paths,a driving scene judgment unit which determines a driving scene of the vehicle based on the information of the surroundings of the host vehicle which is detected by the external sensor,a driving mode switching unit which switches a driving mode of the host vehicle between a manual driving mode where the vehicle is driven by operations of a driver and an automated driving mode where the vehicle is driven without operations of the driver, anda storage unit which stores a ...

METHOD AND SYSTEM FOR SMART USE OF IN-CAR TIME WITH ADVANCED PILOT ASSIST AND AUTONOMOUS DRIVE

A system and method for planning activities for a driver of a vehicle, where a scheduled route is planned for the vehicle, include an assignment unit configured for assigning a pilot assisted driving mode to a first part of the scheduled route and assigning an autonomous driving mode a second part of the scheduled route, the assignment of the driving mode determined based on a first parameter. An interface is configured for indicating the first and second parts of the scheduled route to the driver, and a proposal unit is configured for, upon execution of the assigned driving mode in the vehicle, proposing a first activity to the driver for the first part of the scheduled route and a second activity for the second part of the scheduled route, the proposal of an activity determined based a second parameter. 1. A system for planning activities for a driver of a vehicle , where a scheduled route is planned for the vehicle to drive along , the system comprising:an assignment unit configured for assigning a pilot assisted driving mode to one or more first parts of the scheduled route, and assigning an autonomous driving mode to one or more second parts of the scheduled route, wherein the assignment of the driving mode is determined based on one or more first parameters;at least one interface configured for indicating the one or more first and second parts of the scheduled route to the driver;a proposal unit configured for proposing, upon execution of the assigned driving mode in the vehicle, one or more first activities to the driver for the one or more first parts of the scheduled route, and for proposing one or more second activities to the driver for the one or more second parts of the scheduled route, wherein the proposal of an activity is determined based on one or more second parameters.2. The system according to wherein the one or more first parameters comprise one or more of a type of road claim 1 , traffic conditions claim 1 , weather conditions claim 1 , and ...

VEHICULAR STEERING CONTROL DEVICE

A vehicular steering control device comprises a rudder angle variable device which alters relationship between an operating position of a steering wheel and an operating position of the steering wheel found from a rudder angle of steered wheels FL and FR, and a rudder angle control device which performs an automatic steering control which controls the rudder angle of the steered wheels by controlling the rudder angle variable device. When a steering mode is switched from an automatic steering mode to a manual steering mode (S), the rudder angle control device gradually reduces a control gain Klka of the automatic steering mode (S), and reduces by degrees a size of a deviation between the two operating positions (S), only when the steering operation is performed by a driver (S). 1. A vehicular steering control device comprising a rudder angle variable device which varies a rudder angle of a steered wheel , and a rudder angle control device which controls said rudder angle variable device ,wherein a steering mode is switched between a manual steering mode which controls the rudder angle of the steered wheel according to an operating position of a steering input device which is operated by a driver, and an automatic steering mode which calculates a target rudder angle of said steered wheel and controls said rudder angle of the steered wheel to be said target rudder angle by said rudder angle variable device,characterized in that, when said steering mode is switched from said automatic steering mode to said manual steering mode, said rudder angle control device gradually reduces a control gain, only when said operating position of the steering input device is changed by a driver, provided that said control gain of said automatic steering mode is a ratio of an actual modification amount of the rudder angle to a target modification amount of the rudder angle of said steered wheel for making said rudder angle of the steered wheel become said target rudder angle.2. The ...

AUTONOMOUS VEHICLE NAVIGATION BASED ON RECOGNIZED LANDMARKS

A system for autonomously navigating a vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory. 128-. (canceled)29. A system for autonomously navigating a vehicle along a road segment , the system comprising: receive from an image capture device at least one image representative of an environment of the vehicle;', 'analyze the at least one image to identify at least one recognized landmark;', 'determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark; and', 'determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory., 'at least one processor programmed to30. The system of claim 29 , wherein the recognized landmark includes at least one of a traffic sign claim 29 , an arrow marking claim 29 , a lane marking claim 29 , a dashed lane marking claim 29 , a traffic light claim 29 , a stop line claim 29 , a directional sign claim 29 , a reflector claim 29 , a landmark ...

Method and Device for Steering a Car/Trailer Combination into a Parking Space

The present invention relates to a method for steering a car/trailer combination comprising a vehicle and at least one trailer, in which a mobile display unit is used for representing at least a part of the car/trailer combination and wherein the mobile display unit is in contact with the vehicle via a wireless connection and is used for monitoring the driving functions of the vehicle, and wherein at least one orientation aid is depicted on the mobile display unit. The present invention further relates to a corresponding device. 114-. (canceled)15. A method for steering a car/trailer combination , comprising:depicting at least a part of the car/trailer combination on a mobile display unit, wherein the mobile display unit is in communication with the car/trailer combination via a wireless connection and is used to monitor driving functions of the vehicle and wherein the mobile display unit is a smartphone;depicting at least one orientation aid on the mobile display unit;detecting, current surroundings of the car/trailer combination during a drive-by;highlighting, graphically on the mobile display unit, at least one possible parking space for the car/trailer combination;receiving a parking space selection from a user, through the mobile display unit; anddriving the vehicle/trailer combination into the selected parking space, wherein driving the vehicle/trailer combination into the selected parking space is performed automatically.16. The method according to claim 15 , wherein depicting the at least one orientation aid further comprises depicting the at least one orientation aid together with at least a portion of the current surroundings of the car/trailer combination on the mobile display unit claim 15 , for a navigation of the car/trailer combination in the current surroundings.17. The method according to claim 16 , in which the at least one orientation aid comprises at least one geometrical indication selected from the group consisting of: actual angle of the ...

RAPID AIRCRAFT INSPECTION WITH AUTONOMOUS DRONE BASE STATION SYSTEMS

A system for inspecting an aircraft includes a drone, a base station, and a controller. The drone includes one or more cameras. The base station has a storage compartment configured to store the autonomous drone therein. The controller has a processor and a memory. The memory has instructions stored thereon, which when executed by the processor, cause the base station to drive to a first predetermined location relative to the aircraft, and cause the drone to fly from the storage compartment of the base station to a first predetermined position relative to the aircraft so that the drone can record image data of at least portions of the aircraft with the one or more cameras. 1. A system for inspecting an aircraft , the system comprising:an autonomous drone including at least one camera;a base station having a storage compartment configured to store the autonomous drone therein; drive to a first predetermined location relative to the aircraft; and', 'open the storage compartment;, 'a base station controller having a base station processor and a base station memory, the base station memory having instructions stored thereon, which when executed by the base station processor, cause the base station to'}and determine that the storage compartment of the base station is open;', 'take flight from the base station when the storage compartment is open;', 'fly to a first predetermined position relative to the aircraft; and', 'record image data of at least portions of the aircraft with the at least one camera., 'a drone controller having a drone processor and a drone memory, the drone memory having instructions stored thereon, which when executed by the drone processor, cause the autonomous drone to2. The system of claim 1 , wherein the base station includes at least one door that provides access to the storage location.3. The system of claim 2 , wherein the at least one door opens upwardly and outwardly to expose the storage compartment.4. The system of claim 1 , wherein claim ...

LANE INFORMATION GENERATING METHOD

Disclosed is a lane information generating method that can generate lane information of an increasing or decreasing lane which increases or decreases from a traveling lane with high accuracy is provided. By determining characteristic points based not only on traveling trajectory information of a vehicle but also on the shape of the increasing line of the increasing lane increasing from two traveling lanes, a control unit can complementarily using information of a shape of the increasing line at a position at which variation is easily generated in the traveling trajectory, and thus generate the characteristic points as the lane information of an increasing line with high accuracy. 1. A lane information generating method generating lane information of an increasing or decreasing lane which increases or decreases from a traveling lane based on traveling trajectory information of a mobile object , comprising:a first acquiring step of acquiring the traveling trajectory information;a second acquiring step of acquiring increasing or decreasing line information of an increasing or decreasing line of the increasing or decreasing lane detected by a sensor arranged in the mobile object; anda generating step of generating the lane information based on the traveling trajectory information and a shape of the increasing or decreasing line.2. The lane information generating method according to claim 1 ,wherein the lane information is generated by replacing a portion of a shape of a traveling trajectory of the mobile object with the shape of the increasing or decreasing line in the generating step.3. The lane information generating method according to claim 2 ,wherein the traveling trajectory information for a plurality of the mobile objects is acquired in the first acquiring step, andwherein a replaced range is determined based on the traveling trajectory information for the plurality of mobile objects in the generating step.4. The lane information generating method according to ...

POSITIONING OF MOBILE OBJECT IN UNDERGROUND WORKSITE

A method for positioning a mobile object in an underground tunnel includes the steps of determining horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object; determining horizontal position of the mobile object on the basis of a floor model of the tunnel and the estimated horizontal progression of the mobile object; and generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and a three-dimensional model of the tunnel. 1. An apparatus , comprising means for performing the steps of:determining a horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object;determining a horizontal position of the mobile object on the basis of a floor model of the tunnel and an estimated horizontal progression of the mobile object; and establishing a set of particles representative of horizontal position options for the mobile object;', 'updating positions of the particles on the basis of the determined horizontal progression of the mobile object; and', comparing the updated positions of the particles to a sub-set of floor point positions of the floor model;', 'filtering out particles that have no floor points within a threshold distance; and', 'assigning, for each particle, a position of a closest floor point within a threshold distance., 'fusing the updated positions of the particles with the floor model, wherein the fusing comprises], 'generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and on the basis of a three-dimensional model of the tunnel, wherein the three-dimensional position indicator is generated on the basis of a sub-set of three-dimensional floor point locations within a threshold distance from the determined horizontal position, and the means are configured for performing the steps of2. ...

Crowd sourcing data for autonomous vehicle navigation

A method of processing vehicle navigation information for use in autonomous vehicle navigation is provided. The method includes receiving, by a server, navigation information from a plurality of vehicles. The navigation information from the plurality of vehicles is associated with a common road segment. The method also includes storing, by the server, the navigation information associated with the common road segment. The method also includes generating, by the server, at least a portion of an autonomous vehicle road navigation model for the common road segment based on the navigation information from the plurality of vehicles. The method further includes distributing, by the server, the autonomous vehicle road navigation model to one or more autonomous vehicles for use in autonomously navigating the one or more autonomous vehicles along the common road segment.

AUTONOMOUS NAVIGATION BASED ON ROAD SIGNATURES

A system for autonomously navigating a vehicle along a road segment may include at least one processor. The at least one processor may be programmed to receive from at least one sensor information relating to one or more aspects of the road segment. The processor may also be programmed to determine a local feature of the road segment based on the received information. Further the processor may be programmed to compare the local feature to a predetermined signature feature for the road segment. The processor may be programmed to determine a current location of the vehicle along a predetermined road model trajectory associated with the road segment based on the comparison of the received information and the predetermined signature feature. The processor may also be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined location. 128-. (canceled)29. A system for autonomously navigating a vehicle along a road segment , the system comprising:at least one processor programmed to:receive, from at least one sensor, information relating to one or more aspects of the road segment;determine a local feature of the road segment based on the received information;compare the local feature to a predetermined signature feature for the road segment;determine a current location of the vehicle along a predetermined road model trajectory associated with the road segment based on the comparison of the local feature and the predetermined signature feature; anddetermine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined location.30. The system of claim 29 , wherein the at least one processor is further programmed to:determine a heading direction of the vehicle at the current location, anddetermine the autonomous steering action by comparing the direction of the predetermined road model trajectory with the heading ...

Systems and methods for identifying landmarks

A system for identifying a landmark for use in autonomous vehicle navigation is provided. The system includes at least one processor programmed to receive at least one identifier associated with the landmark; associate the landmark with a corresponding road segment; update an autonomous vehicle road navigation model relative to the corresponding road segment to include the at least one identifier associated with the landmark; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles. The at least one identifier is determined based on acquisition, from a camera associated with a host vehicle, of at least one image representative of an environment of the host vehicle; analysis of the at least one image to identify the landmark in the environment of the host vehicle; and analysis of the at least one image to determine the at least one identifier associated with the landmark.

MOBILE ROBOT AND CONTROL METHOD

A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map of an environment including object position information, and a first path where the cleaning device is to move in the environment; an identification unit which identifies a first path partial path; a converter which converts the partial path into a differently-shaped path to generate a second path; and a motor controller which causes the cleaning device to move along the second path. The identification unit sets a region, on the map, where the range finding sensor can perform range finding from start and end points of a portion of the first path, and identifies the portion as the partial path when only one or more straight lines which traverse the region and are parallel to a line segment toward the end point from the start point are represented as the object in the region set. 1. A mobile robot which moves in an environment , the mobile robot comprising:a range finding sensor;an acquisition unit which acquires a map of the environment as viewed from above and a first path, the map including position information of an object, the first path being a path along which the mobile robot is to move in the environment;an identification unit which identifies a partial path forming a portion of the first path;a converter which converts the partial path, identified by the identification unit, into a path having a shape different from a shape of the partial path, to generate a second path; anda drive unit which causes the mobile robot to move along the second path, whereinthe identification unit:sets a region, on the map, where range finding is performable by the range finding sensor from both of a start point and an end point of the portion of the first path; andidentifies the portion as the partial path when only one or more straight lines are represented as the object which is present in the region set, the one or more straight lines traversing the region and being parallel to a ...

METHOD AND APPARATUS FOR POSITIONING A ROBOT AT START-UP, ELECTRONIC DEVICE AND STORAGE MEDIUM

A method for positioning a robot at start-up includes: when the robot is started up, controlling the robot to rotate in a preset rotation direction in a start-up positioning region; determining position information about a rotation path of the positioning transmitting unit according to the preset rotation direction and a set of at least three different position distances, where the at least three different position distances are between the positioning transmitting unit and the two positioning receiving units disposed at the different fixed positions and are determined during a rotation process; using a direction extending from the center position of the rotation path to a position of the positioning transmitting unit when the robot stops rotation as orientation information of the robot; and using the center position of the rotation path and the orientation information of the robot as start-up positioning information of the robot. 1. A method for positioning a robot at start-up , executed by a controller in a system for positioning a robot at start-up , wherein the system for positioning a robot at start-up comprises two positioning receiving units disposed at different fixed positions and a positioning transmitting unit disposed on the robot , the positioning transmitting unit is in communication connection with the positioning receiving units and is configured to send positioning signals to the positioning receiving units , and the method comprises:when the robot is started up, controlling the robot to rotate in a preset rotation direction in a start-up positioning region;determining position information about a rotation path of the positioning transmitting unit according to the preset rotation direction and a set of at least three different position distances, wherein the at least three different position distances are between the positioning transmitting unit and the two positioning receiving units and determined during a rotation process;determining a center ...

Vehicle travel support apparatus

Provided is a vehicle travel support apparatus including: a normal control module configured to execute travel support control; a correction control module configured to execute correction control in addition to the travel support control when a state of the vehicle is brought into an abnormal state during the execution of the travel support control; and a compensation control module configured to, when a finish condition is satisfied during the execution of the correction control, stop both the travel support control and the correction control and execute compensation control.

Autonomous vehicle tail alignment navigation

A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.

Sparse map for autonomous vehicle navigation

A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.

Self-aware system for adaptive navigation

Systems and methods are provided for self-aware adaptive navigation. In one implementation, a navigation system for a vehicle may include at least one processor. The at least one processor may be programmed to determine a navigational maneuver for the vehicle based, at least in part, on a comparison of a motion of the vehicle with respect to a predetermined model representative of a road segment. The at least one processor may be further programmed to receive, from a camera, at least one image representative of an environment of the vehicle. The at least one processor may be further programmed to determine, based on analysis of the at least one image, an existence in the environment of the vehicle of an navigational adjustment condition, cause the vehicle to adjust the navigational maneuver based on the existence of the navigational adjustment condition, and store information relating to the navigational adjustment condition.

METHOD AND APPARATUS FOR OPERATING A MOTOR VEHICLE IN AN AUTOMATED DRIVING MODE

A method for operating a motor vehicle in an automated driving mode includes: identifying, using two devices, the current position, the objects and open spaces currently present in the vehicle surroundings; respectively identifying, by the two devices, a trajectory for independent vehicle guidance; and in two regulation devices, control signals for actuator devices are respectively identified and control is applied, in accordance with the previously calculated trajectory, to longitudinal-dynamics-influencing actuators and to transverse-dynamics-influencing actuators for vehicle control. 1. A method for operating a motor vehicle in an automated driving mode , comprising:identifying, by a first identification device, the current position of the vehicle, and objects and open spaces currently present in the vehicle surroundings;identifying, by a second identification device, the current position of the vehicle, and objects and open spaces currently present in the vehicle surroundings;calculating, by a first planning device, a first trajectory for independent vehicle guidance;calculating, by a second planning device, a second trajectory for independent vehicle guidance;generating, by a first regulation device, first control signals for actuator devices;generating, by a second regulation device, second control signals for actuator devices;applying control, in accordance with one of the calculated first and second trajectories, to longitudinal-dynamics-influencing actuators and to transverse-dynamics-influencing actuators for vehicle control;wherein transfers of (i) at least one of position data and vehicle surroundings data to the planning devices, (ii) information regarding the trajectories to the regulation devices, and (iii) the control signals to the actuators, are enabled using different signal transfer paths.2. The method as recited in claim 1 , wherein the signal transfer paths are independent of one another in order to achieve a fault redundancy.3. The method as ...

System and Method for Operating Underground Machines

A method for operating an underground loader is disclosed. The method includes detecting, by a controller, a first position of the underground loader within a worksite. The method also includes determining, by the controller, a location of a dumping pit within the worksite. Further, the method includes determining, by the controller, a route for the underground loader to tram from the first position to the location of the dumping pit. Furthermore, the method includes controlling, by the controller, a movement of the underground loader along the route up to the location of the dumping pit. The method also includes moving, by the controller, an implement assembly of the underground loader based on a profile of a terrain along the route and a height of an embankment defined at an edge of the dumping pit. 1. A method for operating an underground loader , the method comprising:detecting, by a controller, a first position of the underground loader within a worksite,determining, by the controller, a location of a dumping pit within the worksite;determining, by the controller, a route for the underground loader to tram from the first position to the location of the dumping pit,controlling, by the controller, a movement of the underground loader along the route up to the location of the dumping pit;moving, by the controller, an implement assembly of the underground loader based on a profile of a terrain along the route and a height of an embankment defined at an edge of the dumping pit.2. The method as claimed in claim 1 , wherein the terrain includes one or more sidewalk claim 1 , a ceiling claim 1 , and a ground surface within the worksite.3. The method as claimed in claim 2 , wherein moving the implement assembly includes:identifying, by the controller, a position of the embankment within the worksite;determining, by the controller, a profile of the one or more sidewalk, the ceiling and the ground surface;manipulating, by the controller, the implement assembly based on ...

DRIVER-INDEPENDENT TRANSFER OF A MOTOR VEHICLE

A motor vehicle is to be transferred over a segment between a transfer point and a parking space of a parking facility. A method includes steps of detecting a motor vehicle that is to be parked in a parking space, determining unoccupied parking spaces in the parking facility, determining a traffic volume in the parking facility, and selecting one of the unoccupied parking spaces in such a way that the traffic volume on a segment between the transfer point and the selected parking space is preferably minimized. Subsequently, the motor vehicle may be guided driver-independently from the transfer point to the selected parking space. 1. A method for driver-independent transfer of a motor vehicle over a segment between a transfer point and a parking space of a parking facility , the method comprising:detecting a motor vehicle that is to be parked in a parking space;determining unoccupied parking spaces in the parking facility;determining a traffic volume in the parking facility; andselecting one of the unoccupied parking spaces in such a way that the traffic volume on a segment between the transfer point and the selected parking space is minimized.2. The method as recited in claim 1 , wherein the traffic volume is determined on the basis of an ongoing transfer of another motor vehicle.3. The method as recited in claim 1 , wherein the traffic volume is determined on the basis of a planned transfer of another motor vehicle.4. The method as recited in claim 1 , wherein the traffic volume is determined on the basis of scanning a traffic area located between the transfer point and an unoccupied parking space.5. The method as recited in claim 4 , wherein a trajectory of an object on the traffic area is determined and the traffic volume is predicted on the basis of the trajectory.6. The method as recited in claim 1 , wherein the traffic volume is determined on the basis of a reservation of a parking space.7. A non-transitory computer-readable data carrier storing a computer ...

MOVEMENT ROUTE GENERATING APPARATUS AND MOVEMENT ROUTE GENERATING METHOD

A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route. 1. A movement route generating apparatus comprising:an angle calculating unit that calculates an angle formed by a direction in which a vehicle at a target position travels compared with a direction in which the vehicle at a current position travels;a graph generating unit that generates a graph that has most gentle inclinations, each inclination indicating a degree of change in curvature per unit distance traveled, by plotting a curvature of a travel trajectory matching a steering angle of the vehicle and a distance traveled by the vehicle on two axes, under conditions that an area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle calculated by the angle calculating unit, and a maximum curvature of a travel trajectory due to a maximum steering angle that the vehicle is capable of controlling is an upper limit; anda route setting unit that sets, as a movement route of the vehicle, a travel trajectory represented by the graph generated by the graph generating unit.2. The movement ...

STANDARD SCENE-BASED PLANNING CONTROL METHODS FOR OPERATING AUTONOMOUS VEHICLES

In one embodiment, motion planning and control data is received, where the motion planning and control data indicates that an autonomous vehicle is to move from a first point to a second point of a path within a predetermined route. In response to the motion planning and control data, the path from the first point to the second point is segmented into multiple path segments. For each of the path segments, one of predetermined driving scenes is identified that matches motion characteristics of the corresponding path segment. The motion planning and control data associated with the path segments is modified based on predetermined motion settings of the path segments. The autonomous vehicle is driven through the path segments of the path based on the modified motion planning and control data. 1. A computer-implemented method for operating an autonomous vehicle , the method comprising:receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path within a predetermined route;in response to the motion planning and control data, segmenting the path from the first point to the second point into a plurality of path segments;for each of the path segments, identifying one of a plurality of predetermined driving scenes that matches motion characteristics of the corresponding path segment;modifying the motion planning and control data associated with the path segments based on predetermined motion settings of the plurality of path segments; anddriving the autonomous vehicle through the path segments of the path based on the modified motion planning and control data.2. The method of claim 1 , wherein identifying one of a plurality of predetermined driving scenes that matches motion characteristics of the corresponding path segment comprises:searching in a driving scene database to identify a driving scene that matches characteristics of the path segment, wherein the driving scene database stores metadata ...

ROUTE SEARCH METHOD, ROUTE SEARCH SYSTEM, NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM, AND WORK VEHICLE

A route search system for a work vehicle includes a receiver, a processor, and a controller. The receiver is to obtain a reference position of the work vehicle. The processor is to define, as a search area, an area around a vehicle reference point in a plan view. The vehicle reference point indicates the reference position of the work vehicle. The controller is to determine a guidance travel route along which the work vehicle is to travel and which is closest to the vehicle reference point in the search area among travel route candidates stored in a memory. 1. A route search system for a work vehicle , comprising:a receiver to obtain a reference position of the work vehicle;a processor to define, as a search area, an area around a vehicle reference point in a plan view, the vehicle reference point indicating the reference position of the work vehicle; anda controller to determine a guidance travel route along which the work vehicle is to travel and which is closest to the vehicle reference point in the search area among travel route candidates stored in a memory.2. A work vehicle comprising:a memory to store travel routes;a position calculator to calculate a reference position of work vehicle based on positioning data;a processor to define as a search area, an area around a vehicle reference point in a plan view, the vehicle reference point indicating the reference position of the work vehicle;a controller to determine a guidance travel route along which the work vehicle is to travel and which is closest to the vehicle reference point in the search area among travel routes stored in the memory; anda deviation calculator to calculate a deviation between the guidance travel route and the reference position.3. The work vehicle according to claim 2 , further comprising:a travelling controller to steer the work vehicle based on the deviation so that the work vehicle travels along the guidance travel route.4. The work vehicle according to claim 2 , further comprising:a ...

AGRICULTURAL FIELD WORK VEHICLE

An agricultural field work vehicle includes a move-off recorder to record, as move-off information, a move-off position or a move-off travel path, the move-off information being information related to the vehicle body having moved off a target travel path while performing agricultural field work during autonomous travel, the move-off position being a position at which the vehicle body moved off the target travel path, the move-off travel path being the target travel path off which the vehicle body moved, and a work return manager to (i) select a resumption travel path based on the move-off information, the resumption travel path being a travel path on which the agricultural field work vehicle, after the vehicle body moved off the target travel path, resumes performing agricultural field work, and (ii) manage a return of the 1vehicle body to the resumption travel path or the move-off position. The work return manager includes a determiner to determine, while the agricultural field work vehicle is being manually driven for the vehicle body to return to the resumption travel path, whether the agricultural field work vehicle is able to transition from manual travel to autonomous travel. 17-. (canceled)8. An agricultural field work vehicle , comprising:a vehicle position calculator to calculate, as a vehicle position, a position of a vehicle body of the agricultural field work vehicle in an agricultural field;an autonomous travel controller to steer the vehicle body so that the vehicle body travels autonomously along a target travel path;a move-off recorder to record, as move-off information, either or both of a move-off position and a move-off travel path, the move-off information being information related to the vehicle body having moved off the target travel path while performing agricultural field work during autonomous travel, the move-off position being the vehicle position at a time when the vehicle body moved off the target travel path, the move-off travel path ...

PROBABILISTIC PARKING ROUTES

Contemporary navigation systems are often tasked with routing a vehicle to a destination, but are poorly equipped to assist with finding a vacancy of a parking opportunity in which the vehicle may be parked. Static information, such as enumeration of parking garages and curbside parking meters, may be frustrating if such parking opportunities have no vacancies. The determination of vacancies with certainty may be difficult to achieve due to the characteristic volatility of parking, in which vacancies may be taken in seconds. Presented herein are navigation device configurations involving probabilistic evaluation of parking routes in a vicinity of a destination that may be generated and compared, optionally weighted by various factors, to identify a parking route with parking opportunities that collectively present a high probability of vacancy as compared with other parking routes, which may be presented to the user and/or appended to a current route of an autonomous vehicle. 1. A device that provides navigation of a vehicle to park near a destination , the device comprising:a processor; and identify a set of routes near the destination, respective routes comprising a set of segments;', 'for respective routes near the destination, aggregate parking probabilities of parking opportunities along the segments of the route to identify a parking route probability for the route;', 'compare the parking route probabilities of the respective routes to select a parking route; and', 'navigate the vehicle based on the parking route., 'a memory storing instructions that, when executed by the processor, cause the device to2. The device of claim 1 , wherein:the device further comprises a parking probability data source; and receive a parking report from a second vehicle for a selected segment; and', 'store, in the parking probability data source, a segment parking probability for the selected segment according to the parking report., 'execution of the instructions further causes ...

VACUUM CLEANER SYSTEM AND VACUUM CLEANER

A vacuum cleaner system includes a position sensor that acquires a positional relationship between the vacuum cleaner and an object around the vacuum cleaner, a map acquisition unit that acquires a floor map indicating the predetermined floor, a self-position estimation unit that estimates a self-position on the floor map based on the position sensor, the self-position being a position of the vacuum cleaner, a boundary information generation unit that acquires, based on the self-position, boundary information indicating a boundary of a cleaning area which is an area where the vacuum cleaner performs cleaning on the floor, a boundary instruction unit that instructs the boundary information generation unit on the boundary, a cleaning area creation unit that creates a cleaning area based on the boundary information, and a running route creation unit that creates a running route for cleaning based on the created cleaning area. 1. A vacuum cleaner system including a vacuum cleaner that autonomously runs in a predetermined floor and performs cleaning , the system comprising:a position sensor that acquires a positional relationship between the vacuum cleaner and an object around the vacuum cleaner;a map acquisition unit that acquires a floor map indicating the predetermined floor;a self-position estimation unit that estimates a self-position on the floor map based on the position sensor, the self-position being a position of the vacuum cleaner;a boundary information generation unit that acquires, based on the self-position, boundary information indicating a boundary of a cleaning area which is an area where the vacuum cleaner performs cleaning on the floor;a boundary instruction unit that instructs the boundary information generation unit on the boundary;a cleaning area creation unit that creates the cleaning area based on the boundary information; anda running route creation unit that creates a running route for cleaning based on the created cleaning area.2. The vacuum ...

AUTOSCRUBBER CONVERTIBLE BETWEEN MANUAL AND AUTONOMOUS OPERATION

Autoscrubbers are capable of being operated in a manual (e.g. walk-behind) mode and an autonomous (operator free) mode and capable of switching between such operational modes. Apparatus and methods for steering such autoscrubbers use steering torque mechanisms to apply steering torques independently to left and right drive wheels. Steering systems for autonomous operation may be retrofit onto existing walk-behind autoscrubbers to implement this functionality. The autonomous control capability may not detract appreciably from an operator's ability to use the autoscrubber in a manual (walk-behind) mode. 1. A method for controllably moving an autoscrubber on a surface , the method comprising:providing an autoscrubber comprising: a chassis supporting a cleaning system for cleaning a surface located under the autoscrubber and one or more torque mechanisms connected to apply left torque to a left drive wheel and right torque to a right drive wheel;providing one or more cameras mounted to the chassis for capturing images of an environment in which the autoscrubber operates;connecting a controller to provide a teach mode and repeat mode wherein:during the teach mode, the autoscrubber is in a manual operational mode wherein: the autoscrubber is steered by an operator who applies steering force to the autoscrubber and the one or more cameras capture and store image data at each of a plurality of nodes along a path during movement of the autoscrubber along the path; andduring the repeat mode, the autoscrubber is in an autonomous operational mode, the one or more cameras capture image data to provide image data feedback and the controller is: configured to determine one or more torque drive signals based at least in part on a comparison of the image data feedback and at least some of the image data captured and stored at each of the plurality of nodes during the teach mode; and connected to provide one or more torque drive signals to the one or more torque mechanisms to thereby ...

SYSTEM AND METHOD FOR NAVIGATING AN AUTONOMOUS DRIVING VEHICLE

A system and method for navigating an autonomous driving vehicle (ADV) by capturing and analyzing information of a global scene and local objects around the ADV, is disclosed. The system comprises a sensor assembly incorporated on the ADV and a computing device in communication with the sensor assembly. The sensor assembly is configured to collect environmental data around the ADV. The computing device comprises a processor, and a memory unit for storing a predefined scene template and environmental data. The computing device is configured to process the environmental data to identify a moving and static object. The computing device is further configured to observe an environmental scene around the ADV. The observed environmental scene is aligned with a predefined scene template. Further, the predefined scene template is adjusted using the processed environmental data. The computing device provides instruction to control the vehicle based on the adjusted scene template. 1. A system for navigating an autonomous driving vehicle (ADV) , comprising:a sensor assembly incorporated on the ADV comprising one or more sensors configured to collect environmental data around the autonomous driving vehicle; and wherein the processor is configured to process the environmental data to identify moving and static objects around the autonomous driving vehicle and the memory unit is configured to store a predefined scene template and environmental data, and', observe an environmental scene around the ADV,', 'align the captured environmental scene with a predefined scene template,', 'adjust the predefined scene template using the processed environmental data, and', 'navigate the ADV based on the adjusted scene template., 'wherein the computing device is configured to], 'a computing device in communication with the sensor assembly comprising a processor and a memory unit,'}2. The system of claim 1 , wherein the sensors comprises at least one of an ultrasonic sensor claim 1 , a lidar ...

AUTOMATIC DRIVING ASSISTANCE DEVICE AND METHOD THEREOF

A situation recognizer calculates situation recognition information on a peripheral situation of a vehicle based on sensor information indicating the vehicle's periphery, map information, and motion information indicating the vehicle's state; an experience information database including information on each function, a function achievement value indicating each function's achievement degree, and a road on which each function was executed, in association with the situation recognition information, the experience information reflecting an execution result of each function during automatic driving; a control route calculator extracts experience information corresponding to the situation recognition information from the experience information database and calculates a control route including the road where the function achievement value is high; a control determination unit which generates control method information for controlling the vehicle to execute the function on the control route; and a control executor executes the automatic driving based on the control method information. 1. An automatic driving assistance device comprising:a situation recognition unit which calculates situation recognition information on a peripheral situation of a vehicle based on sensor information indicating information on a periphery of the vehicle performing automatic driving, map information including a travel route of the vehicle, and motion information indicating a state of the vehicle;an experience information database which includes information on at least a plurality of functions, a function achievement value indicating an achievement degree of each of the plurality of functions, and a road on which each of the plurality of functions has been executed, as experience information reflecting execution results of the plurality of functions during automatic driving travel of the vehicle, and in which the experience information is recorded in association with the situation recognition ...

MOVER CONTROL SYSTEM, MOVER SYSTEM, MOVER CONTROL METHOD, AND NON-TRANSITORY STORAGE MEDIUM

A mover control system according to an embodiment includes a controller, a node generator, and a path generator. The controller controls a mover traveling within a predetermined area. The node generator generates a pair of specified nodes at respective arbitrary locations on a map corresponding to the predetermined area. The pair of specified nodes are nodes where the mover is controllable. The path generator generates a path between the pair of specified nodes. The controller makes the mover travel along a traveling route corresponding to the path within the predetermined area. 1. A mover control system comprising:a controller configured to control a mover traveling within a predetermined area;a node generator configured to generate a pair of specified nodes at respective arbitrary locations on a map corresponding to the predetermined area, the pair of specified nodes being nodes where the mover is controllable; anda path generator configured to generate a path between the pair of specified nodes, the controller being configured to make the mover travel along a traveling route corresponding to the path within the predetermined area.2. The mover control system of claim 1 , further comprisinga virtual node generator configured to, when an interval between the pair of specified nodes is equal to or greater than an upper limit value, generate at least one virtual node on the path separately from the pair of specified nodes.3. The mover control system of claim 2 , further comprising:a display controller configured to display a setting screen including the map; anda user interface configured to output a command signal in response to at least a user's command of designating a pair of specified locations on the map on the setting screen, whereinthe node generator is configured to generate, in accordance with the command signal, the pair of specified nodes at the pair of specified locations on the map.4. The mover control system of claim 3 , whereineach of the nodes is a ...

METHOD AND APPARATUS FOR EDITING A DIGITAL MAP OF A TRANSPORT VEHICLE FOR TRANSPORTING VEHICLES

A digital map of a transport vehicle for transporting vehicles includes one or more digital reference locations that are respectively associated with real reference locations of the transport vehicle. A method includes: ascertaining respective reference coordinates of the real reference locations relative to a reference coordinate system, so that the ascertained reference coordinates are associated with the corresponding digital reference locations; deriving respective coordinates of further digital locations of the digital map from the reference coordinates of the reference locations based on a derivation protocol, so that coordinates relative to the reference coordinate system are respectively associated with the further digital locations, so that an edited digital map of the transport vehicle is created, in which map coordinates relative to the reference coordinate system are associated with the digital locations. 112-. (canceled)13. A method for editing a digital map of a transport vehicle for transporting vehicles , the method comprising:for each of one or more real reference locations of the transport vehicle that corresponds to a respective digital reference location of the map, ascertaining respective reference coordinates relative to a reference coordinate system, so that the respective ascertained reference coordinates are associated with the respective digital reference location that corresponds to the respective real reference location; andderiving respective coordinates, relative to the reference coordinate system, of further digital locations of the digital map from the reference coordinates of the one or more real reference locations based on a derivation protocol, wherein the further digital locations corresponding to further real locations of the transport vehicle, the digital map of the transport vehicle thereby being edited to include the map coordinates, relative to the reference coordinate system, that are associated with the one or more real ...

Changing vehicle configuration based on vehicle storage compartment contents

The present invention extends to methods, systems, and computer program products for changing vehicle configuration based on vehicle storage compartment contents. At an autonomous vehicle, a camera is mounted inside a storage compartment. The camera monitors the interior of the storage compartment. The camera can confirm that the storage compartment is empty when it is supposed to be empty and contains an object when it is supposed to contain an object. Any discrepancies can be reported to a human operator. The human operator can instruct the autonomous vehicle to change configuration to address discrepancies. In one aspect, a machine-learning camera memorizes a background pattern permeated to a surface of the storage compartment. The machine-learning camera detects objects in the storage compartment based on disturbances to the background pattern.

AUTOMATED MOBILE ROBOT WITH UVC LIGHTS FOR DISINFECTING A FACILITY

An automated mobile robot includes a housing, an articulated arm that has at least one UVC light thereon, an actuator that is operable to move the arm between a retracted position and an extended position, a drive unit that is operable to move the housing, a position sensor that is operable to generate position signals indicative of an instant position, a computer, and a battery connected to the actuator, the drive unit, the UVC light, and the computer. The computer is operably coupled to the actuator, the position sensor, the UVC light, and the drive unit. The computer has a predetermined disinfection route and is configured to operate the actuator to move the arm, activate and deactivate the UVC light, and operate the drive unit to move the housing along the predetermined disinfection route based on the instant position and a desired position in the predetermined disinfection route. 1. An automated mobile robot , comprising:a housing;at least one articulated arm extendable from the housing and having at least one UVC light thereon;an actuator coupled with the arm and operable to move the arm between a retracted position and an extended position;a drive unit operable to move the housing;a position sensor operable to generate position signals indicative of an instant position of the housing;a computer; anda battery connected to the actuator, the drive unit, the UVC light, and the computer, whereinthe computer is operably coupled to the actuator, the position sensor, the UVC light, and the drive unit, the computer having a predetermined disinfection route stored therein, the computer configured to operate the actuator to move the arm, activate and deactivate the UVC light, and operate the drive unit to move the housing along the predetermined disinfection route based on the instant position and a desired position in the predetermined disinfection route.2. The automated mobile robot as recited in claim 1 , further comprising a steering roller mounted under the housing ...

PACKAGE HANDLING CONTROL BASED ON CUSTOMER INPUT

An electronic control device to provide package handling assistance for a vehicle. The electronic control device stores route information which includes a plurality of destination location points to be visited in an order by the vehicle, timing information, package handling instructions for at least one of a plurality of packages. The electronic control device transmits the route information to a plurality of information processing apparatuses related to a plurality of customers. The electronic control device receives a request from an information processing apparatus. The request includes a first destination location point from the plurality of destination location points for handling a package associated with a customer related to the information processing apparatus. The electronic control device updates the order of the plurality of destination location points based on the received request and further controls the movement of the vehicle based on the updated order. 1. An electronic control device to provide package handling assistance for a vehicle , comprising:a memory configured to store route information for each of a plurality of packages, wherein the route information includes a plurality of destination location points to be visited in an order by the vehicle, timing information associated with each of the plurality of destination location points, and package handling instructions for at least one of the plurality of packages at each of the plurality of destination location points; andcircuitry, coupled with the memory, configured to:transmit the route information to a plurality of information processing apparatuses related to a plurality of customers associated with the plurality of packages;receive a request from an information processing apparatus of the plurality of information processing apparatuses, wherein the request indicates a first destination location point from the plurality of destination location points for handling a package associated with ...

CAMERA SYSTEMS USING FILTERS AND EXPOSURE TIMES TO DETECT FLICKERING ILLUMINATED OBJECTS

The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode. 1. A vehicle comprising:a first camera mounted in order to capture images of an environment of the vehicle, the first camera having a first exposure time and being without an ND filter; anda second camera mounted in order to capture images of the environment, the second camera having a second exposure time that is greater than or equal to the first exposure time and having an ND filter.one or more processors configured to:capture images using the first camera and the first exposure time;capture images using the second camera and the second exposure time;use the images captured using the second camera to identify light from at least one light emitting diode (LED);use the images captured using the first camera to identify a location of an object including the at least one LED; anduse the identified LED and the identified location of the object to control the vehicle in an autonomous driving mode.2. The vehicle of claim 1 , wherein the first camera and the second camera each include a near infrared filter.3. The vehicle of claim 1 , wherein the second exposure ...

ROUTE DETERMINATION

A computer-implemented method of determining a route is provided. More specifically, provided is a method and apparatus for determining a route amongst obstacles and for recording the determined route. The methods and apparatus for determining a route may be uses for computerised navigation systems and autonomous vehicles. 1. A computer-implemented method of determining a route to a destination , the method comprising:initialising a plurality of agents, each of which agents is arranged to find a respective path towards the destination by making a series of route decisions based on behaviour parameters, the behaviour parameters being different for different agents;modifying the plurality of agents by:scoring the paths found by the plurality of agents,comparing the paths found by the plurality of agents to a threshold score,determining a first agent of the plurality of agents, the first agent having found a path with a score on one side of the threshold score,determining a second agent of the plurality of agents, the second agent having found a path with a score on the other side of the threshold score,adding a third agent to the plurality of agents, the third agent being arranged to find a path towards the destination based on behaviour parameters the same as the behaviour parameters of the first agent and initially being located on the path of the second agent, andoptionally removing the first agent from the plurality of agents; andoptionally repeating the modifying until the path found by at least one of the agents of the plurality of agents reaches the destination.2. The method of claim 1 , wherein the scoring is based upon at least one of: time taken to travel along the path claim 1 , risk associated with travelling along the path and cost of travelling along the path.3. The method of claim 1 , wherein the threshold score is based upon at least one of: a best scoring path; the relative scores of each path; a user-selected threshold score; a maximum allowable time ...

System-Directed Single Line Pick Batching

A system-directed single line pick batching is described. In an example implementation, the system may receive data describing a set of orders including SKU identifiers associated with items in the orders, identify an eligible cart, and assign a location to a task queue of the cart based on the location being associated with a particular SKU identifier. In some instances, the location or SKU identifier may be determined based on an order with a certain quantity of different SKU identifiers. In some instances, the system may navigate the cart to the location and instruct the item to be picked from the location. In response to completion of the pick of the item, the system may navigate the cart to an end point. 1. A computer-implemented method comprising:receiving, by one or more processors, data describing a set of orders, the set of orders including one or more items having one or more stock keeping unit (SKU) identifiers associated with the one or more items;identifying, by the one or more processors, a first cart for batch picking;assigning, by the one or more processors, a first location in a pick-to-cart area to a task queue of the first cart based on a first item having a first SKU identifier being located at the first location and a first order of the set of orders including the first SKU identifier;navigating, by the one or more processors, the first cart to the first location in a pick-to-cart area;instructing, by the one or more processors, a picker to pick the first item having the first SKU identifier at the first location;receiving, by the one or more processors, one or more confirmation inputs indicating completion of a pick of the first item having the first SKU identifier to the first cart; andnavigating, by the one or more processors, the first cart to an end point.2. The computer-implemented method of claim 1 , further comprising:receiving, by the one or more processors, after dispatching the first cart, order data representing a second order, the ...

Vehicle movement state determination device and vehicle movement control device

A vehicle movement state determination device includes: a yaw rate determination unit configured to determine a yaw rate based on at least one of a detection yaw rate detected by a yaw rate sensor and a calculation yaw rate calculated by a yaw rate calculation unit; and a yaw rate reliability determination unit configured to determine whether a reliability of the detection yaw rate is low. The yaw rate determination unit determines the detection yaw rate as the yaw rate at the time the yaw rate reliability determination unit does not determine that the reliability of the detection yaw rate is low, and determines the yaw rate based on the calculation yaw rate at the time the yaw rate reliability determination unit determines that the reliability of the detection yaw rate is low.

Haulage Vehicle

An autonomous mode controller () that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator () and a traveling drive unit (). The steering actuator () generates combined torque (T) based upon steering torque (Tm) from a steering handle () and the torque command (Ta), and controls a steering angle (θ) of a vehicle based upon the combined torque (T). The traveling drive unit () selects a larger one of an acceleration command (SAm) by an accelerator pedal () and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal () and the acceleration command (SBa) as a braking command (SB). The traveling drive unit () controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB). 1. A haulage vehicle comprising:an acceleration operation device that operates acceleration of a vehicle;a braking operation device that operates a brake of said vehicle; anda traveling drive unit that causes said vehicle to travel based upon an acceleration command by said acceleration operation device and a braking command by said braking operation device, characterized in that:said traveling drive unit comprises:an external input terminal for inputting another acceleration command and another braking command from an exterior;an acceleration command selecting unit that selects a larger acceleration command by comparing said other acceleration command input from said external input terminal and said acceleration command by said acceleration operation device; anda braking command selecting unit that selects a larger braking command by comparing said other braking command input from said external input terminal and said braking command by said braking operation device, whereina traveling drive of said vehicle is controlled based upon said acceleration command selected by said acceleration command selecting unit and said ...

PARKING ASSIST SYSTEM

A method for vision assisted parking of a vehicle includes displaying video images derived from image data captured by a camera. A controller is operated in a first mode to generate a first overlay that includes a parking space representation of a parking space where the vehicle may be parked, and that is overlayed on the displayed video images at an offset position and remains at the offset position while the driver maneuvers the vehicle to position the parking space representation at a target parking location. The controller is operated in a second mode to generate a second overlay that includes (i) a representation of a predicted rearward path of travel of the vehicle and (ii) a representation of a determined target path. The second overlay is adjusted responsive to steering of the vehicle while the driver follows the determined target path towards and into the target parking location. 1. A method for vision assisted parking of a vehicle , said method comprising:capturing image data via a camera mounted at the vehicle and having a field of view rearward and sideward of the vehicle;displaying video images at a display screen in the vehicle, wherein the video images are derived from image data captured by said camera;operating a controller in a first mode responsive to a first user input, wherein the controller, when operating in the first mode, generates a first overlay that is overlayed on the video images displayed at the display screen;wherein the first overlay comprises a parking space representation of a parking space where the vehicle may be parked, and wherein the first overlay is overlayed on the video images at an offset position so that the parking space representation appears offset a selected distance behind the vehicle and a selected distance laterally from the vehicle;the first overlay remaining at the offset position at the display screen while a driver of the vehicle is maneuvering the vehicle to position the parking space representation at a ...

Multi-Channel Light Detection and Ranging (LIDAR) Unit Having a Telecentric Lens Assembly and Single Circuit Board For Emitters and Detectors

A LIDAR unit includes a housing defining a cavity. The LIDAR unit further include a plurality of emitters disposed on a circuit board within the cavity. Each of the emitters emits a laser beam along a transmit path. The LIDAR system further includes a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly. The LIDAR further includes a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly. The first telecentric lens assembly and the second telecentric lens assembly each include a field flattening lens and at least one other lens. 1. A light detection and ranging (LIDAR) unit comprising:a housing defining a cavity;a plurality of emitters disposed on a surface of a circuit board positioned within the cavity, each of the plurality of emitters configured to emit a laser beam along a transmit path;a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly, the first telecentric lens assembly comprising a first field flattening lens and at least one other lens;a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly, the second telecentric lens assembly comprising a second field flattening lens and at least one other lens; anda plurality of detectors disposed on the surface of the circuit board, each of the plurality of detectors spaced apart from a corresponding emitter of the plurality of emitters, each of the plurality of detectors configured to detect one or more of the ...

DYNAMIC SELECTION OF DESTINATIONS FOR AUTONOMOUS CARRIERS

Examples of the disclosure are directed to dynamic selection of a specific location at a destination for delivery or transfer of an item. A connected speaker can communicate with an autonomous carrier using an audio signal. The audio signal can contain identifying information associated with the specific location. The autonomous carrier can complete delivery of the item at the specific location. 1. A system comprising:at least one computing device; obtain an indication of an arrival of an autonomous carrier at a destination associated with a user;', 'identify a specific location at the destination associated with the user;', 'embed an identifier associated with the specific location into an audio signal;', 'generate an encrypted audio signal from the audio signal; and', 'transmit the encrypted audio signal to a connected speaker associated with the destination, wherein the connected speaker causes playback of the encrypted audio signal during the arrival of the autonomous carrier, wherein the autonomous carrier decrypts the audio signal to identify the specific location at the destination., 'at least one application executed by the at least one computing device, the at least one application causing the at least one computing device to at least2. The system of claim 1 , wherein selection of the specific location is obtained from a client device associated with the user claim 1 , the selection comprising an identifier of a physical feature of the destination.3. The system of claim 2 , wherein the identifier comprises a descriptive textual tag identifying the physical feature claim 2 , wherein the autonomous carrier identifies the physical feature based upon an image dictionary corresponding to the descriptive textual tag.4. The system of claim 1 , wherein the encrypted audio signal comprises a signal encoded at a frequency that is ultrasonic or infrasonic.5. The system of claim 1 , wherein the at least one application further causes the at least one computing device ...

Trailer Reverse Assist With Follow-Me System

A method for maneuvering a vehicle-trailer system in a reverse direction is provided. The method includes receiving images from a camera positioned on a rear portion of the trailer. The method includes: identifying one or more guide representations within the received images; and transmitting the received images to a user interface. The method also includes receiving from the user interface, an indication of a guide representation from the one or more guide representations. The method includes determining a path that includes maneuvers configured to move the vehicle-trailer system along the path to follow the guide associated with the identified guide representation while maintaining a minimum distance from the guide positioned behind the trailer. The method also includes transmitting to a drive system of the vehicle, one or more commands causing the vehicle-trailer system to autonomously move the vehicle-trailer system along the vehicle-trailer path in the reverse direction. 1. A method for maneuvering a vehicle-trailer system in a reverse direction , the vehicle-trailer system having a vehicle attached to a trailer at a hitch , the method comprising:receiving, at data processing hardware, one or more images from a camera in communication with the data processing hardware and positioned on a rear portion of the trailer;identifying, using the data processing hardware, one or more guide representations within the one or more received images;transmitting, from the data processing hardware to a user interface in communication with the data processing hardware, the one or more received images;receiving, at the data processing hardware from the user interface, an indication of a guide representation from the one or more guide representations;determining, at the data processing hardware, a vehicle-trailer path comprising maneuvers configured to move the vehicle-trailer system along the vehicle-trailer path to follow the guide associated with the identified guide ...

Apparatus and method for controlling driving of vehicle

An apparatus and a method for controlling driving of a vehicle are provided and the apparatus includes a sensor unit that has at least one sensor disposed at sides of a vehicle. In addition, a controller uses sensing information received from the sensor unit to confirm whether the vehicle enters a path and detects obstacles located in the path. The controller calculates a left and right width of the path based on the obstacles and then confirms whether the path is a narrow road. Further, the controller is configured to output a driving guidance to the confirmed narrow road.

Photoresist bottle replacement system

The present disclosure describes a method for replacing a photoresist (PR) bottle using a vehicle. An exemplary vehicle includes a processor configured to receive a request signal to replace a first PR bottle. The processor is also configured to transmit an order based on the request signal. The vehicle also includes a plurality of wheels configured to move the vehicle from the first location to a second location, and from the second location to the first location. The vehicle further includes a robotic arm configured to load, at the first location, the first PR bottle into a first container; load a second PR bottle in a second container; remove a cap from the second PR bottle and a socket from the first PR bottle; couple the socket of the first PR bottle to the second PR bottle; and unload the second PR bottle from the second container.

Method and apparatus for processing trajectory, roadside device and cloud control platform

The present disclosure discloses a method and apparatus for processing a trajectory, a roadside device, and a cloud control platform, relates to the field of intelligent transportation, and in particular to the field of computer vision. An implementation scheme is: acquiring a to-be-processed trajectory, the to-be-processed trajectory comprising at least three sequential position points; determining an auxiliary line based on the position points and a preset number of interpolation points; determining positions of the interpolation points based on the preset number of interpolation points; and determining and outputting a target trajectory based on the auxiliary line and the positions of the interpolation points.

ELECTRIC VEHICLE CHARGING PARKING STRUCTURE

Embodiments facilitate handling of charging parking interactions between electric vehicles (EVs) and parking structures having charging parking spaces. For example, a parking deck has a large number of parking spaces on multiple levels, and is accessible by one or more entrances. Some of the parking spaces in the parking deck are charging parking spaces that each include a EV charging subsystem in communication with a charging parking controller. Upon entering the parking deck, an EV can request charging parking (charging while parking) during a charging parking timeframe. The charging parking controller can compute an interaction schedule of EV parking and/or charging resources of the parking structure according to the charging parking timeframe and can facilitate automatic or manual execution of the scheduled interaction between the requesting EV and the parking structure. 1. A parking structure system for electric vehicle (EV) charging , the parking structure system comprising:a plurality of charging parking spaces, each charging parking space having an associated physical location for EV parking; a charging interface adapted to deliver electric power from a power grid to an EV electrically coupled with the charging interface; and', 'a control unit to direct delivery of the electric power via the charging interface,, 'a plurality of charging subsystems, each comprisingthe charging subsystems located according to the associated physical locations of the charging parking spaces; and receive a charging parking request associated with a requesting EV and indicating a charging parking timeframe;', 'compute a directive, in response to the charging parking request, identifying a charging parking space of the plurality of charging parking spaces as being available for charging the requesting EV in accordance with the charging parking timeframe; and', 'communicate the directive to the requesting EV, such that the EV is guidable to the associated physical location of the ...

Controlling an autonomous vehicle based upon computed lane boundaries

Described herein are technologies relating to controlling an autonomous vehicle based upon a computed lane boundary. The computed lane boundary defines a travel path for the autonomous vehicle when the autonomous vehicle turns across a lane of traffic at an intersection of two or more roadways. The autonomous vehicle navigates turn based upon the computed lane boundary, which allows the autonomous vehicle to enter the intersection without crossing into a lane of oncoming traffic.

METHODS AND APPARATUS FOR USING CONFIGURABLE TEMPLATES AND POLICY INFORMATION TO CONTROL USE OF STORAGE LOCATIONS

Flexible methods and apparatus for automatically assigning storage locations as part of an inventory allocation request satisfaction process are described. In various embodiments inventory allocation request processing templates are used to facilitate the allocation of storage locations to satisfy one or more lines of an inventory allocation request. A client, which sends assignment resource allocation requests, can specify storage allocation constraints and/or preferences in a template. The template corresponding to the client is retrieved and the policy or constraints in the template are applied as part of the storage location assignment process. Clients can easily make changes to their templates allowing for customization of storage location assignments without the need for a detailed understanding of the physical layout of a storage site such as a warehouse. Custom inventory allocation request processing templates can be easily created by a customer modifying a default template to create a custom template. 1. A computer-implemented method of processing inventory allocation requests , the method comprising:receiving an inventory allocation request;selecting one or more inventory allocation request processing templates to be used in generating a location list to be used in satisfying the received inventory allocation request based on one or more of: i) a client from which the inventory allocation request was received; ii) the time the storage location or storage locations being assigned by the inventory allocation request are to be used to satisfy an order; and iii) the warehouse where the inventory allocation request is to be satisfied; andgenerating, based on at least one constraint included in a selected inventory allocation request processing template, a location list to be used in satisfying an order corresponding to the received inventory allocation request.2. The computer-implemented method of claim 1 , further comprising:sending the location list to a ...

System and Method for Controlling Motion of Vehicle

A method selects from a memory a first model of motion of vehicle, a second model of the motion of the vehicle, a first constraint on the first model for moving along a desired trajectory of the vehicle, and a control invariant set joining states of the first model with states of the second model. For each combination of the states within the control invariant subset there is at least one control action to the second model that maintains the state of the second model within the control invariant set for every modification of the state of the first model satisfying the first constraint. A portion of the desired trajectory satisfying the first constraint is determined using the first model while a sequence of commands for moving the vehicle along the portion of the desired trajectory is determined using the second model. The sequence of commands is determined to maintain the sequence of the states of the second model and a sequence of the states of the first model determined by the portion of the desired trajectory within the control invariant subset. The vehicle is controlled using at least one command from the sequence of commands. 1. A method for controlling a vehicle , comprising:selecting from a memory a first model of motion of vehicle, and a second model of the motion of the vehicle, wherein an order of the second model is higher that an order of the first model, wherein the order of a model is a number of state variables in the model;selecting from the memory a first constraint on the first model of motion of the vehicle for moving on a desired trajectory of the vehicle, and selecting a control invariant set joining states of the first model with states of the second model, wherein for each combination of the states within the control invariant subset there is at least one control action to the second model that maintains the state of the second model within the control invariant set for every modification of the state of the first model satisfying the first ...

Kinematic Path Prediction of Vehicles on Curved Paths

A host vehicle receives a remote vehicle message via a wireless electronic communication link. The remote vehicle message includes remote vehicle information indicating remote vehicle geospatial state information and remote vehicle kinematic state information that includes at least a remote heading angle for a remote vehicle. Host vehicle information is identified that includes host vehicle geospatial state information and host vehicle kinematic state information that includes at least a host heading angle for the host vehicle. Projected vehicle transportation network information representing a portion of the vehicle transportation network is generated based on the remote and host vehicle information, the portion including a curved path having a substantially constant radius. An expected host vehicle route for the host vehicle is determined in response to generating the projected vehicle transportation network information representing the curved path, and the host vehicle traverses the curved path using the expected host vehicle route. 1. A method of generating projected vehicle transportation network information for use in traversing a vehicle transportation network , the method comprising:receiving, at a host vehicle, from a remote vehicle, via a wireless electronic communication link, a remote vehicle message, the remote vehicle message including remote vehicle information, the remote vehicle information indicating remote vehicle geospatial state information for the remote vehicle and remote vehicle kinematic state information for the remote vehicle, the remote vehicle kinematic state information including at least a remote heading angle for the remote vehicle;identifying host vehicle information for the host vehicle, the host vehicle information including host vehicle geospatial state information and host vehicle kinematic state information for the host vehicle, the host vehicle kinematic state information including at least a host heading angle for the host ...