СИСТЕМА СВЯЗИ ДЛЯ МОБИЛЬНЫХ И СТАЦИОНАРНЫХ УСТРОЙСТВ

... 1. Система связи для мобильных и стационарных устройств, причем мобильные и стационарные устройства оснащены, по меньшей мере, одним приемопередатчиком, который охватывает определенную область приема и передачи, отличающаяся тем, что по меньшей мере частичное перекрытие (28) областей (25) приема и передачи мобильных и/или стационарных устройств (7, 14, 46, 48) вызывает установление между ними случайной связи (29), причем эта случайная связь (29) переходит в целенаправленную связь (32). 2. Система по п.1, отличающаяся тем, что целенаправленная связь (32) охватывает, по меньшей мере, предоставление релевантной информации (30, 35) и реагирование на эту релевантную информацию (30, 35). 3. Система по п.2, отличающаяся тем, что реагирование на эту релевантную информацию (30, 35) охватывает автоматическое использование этой релевантной информации (30, 35) и/или ее дальнейшую обработку с учетом обстановки. 4. Система по любому из пп.1-3, отличающаяся тем, что она выполнена с возможностью установления ...

СИСТЕМА И СПОСОБ УПРАВЛЕНИЯ АВТОНОМНЫМ ТРАНСПОРТНЫМ CРЕДСТВОМ

Fahr-Kontrollvorrichtung für Automobile.

Verfahren zum autonomen Fahren eines Fahrzeugs in einer Engstelle

Verfahren zum Betrieb eines autonomen, straßengebundenen Fahrzeugs, straßengebundenes autonomes Fahrzeug und Verkehrsführungssystem

Im Rahmen eines erfindungsgemäßen Verfahrens zum Betrieb eines autonomen, straßengebundenen ersten Fahrzeugs (10), das dazu eingerichtet ist, in zwei einander entgegensetzten Fahrtrichtungen (4,8) auf gleiche Weise bewegt werden zu können, wird verfahrensgemäß in einem ersten Verfahrensschritt ermittelt, ob aufgrund eines weiterführenden Routenverlaufs ein Wechsel der Fahrtrichtung (4,8) des ersten Fahrzeugs (10) erforderlich ist, in einem zweiten Verfahrensschritt das erste Fahrzeug (10) im Wesentlichen entlang einer bisherigen Fahrtrichtung (4) einer der entgegengesetzten Fahrtrichtung (8) zugeordneten, benachbarten Fahrspur (6) angenähert, in einem dritten Verfahrensschritt zum Vorbereiten eines Einfädelns in die benachbarte Fahrspur (6) unter Umkehr der Fahrtrichtung an wenigstens ein auf dieser Fahrspur (6) befindliches, entgegenkommendes zweites Fahrzeug (18) eine erste Information über den beabsichtigen Wechsel des ersten Fahrzeugs (10) auf diese Fahrspur (6) übermittelt wird, und ...

Methods, systems and apparatus for controlling movement of transporting devices

Augmented reality enabled autonomous vehicle command centre

Autonomous vehicle stations

Testing predictions for autonomous vehicles

Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors 120 may plan to maneuver a first vehicle 100 autonomously to complete an action and predict that a second vehicle 680, 780, 880 will take a responsive action. The first vehicle is maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action.

DETECTING MOTION OF AN AUTONOMOUS VEHICLE USING RADAR TECHNOLOGY

Examples relating to vehicle motion detection using radar technology are described. An example method may be performed by a computing system and may involve receiving, from at least one radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the radar data, detecting at least one scatterer present in the environment and making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, in response to the likelihood being at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the radar data, where calculating the velocity comprises one of: determining an indication that the vehicle is stationary, and determining an angular and linear velocity of the vehicle. And the method may involve controlling the vehicle teed on the calculated velocity.

Methods, systems and apparatus for controlling movement of transporting devices

Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems 5 and computer-readable media for controlling the movement of transporting devices configured for fully - and/or partly automated handling of goods and/or controlling operations conducted at various workstations. Figure 7 11408631_1 (GHMatters) P104749.AU.2 ...

Methods, systems and apparatus for controlling movement of transporting devices

Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems and computer-readable media for controlling the movement of transporting devices configured for fully - and/or partly automated handling of goods and/or controlling operations conducted at various workstations.

UNLOADING ARRANGEMENT AND UNLOADING STATION, AS WELL AS METHOD OF UNLOADING AN ITEM FROM A STORAGE CONTAINER

An unloading arrangement, an unloading station, and a method of unloading an item (5) from a storage container (6), comprising: a delivery vehicle (30); a storage container (6) carried by the delivery vehicle (30); and an unloading station (10) for unloading an item (5) from the storage container (6) while it is being carried by the delivery vehicle (30) in an automatic storage and retrieval system (1), the unloading station (10) comprising: an unloading device (40); and a destination conveyor (60) configured to convey the item (5) to a target destination (TD), wherein the unloading device (40) is configured to move the item (5) through a side opening of the storage container (6) to the destination conveyor (60).

PROCEDE DE GESTION DE DEPLACEMENTS D'UNE FLOTTE D'OBJETS MOBILES AUTONOMES, PROCEDE DE DEPLACEMENT D'UN OBJET MOBILE AUTONOME, DISPOSITIFS ET PRODUITS PROGRAMME D'ORDINATEUR CORRESPONDANTS

L'invention concerne un procédé de gestion de déplacements d'une flotte d'une pluralité d'objets mobiles autonomes aptes à communiquer avec un serveur de gestion, un objet mobile autonome étant associé à un terminal utilisateur équipant un utilisateur. Selon l'invention, le serveur de gestion exécute les étapes suivantes, pour un objet mobile autonome donné, dit premier objet, associé à un premier terminal utilisateur équipant un premier utilisateur: obtention (100) d'une information représentative d'une position à atteindre par ledit premier objet, dite information de destination premier objet; détermination (101) d'une information représentative d'un déplacement à effectuer par ledit premier objet, dite information de déplacement premier objet, ladite détermination prenant en compte au moins ladite information de destination premier objet; transmission (102) de ladite information de déplacement premier objet audit premier objet.

A METHOD AND SYSTEM FOR CONTROLLING THE OPERATION OF CONTAINER HANDLING VEHICLES AND DRONES SERVING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM

A method, system and computer program for controlling and coordinating interaction between drones (30) and container handling vehicles (200) operating respectively below and on top of the automated storage and retrieval system (10). The object is to ensure that the drones (30) and container handling vehicles (200) have minimal or the most cost-efficient waiting time when transferring storage containers (106) between them. Different steps are performed by an operational controller (210) in communication with a first type of controller (220) in each container handling vehicle (200) and a second type of controller (230) in each drone (30) and where timing information is a key factor.

SYSTEM AND METHOD FOR MANEUVERING A MOBILE DRIVE UNIT

A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

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.

CARRIAGE RUNNING CONTROL SYSTEM

Driverless car management and control system and method

Valet parking method and valet parking system

Autonomous driving sensing system and method

Automatic drive strategy decision-making system and method

CARRIAGE MOTORIZES SELF-DIRECTIONAL

GUIDED VEHICLE SYSTEM AND GUIDED VEHICLE CONTROL METHOD

In this guided vehicle system, guided vehicles load articles and travel along prescribed travel routes to convey the articles between load ports. A controller of the guided vehicle system communicates with a host controller and the guided vehicles, and creates travel schedules indicating the guided vehicle travel positions and times, ignoring interference with other guided vehicles. Interference between the guided vehicles is detected between the newly created travel schedules and travel schedules from which interference has been eliminated, and the travel schedules of the guided vehicles are corrected so as to eliminate the detected interference. The travel schedules from which interference has been eliminated are stored, the positions of the guided vehicles are stored on the basis of data received from the guided vehicles, and the travel schedules are corrected. The process is repeated of creating travel schedules, removing interference by travel schedule correction, storing travel schedules ...

Sensing apparatus for vehicles

A target object position sensing apparatus for a host vehicle, comprises a lane detection apparatus provided on the host vehicle which includes an image acquisition means adapted to capture an image of at least a part of the road ahead of the host vehicle, a vehicle path estimation means adapted to estimate a projected path for the host vehicle, and a target vehicle detection apparatus which is adapted to identify the position of any target objects located on the road ahead of the host vehicle, the position including data representing the distance of the target vehicle from the host vehicle. A first data processing means determines a target lane in which the host vehicle will be located when it has travelled along the projected path by the distance to the target object and a second processing means compares the position of the target vehicle determined by the target vehicle detection means with the position of the target lane to provide a processed estimate of the actual position of the ...

VEHICULAR CONTROL SYSTEM WITH COLLISION AVOIDANCE

A vehicular control system includes a first communication device disposed at a first vehicle, a second communication device disposed at a second vehicle, a camera disposed at the second vehicle, and an electronic control unit (ECU) of the second vehicle. The vehicular control system determines a potential collision between the first vehicle and the second vehicle based at least in part on (i) a wireless communication received at the second communication device from the first communication device and provided to the ECU of the second vehicle and/or (ii) processing at the ECU of image data captured by the camera disposed at the second vehicle. Responsive to determination of the potential collision between the first vehicle and the second vehicle, the vehicular control system controls (i) braking of the second vehicle and/or (ii) steering of the second vehicle.

Teleoperation of autonomous vehicles

An autonomous vehicle receives sensor data from one or more sensors of the autonomous vehicle, and generates a request for remote control of the autonomous vehicle by a computer system remote from the autonomous vehicle. Generating the request includes determining a quality metric associated with a network connection between the autonomous vehicle and the computer system, and upon determining that the quality metric is greater than a threshold quality level, transmitting, from the autonomous vehicle to the computer system the request for remote control and a first data item representing the sensor data. The first data item meets one or more conditions associated with the threshold quality level.

SYSTEMS, DEVICES AND METHODS FOR MONITORING MODULAR COMPLIANCE IN A SHOPPING SPACE

Systems, apparatuses, and methods for modular compliance monitoring are provided. A system for monitoring modular compliance in a shopping space includes an image capture device, a baseline condition database, and a control circuit coupled to the image capture device and the baseline condition database. The control circuit being configured to obtain, from the image capture device, one or more images of a display module in the shopping space, retrieve, from the baseline condition database, a baseline condition model for a display space corresponding to the display module, and compare the one or more images of the display module in the shopping space and the baseline condition model to determine a modular compliance status for the display module.

PLATOONING CONTROLLER, SYSTEM INCLUDING THE SAME, AND METHOD THEREOF

A platooning controller includes a processor configured to control platooning based on platooning control vehicle information when platooning vehicles, including one leader vehicle and at least one or more following vehicles, are traveling. The platooning controller is further configured to monitor information associated with an energy state of each of the platooning vehicles while platooning, and to adjust a platoon formation based on a change in the energy state of each of the platooning vehicles. The platooning controller further includes a storage configured to store information obtained to adjust the platoon formation by the processor.

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, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system using at least one sensor to monitor at least one neighboring vehicle and controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

SHOPPING FACILITY ASSISTANCE SYSTEMS, DEVICES AND METHODS

Apparatuses, components and methods are provided herein useful to provide assistance to customers and/or workers in a shopping facility. In some embodiments, a shopping facility personal assistance system comprises: a plurality of motorized transport units located in and configured to move through a shopping facility space; a plurality of user interface units, each corresponding to a respective motorized transport unit during use of the respective motorized transport unit; and a central computer system having a network interface such that the central computer system wirelessly communicates with one or both of the plurality of motorized transport units and the plurality of user interface units, wherein the central computer system is configured to control movement of the plurality of motorized transport units through the shopping facility space based at least on inputs from the plurality of user interface units.

Method for Operating a Driverless Transport System

A method for operating at least one intelligent floor element includes receiving at least one planned movement of at least one object on at least one floor element, determining at least one safety area for each object in its environment on at least one floor element, checking overlaps of safety areas, and outputting a signal with respect to the safety area with the aid of activatable markings on at least one floor element.

TRAVELING VEHICLE AND METHOD OF CONTROLLING THE TRAVELING VEHICLE

When a vehicle body is on board an escalator, a control device makes an ejection determination by use of an external sensor. The control device makes an ejection determination by use of front-wheel rotation sensors. The control device makes an ejection determination by use of an inclination detecting unit. The control device switches a control mode from a boarding control mode to an ejection control mode, when at least one of the above three ejection determinations is affirmatively made.

MANAGEMENT CONTROL DEVICE AND ON-BOARD COMMUNICATION TERMINAL DEVICE

A protected region is set for a manned working machine, said region including a first protected region in which new protected region setting request information is not transmitted and which includes the position of the manned working machine, and a second protected region which is set along a periphery of the first protected region and in which new protected region setting request information is transmitted. An area occupied by the vehicle body of the manned working machine on a plane projected on the ground surface is calculated on the basis of vehicle body information indicating the size of the vehicle body of the manned working machine and position information thereof. When the occupied area is present within the first protected region, new protected region setting request information is not transmitted, whereas when the occupied area is present within the second protected region, protected region setting request information is transmitted.

Self-propelled device, self-propelling method, and recording medium

A self-propelled device includes a host device movement vector acquisition unit that is configured to acquire a host device movement vector including a movement speed of the self-propelled device and a distance information acquisition unit that is configured to acquire nearby device distance information including a distance and a direction to the self-propelled device for each of nearby devices located near the self-propelled device. The self-propelled device further includes a nearby device movement vector acquisition unit that is configured to acquire a nearby device movement vector including a movement speed and a movement direction of each of the nearby devices for each of the nearby devices and a determination unit that is configured to determine whether a group movement is possible or not for each of the nearby devices based on the nearby device distance information, the host device movement vector and the nearby device movement vector.

Vehicle control system, self-driving vehicle, vehicle control method, and program

The non-traveling area plan creating unit 4 creates a plan of the non-traveling area, which is an area where the self-driving vehicle 10 can travel and which is an area set as an area where the self-driving vehicle 10 does not travel. The negotiation area information receiving unit 9 receives, from another vehicle, information on one or more negotiation areas each of which is an area other than the non-traveling area and is a subject of negotiation to be included in the non-traveling area. The permissible area determining unit 35 calculates, for each negotiation area, the first value which is the value of the negotiation area indicated by the information for the self-driving vehicle 10, and determines one negotiation area permissible to be included in the non-traveling area, or determines not to include any negotiation area in the non-traveling area.

Motor car traveling control device

An object of this invention is to provide a motor car traveling control device which measures the distance between a first car and a second car ahead of it while tracking the image of the second car, and, when the second car changes the traveling lane, informs the driver on the first car of it, and causes the first car to keep the present speed. A motor car traveling control device comprises: inter-cars distance detecting means (31) of image tracking type for measuring the distance between a first car and a second car ahead of it; lane change detecting means (32); and speed controlling and lane change informing means (36,35,28,29,31) which, when the second car changes its traveling lane, informs the driver on the first car of it, and causes the first car to keep the present speed. ...

ПЛАНИРОВАНИЕ ТРАЕКТОРИИ

Изобретение относится к автономным транспортным средствам. Способ избегания препятствий автономным транспортным средством содержит этапы, на которых идентифицируют объекты, извлекают доступную для движения область для AV, вырезают, для получения первой скорректированной доступной для движения области, вырезанные участки доступной для движения области. Вырезанные участки соответствуют близким объектам, которые классифицированы как статические объекты, идентифицируют первый объект вдоль грубой траектории движения в первой скорректированной доступной для движения области для AV, причём первый объект является близким объектом, который классифицирован как динамический объект, принимают прогнозируемый маршрут первого объекта, определяют на основании прогнозируемого маршрута первого объекта скорректированную доступную для движения область путём корректировки первой скорректированной доступной для движения области на основании прогнозируемого маршрута первого объекта для получения скорректированной ...

СОВМЕСТНОЕ ПЛАНИРОВАНИЕ И ОТСЛЕЖИВАНИЕ МАРШРУТОВ ДВИЖЕНИЯ ТРАНСПОРТНЫХ СРЕДСТВ

СОДЕЙСТВИЕ ТРАНСПОРТНОМУ СРЕДСТВУ

СИСТЕМА ПРЕДУПРЕЖДЕНИЯ СТОЛКНОВЕНИЙ

Anlage mit erstem Mobilteil und mit einem weiteren Mobilteil

Anlage mit erstem Mobilteil und mit einem weiteren Mobilteil,wobei das erste Mobilteil eine erste Steuerung aufweist und das weitere Mobilteil eine weitere Steuerung,wobei das erste Mobilteil einen Lichtsender aufweist, der von der ersten Steuerung ansteuerbar ist,wobei das erste Mobilteil einen Schallsender aufweist, der von der ersten Steuerung zeitgleich zum Lichtsender ansteuerbar ist,wobei das weitere Mobilteil einen Lichtempfänger aufweist, der mit der weiteren Steuerung verbunden ist,wobei das weitere Mobilteil einen Schallempfänger aufweist, der mit der weiteren Steuerung verbunden ist,wobei die weitere Steuerung zur Bestimmung der zeitlichen Differenz zwischen dem Eintreffen eines vom Schallsender ausgesendeten Schallsignals am Schallempfänger und dem Eintreffen eines vom Lichtsender ausgesendeten Lichtsignals am Lichtempfänger geeignet ausgeführt ist.

Verfahren zum fahrerlosen Bewegen eines Fahrzeugs auf einer Parkfläche

Verfahren zum fahrerlosen Bewegen eines Fahrzeugs auf einer Parkfläche, mit einer externen Steuerungseinrichtung, der ein Zugriff auf das Fahrzeug ermöglicht wird, um dieses zu oder von einem zugewiesenen Stellplatz der Parkfläche zu steuern, mit den folgenden Schritten: Detektieren einer bevorstehenden oder stattgefundenen Kollision mit einem anderen fahrenden oder parkenden Fahrzeug mittels wenigstens eines Sensors des von der externen Steuerungseinrichtung gesteuerten Fahrzeugs; Auswerten von Sensordaten in einer Auswerteeinheit; situationsabhängiges Treffen einer Verhaltensentscheidung durch die Steuerungseinrichtung.

Methods, systems and apparatus for controlling movement of transporting devices

SYSTEM AND PROCEDURE FOR COLLISION AVOIDANCE

Es wird ein System zur Erkennung von Hindernissen und Berechnen eines Ausweichmanövers in einem Fahrzeug offenbart. Das System umfasst folgende Komponenten: eine Autopiloteinheit zur Steuerung der Bewegung des Fahrzeuges, wobei die Autopiloteinheit eine Schnittstelle zum Empfang von Bewegungsparametern, die eine Soll-Bewegung des Fahrzeuges beschreiben, aufweist und die Autopiloteinheit dazu ausgebildet ist, abhängig von den Bewegungsparametern das Fahrzeug so zu Steuern, dass die tatsächliche Bewegung des Fahrzeuges annähernd der Soll-Bewegung entspricht; eine Sensoreinheit mit zumindest einen ersten Umweltsensor, der dazu ausgebildet ist, Hindernis zu orten und von der Relativposition des Hindernisses und der Relativgeschwindigkeit des Hindernisses abhängige Sensordaten bereitzustellen; eine Datenverarbeitungseinheit, die dazu ausgebildet ist, die Sensordaten aufzubereiten und Messwerte für die Relativposition und die Relativgeschwindigkeit zur Verfügung zu stellen; eine Einheit zum Berechnen ...

Logistikanlage für ein Regallager

The system has two conveyor vehicles (1, 2) e.g. vertical conveyors, traveling along a reference track (3), which comprises a switching region. The switching region is completely blocked for one vehicle when another vehicle travels into the switching region. A determining device (5) determines a traveling direction of the vehicles and transmits a signal (D) representing the traveling direction of the vehicles to a control device (4). The control device establishes the blocked switching region with respect to the signal representing the traveling direction of the latter vehicle. An independent claim is also included for a method for controlling movements of conveyor vehicles in a logistics system.

Haul vehicle control system and haul vehicle management method

Provided is a transport vehicle control system comprising: a reference line generating unit that uses the outline of a work site travel area, on which a transport vehicle is allowed to travel, to accordingly generate a reference line to be set in the travel area; and a travel course generating unit that generates a transport vehicle travel course to be set in the travel area on the basis of the reference line.

Obstacle collision preventive apparatus of mobile object

Plurality of autonomous mobile robots and controlling method for the same

A plurality of autonomous mobile robots are disclosed. The mobile robots may include a mobile robot that has a traveling unit that moves or rotates a main body of the mobile robot. The mobile robot has a sensor that detects another mobile robot in a detection area spanning a predetermined angle with respect to the front of the main body. The mobile robot also has a controller that rotates the detection area of the mobile robot when the other mobile robot detected within the detection area moves out of the detection area.

Methods, systems and apparatus for controlling movement of transporting devices

Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems 5 and computer-readable media for controlling the movement of transporting devices configured for fully - and/or partly automated handling of goods and/or controlling operations conducted at various workstations. Figure 7 nr cob D) ...

Conflict resolution based on object behavioral determination and collaborative relative positioning

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.

Electronic badge to authenticate and track industrial vehicle operator

A system for controlling an industrial vehicle (102) comprises an information linking device (202), a badge communicator (224), an operator badge (126), and a controller (206). The controller controls the vehicle operating state by identifying that an operator possessing the operator badge has approached the vehicle, communicating with a server (112) via the information linking device to authenticate the operator as authorized to operate the industrial vehicle, and pairing the operator badge with the industrial vehicle upon determining that the operator is authorized to operate the industrial vehicle. Moreover, the controllerturns on the industrial vehicle when the badge communicator detects the badge on the vehicle, placing the industrial vehicle in a standby mode when the badge communicator detects the badge in proximity to, but not on, the vehicle; and placing the vehicle in a stop mode when the badge communicator no longer detects the badge in proximity to the vehicle.

Management control device and in-vehicle communication terminal device

The purpose of the present invention is to prevent interference between a manned work machine and an autonomous traveling work machine correspondingly to changes in the position of the manned work machine, while minimizing the impact on wireless communication and restriction on the operating area of the autonomous traveling work machine. A protection region is set for a manned work machine 90, said region including: a first protection region 101-1 in which new protection region setting request information is not transmitted and which includes the position of the manned working machine; and a second protection region 102-1 which is set along the outer circumference of the first protection region and in which new protection region setting request information is transmitted. An area occupied by the vehicle body of the manned working machine on a plane projected on the ground surface is calculated on the basis of vehicle body information indicating the size of the vehicle body of the manned ...

CONTEXT AWARE STOPPING FOR AUTONOMOUS VEHICLES

Aspects of the present disclosure relate to context aware stopping of a vehicle 100 without a driver. As an example, after a passenger has entered the vehicle, the vehicle is maneuvered by one or more processors 120 in an autonomous driving mode towards a destination location along a route. The route is divided into two or more stages. A signal is received by the one or more processors. The signal indicates that the passenger is requesting that the vehicle stop or pull over. In response to the signal, the one or more processors determine a current stage of the route based on a current distance of the vehicle from a pickup location where the passenger entered the vehicle or a current distance of the vehicle from the destination location. The one or more processors then stop the vehicle in accordance with the determined current stage.

Mining or construction vehicle assistance system

The invention relates to a vehicle assistance system for haul roads on a construction site or a mining site, comprising a computer and a client device, the computer configured for receiving an identification reference of a first vehicle, 5 receiving a current position of the first vehicle, providing a route of the first vehicle based on the identification reference of the first vehicle and the current position of the first vehicle, receiving an identification reference of a second vehicle, receiving a current position of the second vehicle, providing a route of the second vehicle based on the identification reference of the second vehicle and the current position 10 of the second vehicle, detecting an expected location where the route of the first vehicle and the route of the second vehicle intersect or overlap, detecting an expected time when the first vehicle and the second vehicle intersect at the expected location, generating adaptation data based on the expected location and the expected ...

Detecting motion of an autonomous vehicle using radar technology

Examples relating to vehicle motion detection using radar technology are described. An example method may be performed by a computing system and may involve receiving, from at least one radar sensor mourned on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the radar data, detecting at least one scatterer present in the environment and. making a determination of a likelihood, that the at 'least one scatterer is stationary with respect to the vehicle. The method may involve, in- response to the likelihood being at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the radar data, where calculating the velocity comprises one of: determining an indication that the vehicle is stationary, and determining an angular and linear velocity of the vehicle. And the method may involve controlling the vehicle teed on the calculated velocity.

DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC

A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.

MANAGEMENT SYSTEM FOR WORK VEHICLE AND MANAGEMENT METHOD FOR WORK VEHICLE

A work vehicle management system that comprises a travel condition data generation unit and an output unit. The travel condition data generation unit generates travel condition data that: makes a work vehicle advance forward from an entrance of a worksite to a work point at the worksite; and makes the work vehicle withdraw backward from the work point to an exit of the worksite. The output unit outputs the travel condition data to the work vehicle.

СИСТЕМА СВЯЗИ ДЛЯ МОБИЛЬНЫХ И СТАЦИОНАРНЫХ УСТРОЙСТВ

Изобретение относится к системам связи для мобильных и стационарных устройств, причем мобильные и стационарные устройства оснащены по меньшей мере одним приемно-передающим устройством с определенным диапазоном приема-передачи и при этом по меньшей мере частичное перекрытие (28) диапазонов (25) мобильных и/или стационарных устройств (7, 14, 46,48) вызывает установление между ними случайной связи (29), которая переходит в целенаправленную связь (32). Таким образом обеспечивается установления связи между любыми мобильными и стационарными устройствами (7, 14) в зависимости от обстоятельств.

AGV (automatic guided vehicle) traffic control method and AGV traffic control system

PROCESS OF ADAPTIVE REGULATION OF THE DISTANCE BETWEEN TWO MOBILE VEHICLES

L'invention concerne un procédé de régulation adaptative de la distance entre deux véhicules automobiles (S et C) circulant dans la même direction, le véhicule régulé (S) comprenant notamment des moyens embarqués de commande de l'accélération du véhicule selon différents scénarios routiers, définis à partir de la distance de consigne (Dc) entre le véhicule suiveur (S), circulant à la vitesse (VACC) et la cible (C) se déplaçant à la vitesse (Vci), la distance de consigne (Dc) étant liée au temps de suivi (ts) par la relation : Dc = ts x Vci + Dmin (Dmin) correspondant à la distance de consigne lorsque la vitesse de la cible est nulle, tel qu'il établit une loi de contrôle de l'accélération en réglant graduellement le temps de suivi (ts) entre le véhicule régulé et la cible, en fonction du comportement du conducteur défini par son style de conduite et son caractère de freinage, du trafic routier et des actions du conducteur identifiées avant et pendant la régulation de distance, évalués par ...

METHOD FOR ASSISTING THE DRIVING SHARED BETWEEN VEHICLES

TRAVELING VEHICLE SYSTEM AND METHOD FOR CONTROLLING TRAVELING BY TRAVELING VEHICLE SYSTEM

A SYSTEM AND METHOD FOR MANAGING A PLURALITY OF VEHICLES

SYSTEM FOR TRANSPORTING CONTAINERS USING AUTOMATED AND MANUALLY DRIVEN HEAVY GOODS VEHICLES

PREVENTION SAFETY DEVICE IN COURSE CHANGE OF SMALL-SIZED VEHICLE

A prevention safety device in course change of small-sized vehicle includes a rear vehicle detector, a detection state determining unit, and a vehicle's own information transmitting unit. The rear vehicle detector is configured to detect a rear vehicle travelling at a rear of one's own vehicle. The detection state determining unit is configured to determine whether the rear vehicle detects one's own vehicle or not when the rear vehicle detected by the rear vehicle detector is an autonomous vehicle. The vehicle's own information transmitting unit is configured to transmit vehicle's own information to the rear vehicle immediately before one's own vehicle changes a course when the detection state determining unit determines that the rear vehicle does not detect one's own vehicle.

Apparatus and method of monitoring product placement within a shopping facility

Methods and apparatuses are provided for use in monitoring product placement within a shopping facility. Some embodiments provide an apparatus configured to determine product placement conditions within a shopping facility, comprising: a transceiver configured to wirelessly receive communications; a product monitoring control circuit coupled with the transceiver; a memory coupled with the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to: obtain a composite three-dimensional (3D) scan mapping corresponding to at least a select area of the shopping facility and based on a series of 3D scan data; evaluate the 3D scan mapping to identify multiple product depth distances; and identify, from the evaluation of the 3D scan mapping, when one or more of the multiple product depth distances is greater than a predefined depth distance threshold from the reference offset distance of the product support structure.

Vehicle system with truck turn alert

A communication system for vehicles includes a first communication device disposed at a first vehicle and a second communication device disposed at a second vehicle. The first communication device wirelessly transmitting data indicative of a predicted path of travel of the first vehicle, and the second communication device receives the transmitted data from the first communication device. A control of the second vehicle processes data received from the first communication device and data indicative of a predicted path of travel of the second vehicle to determine a potential collision between the first vehicle and the second vehicle during a turning maneuver of one of the first and second vehicles toward the other of the first and second vehicles. Responsive to determination of a likelihood of collision between the first vehicle and the second vehicle, the control generates an alert to a driver of the second vehicle.

System of autonomous vehicles

A system and method for control of the system, with a plurality of autonomous vehicles having intersecting routes, a control, an operational area, and a predefined place with positions provided with a vehicle presence detection device. The method includes detecting the presence of the vehicles in a detection device, and beginning to travel with a first vehicle according to a travel action. The travel action is chosen from travelling of a route through the operational area from a predefined place, and an advancing action within a predefined place from a first detection device to a second detection device which is not yet occupied. Beginning to travel is carried out only if each of the vehicles has been detected as present at one of the predefined places, or, at most one vehicle has the status “not present at one of the predefined places” if the travel action relates to an advancing action.

GEOREFERENCED TRAJECTORY ESTIMATION SYSTEM

A georeferenced trajectory estimation system receives data generated by vehicle sensors from a fleet of vehicles and identifies sets of sensor measurements for a geographic region taken at different times. The sets of sensor measurements include environment geometry data and unaligned trajectory data in local coordinate frames. The georeferenced trajectory estimation system aligns the environment geometry data between sets of sensor measures, and, based on the alignment of the environment geometry data, transforms the identified corresponding trajectory data into a common coordinate frame.

ONLINE BIDIRECTIONAL TRAJECTORY PLANNING METHOD IN STATE-TIME SPACE, RECORDING MEDIUM STORING PROGRAM FOR EXECUTING SAME, AND COMPUTER PROGRAM STORED IN RECORDING MEDIUM FOR EXECUTING SAME

The present invention relates to an online bidirectional trajectory planning method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same. More particularly, the present invention relates to an online bidirectional trajectory planning method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same, wherein autonomous driving is available while over-run or vibration does not occur in a robot by planning a bidirectional trajectory using a forward trajectory and a backward trajectory.

TRAFFIC BLOCKING AVOIDANCE SYSTEM FOR AN AUTOMATED VEHICLE

A system for semi-autonomous or autonomous operation of a host vehicle includes an intersection location data, at least one detector, and a controller. The intersection location data is associated with a roadway intersection. The at least one detector is configured to output a vehicle signal indicative of a location of a leading vehicle. The controller is configured to receive the vehicle signal and associate the vehicle signal relative to the intersection location data to prevent the host vehicle from entering the roadway intersection until the leading vehicle has at least traveled beyond the roadway intersection.

Temporal information prediction in autonomous machine applications

In various examples, a sequential deep neural network (DNN) may be trained using ground truth data generated by correlating (e.g., by cross-sensor fusion) sensor data with image data representative of a sequences of images. In deployment, the sequential DNN may leverage the sensor correlation to compute various predictions using image data alone. The predictions may include velocities, in world space, of objects in fields of view of an ego-vehicle, current and future locations of the objects in image space, and/or a time-to-collision (TTC) between the objects and the ego-vehicle. These predictions may be used as part of a perception system for understanding and reacting to a current physical environment of the ego-vehicle.

Method and apparatus for optical position and/or course determination of a driverless self-propelled vehicle in the x-y plane

The invention relates to a method for optically determining the position and/or direction of travel of at least one driverless vehicle (F) in the x-y plane, comprising transmitting and receiving optics (3) mounted on the vehicle for generating a focused scanning light beam and receiving the reflected beam which is reflected by retroreflectors (R1, R2, R3), arranged separately from the vehicle, to the receiving optics, and with an evaluating and computing device for processing the electrical signals supplied by the receiving optics, the transmitting and receiving optics synchronously and cyclically passing through a predetermined angular range ( ) in the x-y plane. The scanning beam is directed towards at least three retroreflectors (R1, R2, R3) which are located on a straight line and the distances (d) of which from one another are equal and known and the position of which in the x-y coordinate system is specified. The receiving optics (3) detect the instantaneous scanning angle ( 1, 2, ...

METHOD AND DEVICE FOR POSITION DETECTION AND COLLISION PREVENTION CONTROL

PROBLEM TO BE SOLVED: To prevent collision between plural transporting mechanisms moved on the same linear running course in a library device. SOLUTION: The collision prevention controller 1 repeats processing to estimate the values of coordinates, in which a moving body is placed, and obtains the section speed of the moving body in a section, where a transporting mechanism is running, at the time of the change of a position address of the section which is detected by a position detection means. If the moving body is in the fixed-speed state, the collision prevention controller obtains coordinate values of an estimated position of the moving body on the basis of coordinate values of the end on the entrance side of the moving body of the section indicated by the position address detected by the position detection means 5, the section speed, and the elapsed time from preceding processing. If the moving body is in the decelerating state, coordinate values of the estimated position of the moving ...

СИСТЕМА АВТОНОМНОГО ВОЖДЕНИЯ И ТРАНСПОРТНОЕ СРЕДСТВО АВТОНОМНОГО ВОЖДЕНИЯ

Настоящее изобретение относится к системе автономного вождения и транспортному средству автономного вождения. В частности, варианты осуществления настоящего изобретения относятся к системе автономного вождения, реализованной множеством транспортных средств автономного вождения, и транспортному средству автономного вождения, пригодному в качестве компонента системы. Система автономного вождения содержит множество транспортных средств автономного вождения. Каждое транспортное средство системы содержит устройство управления, которое задает проезжую область, где транспортное средство может двигать в процессе перемещения в пункт назначения, и определяет одну полосу движения как стандартную в многополосной области. Многополосная область включает две или более полос в проезжей области. Также упомянутые устройства управления, установленные на отдельных транспортных средствах системы, сконфигурированы так, что происходит рассредоточение на стандартные полосы движения. Множество транспортных средств ...

ВОСПРИЯТИЕ ДОРОЖНЫХ УСЛОВИЙ ПО ОБЪЕДИНЕННЫМ ДАННЫМ С ДАТЧИКОВ

ВИРТУАЛЬНАЯ КАРТА ТРАНСПОРТНЫХ СРЕДСТВ

СИСТЕМЫ И СПОСОБЫ ОБМЕНА ДАННЫМИ С ПРОМЫШЛЕННОЙ ТЕЛЕЖКОЙ

СИСТЕМЫ И СПОСОБЫ ПРЕДОСТАВЛЕНИЯ ПРОМЫШЛЕННОЙ ТЕЛЕЖКИ ДЛЯ УСТАНОВКИ ДЛЯ ВЫРАЩИВАНИЯ РАСТЕНИЙ

СИСТЕМА ОБНАРУЖЕНИЯ ДЛЯ АВТОНОМНОГО ТРАНСПОРТНОГО СРЕДСТВА

... 1. Компьютерная система для работы автономного транспортного средства, включающая в себя компьютер в транспортном средстве, выполненный с возможностью управлять транспортным средством в автономном и/или полуавтономном режиме, а также выполненный с возможностьюобнаруживать по крайней мере одно состояние проезжей части дороги, по которой движется транспортное средство, причем это состояние представляет собой наличие полосы ограниченного доступа, и/или зоны ограниченного доступа, и/или строительного участка, и/или места аварии, и/или наклона, и/или опасного состояния дорожной поверхности, иопределять по крайней мере одно автономное действие в зависимости от обнаруженного состояния, представляющее собой изменение скорости транспортного средства, и/или регулирование рулевого управления транспортного средства, и/или регулирование освещения транспортного средства, и/или переход в ручной режим управления транспортным средством, и/или регулирование расстояния от транспортного средства до объекта ...

EIGENSICHERE BREMSE FUER EIN MEHRRAEDRIGES FAHRZEUG MIT MOTORGESTEUERTER LENKUNG.

Distance control system between moving vehicles

The equipment includes a unit (4) for controlling the system (2), as installed in a vehicle, the laser distance sensor (6), steering angle sensor (8), speed sensor (10) for the vehicle, a control unit (12) for this speed, display unit (14) automatic drive control (16), brake unit (18) and throttle unit (20), all these units are in the figure given. The system further includes a unit for determining the relative speed of the vehicle and a vehicle in front and their relative position, a unit for measuring the curvature of the road, a unit for deciding on the track of the vehicle or vehicles in front using the data already found, and a unit for selecting one of these vehicles.

Verfahren und Vorrichtung zur Prädiktion und Adaption von Bewegungstrajektorien von Kraftfahrzeugen

Die vorliegende Erfindung betrifft ein Verfahren zur Prädiktion und Adaption von Bewegungstrajektorien eines Kraftfahrzeugs zur Unterstützung des Fahrers in seiner Fahraufgabe und/oder zur Verhinderung einer Kollision oder Minderung von Unfallfolgen. Außerdem betrifft die vorliegende Erfindung eine Vorrichtung zur Durchführung des Verfahrens. Die vorliegende Erfindung sieht vor, dass zur Prädiktion und Adaption der Bewegungstrajektorien des Kraftfahrzeugs eine Schnittmenge aus situativ notwendigen Bewegungstrajektorien, die mit Hilfe einer Umfeldsensorik bestimmt werden, und aus physikalisch möglichen Bewegungstrajektorien, die sich aus den fahrdynamischen Eigenschaften des Kraftfahrzeugs und dem sich zwischen Reifen und Fahrbahn einstellenden Reibbeiwert bis zu einem maximal möglichen Grenzreibbeiwert ergeben, gebildet wird, wobei ausschließlich Bewegungstrajektorien berücksichtigt werden, die sich innerhalb der Schnittmenge befinden. Damit ist gewährleistet, dass nur die Bewegungstrajektorien ...

Automatic vehicle guidance protection system

Vehicle roundabout management

A first phantom or ghost vehicle 12AP is projected into one of a branch and a circle lane of a roundabout 98 in association with a first autonomous vehicle. The first autonomous vehicle 12A is caused to enter the circle lane 100 upon predicting no collision with oncoming vehicles. The first autonomous vehicle is caused to exit from the roundabout. The method may further involve merging or melding (Fig.7, 12E, 12EP) the autonomous vehicle into the phantom vehicle, once the vehicle enters the roundabout. The method may also select a particular branch lane 104 for the autonomous vehicle to enter and exit the roundabout. A platoon of phantom vehicles may be created to form a queue of vehicles 12H-K entering the roundabout or in a circle lane. This may allow vehicles to flow regularly through the roundabout by controlling the platoon to move through the roundabout when a vehicle has been waiting in the queue for a certain amount of time or to maintain a certain distance between vehicles.

Method and system for resolving deadlocks

Systems, devices and methods for notifying a target

A method of notifying a target that the target was a likely cause of an emergency action performed by a vehicle comprises monitoring S420, one or more parameters of the vehicle indicating a motion of the vehicle. An emergency action S440 is detected as being performed by the vehicle to avoid a collision, based on the monitored parameters. An object in a region surrounding the vehicle is identified as a likely cause of the emergency action. A notification is transmitted S484 to at least one of a communication device of the notification target or a server indicating that the notification target was the likely cause of the emergency action. The target may be identified using captured images or distances.

Method and vehicles for cooperative operation at an intersection

At an intersection, a detection device (e.g. camera, radar, LIDAR, LADAR, ultrasonic or sonar sensor) in a first vehicle detects a traffic signal and an evaluation unit determines signal information thereof (i.e. an indication to go, stop or slow down). If the signal information comprises an indication to stop or slow down, the evaluation unit causes the first vehicle to stop and turn off. If it comprises an indication to go, it causes it to turn on and/or move. A second vehicle identifies a parameter associated with the first vehicle and an on-board control unit controls the second vehicle to maintain the identified parameter and thereby cooperatively operate with the first vehicle (e.g. as a platoon). The parameter may be a speed, acceleration or operation of the first vehicle or an inter-vehicle distance and may be received wirelessly from the first vehicle or detected by a detection device on the second vehicle (e.g. a camera, radar, LIDAR, LADAR, ultrasonic, sonar acceleration, torque ...

Traffic management control device

On the premise of closed control, when an oncoming traffic lane is used to overtake a vehicle, the load with respect to wireless communication is reduced, and the impact on the travel time interval between vehicles in the oncoming traffic lane is reduced further. A first travel permitted sector 108 in which only a subject vehicle 20-1 is permitted to travel, and a second travel permitted sector 81-2 in which travel is permitted only by another vehicle 20-2 which has stopped in a position in front of the subject vehicle 20-1 and in the lane on which the subject vehicle 20-1 is traveling, are defined. An overtaking route for the subject vehicle 20-1 to overtake the other vehicle 20-2 is created, comprising: a first transition sector 105 for the subject vehicle to change lanes from the lane in which said subject vehicle is traveling, to the oncoming traffic lane; an overtaking sector 100 which is continuous with a node at a front end portion of the first transition route 105 and which is formed ...

Safe driving assistance device, operation management terminal, and safe driving assistance system

The purpose of the present invention is to provide a safe driving assistance technology which efficaciously reduces collisions regardless of environment or vehicle type. This safe driving assistance device 200 comprises: a connection destination detection unit 259 which detects and manages a connection state between the device and a connection destination device which is either a user interface 133 or an operation management terminal 112; a unique information setting unit 251 which, according to the connection destination device, sets unique information which identifies a type of a host vehicle; a position information acquisition unit 257 which acquires position information of the host vehicle; a host vehicle information management unit 252 which manages host vehicle information which includes the position information and unique information of the host vehicle; a vehicle-to-vehicle communication unit 255 which, by carrying out a communication with a safe driving assistance device which ...

Traffic control server and system

In the present invention, an outgoing lane and a return lane are provided in parallel inside a mine, and a traffic control server 31 controls traffic for a first vehicle 70 traveling on the outgoing lane and a second vehicle 20 traveling on the return lane and having attributes that are different from the first vehicle 70. The traffic control server 31 is provided with a travel permission section setting unit 311b for setting a first travel permission section 100, which is a subsection of the outgoing lane and in which travel of the first vehicle 70 is permitted, and a second travel permission section 200, which is a subsection of the return lane and in which travel of the second vehicle 20 is permitted. The travel permission section setting unit 331b sets the first travel permission section 100 and the second travel permission section 200 so as to cause the second vehicle 20 to stop or decelerate and the first vehicle 70 to travel when the first vehicle 70 and the second vehicle 20 pass ...

HAUL VEHICLE CONTROL SYSTEM AND HAUL VEHICLE MANAGEMENT METHOD

Provided is a transport vehicle control system comprising: a reference line generating unit that uses the outline of a work site travel area, on which a transport vehicle is allowed to travel, to accordingly generate a reference line to be set in the travel area; and a travel course generating unit that generates a transport vehicle travel course to be set in the travel area on the basis of the reference line.

A METHOD OF OPERATING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM

The invention concerns a method of operating an automated storage and retrieval system (1), wherein the method comprises: - detecting with the central control unit (14) that access of a first container handling vehicle (2) to a target cell (12), which is one of the plurality of grid cells, is blocked by a second container handling vehicle (2), - transmitting a data signal (16) from the central control unit (14) to the vehicle control unit (15) of the first container handling vehicle (2) commanding the first container handling vehicle (2) to move into the target cell (12) when the second container handling vehicle (3) is beyond said predetermined distance (D). Furthermore, the invention relates to an automated storage and retrieval system comprising container handling vehicles comprising a central control unit configured to perform the aforementioned method.

STORAGE GRID WITH CONTAINER ACCESSING STATION WITH LOCKING DEVICE TO LOCK REMOTELY OPERATED VEHICLE

An automated storage and retrieval system comprising a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system comprising a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device being arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required. The invention is also directed to a method of accessing a storage container through a container accessing station.

Method and Device for the Prediction and Adaptation of Movement Trajectories of Motor Vehicles

The present invention relates to a method for the prediction and adaptation of movement trajectories of a motor vehicle for assisting the driver in his task of driving and/or for preventing a collision or reducing the consequences of an accident. The present invention further relates to a device for carrying out the method. According to the present invention and in order to carry out a prediction and adaptation of movement trajectories of a motor vehicle, an intersection of situatively required movement trajectories, which are determined using an environment sensor system, and physically possible movement trajectories, which result from properties which are characteristic of the driving dynamics of the motor vehicle and from the coefficient of friction obtained between tyres and road up to a maximum possible threshold coefficient of friction, is formed. According to the invention, only movement trajectories are taken into account which lie within this intersection. In this way, it is ensured that only movement trajectories are taken into account which, on the basis of the forces exerted on the wheels and resulting from the calculated movement trajectories by combining braking forces and/or steering forces, lie below the maximum possible threshold coefficient of friction. 1121. A method for the prediction and adaptation of movement trajectories T of a motor vehicle for assisting the driver in his or her task of driving and/or for preventing a collision or reducing the consequences of an accident , characterized in that for the prediction and adaptation of movement trajectories (T) of the motor vehicle () , an intersection (U) of situatively required movement trajectories (SNT) , which are determined using environment sensors () , and physically possible movement trajectories (PMT) , which result from properties that are characteristic of the driving dynamics of the motor vehicle () and from the coefficient of friction (μ) obtained between the tires and the road up to ...

Testing Predictions For Autonomous Vehicles

Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action. 1. A method of controlling a first vehicle autonomously , the method comprising:storing, in at least one memory device by one or more processors, first instructions for the first vehicle to initiate a maneuver and second instructions for the first vehicle to complete the maneuver;controlling, by the one or more processors, the first vehicle to initiate the maneuver according to one or more of the first instructions;predicting, by the one or more processors, whether the maneuver can be safely completed; andwhen the predicting indicates that the maneuver can be safely completed, controlling, by the one or more processors, the first vehicle to complete the maneuver according to one or more of the second instructions.2. The method of claim 1 , further comprising:planning, by the one or more processors, to perform the maneuver; anddividing, by the one or more processors, the maneuver into a first portion and a second portion,wherein the one or more of the first instructions correspond to the first portion of the maneuver and the one or more of the second ...

SHOPPING FACILITY ASSISTANCE SYSTEMS, DEVICES AND METHODS TO ADDRESS GROUND AND WEATHER CONDITIONS

Some embodiments provide methods, systems and apparatus to enhance safety. In some embodiments, a system comprises: a central computer system comprising: a transceiver; a control circuit; and a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: communicate positioning routing instructions to the plurality of motorized transport units directing the motorized transport units to one or more external areas of a shopping facility that are exposed to weather conditions; and communicate separate area routing instructions to each of the motorized transport units that when implemented cause the motorized transport units to cooperatively and in concert travel in accordance with the area routing instructions over at least predefined portions of one or more external areas to cause ground treatment systems to address ground level conditions. 1. A system providing enhanced safety , comprising: a transceiver configured to communicate with the motorized transport units located at a shopping facility;', 'a control circuit coupled with the transceiver; and', 'a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of:, 'a central computer system that is separate and distinct from a plurality of self-propelled motorized transport units, wherein each of the plurality of motorized transport units is configured to temporarily and interchangeably engage and disengage with anyone of a plurality of different detachable ground treatment systems each configured to perform a different ground treatment to address a different external ground level condition, and wherein the central computer system comprisescommunicate engagement instructions to each of the plurality of motorized transport units to temporarily couple with at least one of the plurality of different detachable ...

SYSTEM AND SAFETY GUIDE ROBOT FOR ACCESSING AUTOMATED ENVIRONMENTS

Techniques are disclosed to facilitate path planning safety guiding robots (SGR) for safely navigating and guiding humans through autonomous environments having other autonomous agents such as stationary and/or mobile robots. 1. A controller for an autonomous agent , comprising:a communication interface configured to receive sensor data; and determine, based on sensor data: a position of the autonomous agent, a position of a human being guided by the autonomous agent in an environment, and operational information of one or more other autonomous agents; and', 'control a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents., 'a processor configured to2. The controller of claim 1 , wherein the processor is further configured to generate a notification for the human to notify the human of a desired path claim 1 , the notification being generated based on the determined position of the autonomous agent claim 1 , the determined position of the human being guided by the autonomous agent claim 1 , and the operational information of one or more other autonomous agents.3. The controller of claim 1 , wherein the processor is further configured to control the one or more other autonomous agents to adjust an operation of the one or more other autonomous agents based on the determined position of the autonomous agent claim 1 , the determined position of the human being guided by the autonomous agent claim 1 , and the operational information of one or more other autonomous agents.4. The controller of claim 1 , wherein the processor is further configured to predict a future movement of the human based on the determined position of the human being guided by the autonomous agent.5. The controller of claim 4 , wherein the processor is configured to predict the future movement of the human based on the ...

METHOD AND APPARATUS FOR CONTROLLING AN AUTONOMOUS VEHICLE

Aspects of the disclosure relate generally to controlling an autonomous vehicle in a variety of unique circumstances. These include adapting control strategies of the vehicle based on discrepancies between map data and sensor data obtained by the vehicle. These further include adapting position and routing strategies for the vehicle based on changes in the environment and traffic conditions. Other aspects of the disclosure relate to using vehicular sensor data to update hazard information on a centralized map database. Other aspects of the disclosure relate to using sensors independent of the vehicle to compensate for blind spots in the field of view of the vehicular sensors. Other aspects of the disclosure involve communication with other vehicles to indicate that the autonomous vehicle is not under human control, or to give signals to other vehicles about the intended behavior of the autonomous vehicle. 113-. (canceled)14. A method comprising:controlling, by one or more computing devices, an autonomous vehicle;receiving by one or more computing devices map data corresponding to a planned route of said vehicle;developing by one or more computing devices a lane selection strategy based on the planned route;receiving by one or more computing devices sensor data from said vehicle indicative of surrounding vehicles in the vicinity of said vehicle; andchanging said lane selection strategy based on said surrounding vehicles.15. The method of claim 14 , including:driving said autonomous vehicle on a multi-lane road;determining by one or more computing devices a desired exit point from the multi-lane road;wherein said lane selection strategy includes a target distance from said exit point at which a lane change protocol should begin; andwherein said step of changing said lane selection strategy includes changing said target distance.16. The method of claim 14 , including:calculating with said one or more computing devices a traffic density based on said sensor data; ...

CONTROLLING MOVEMENT OF AUTONOMOUS DEVICE

An example system includes an autonomous device. The system includes a movement assembly to move the autonomous device, memory storing information about classes of objects and storing rules governing operation of the autonomous device based on a class of an object in a path of the autonomous device, one or more sensors to detect at least one attribute of the object, and one or more processing devices. The one or more processing devices determine the class of the object based on the at least one attribute, execute a rule to control the autonomous device based on the class, and control the movement assembly based on the rule. 1. A system comprising an autonomous device , the system comprising:a movement assembly to move the autonomous device;memory storing information about classes of objects and storing rules governing operation of the autonomous device based on a class of an object in a path of the autonomous device;one or more sensors configured to detect at least one attribute of the object; and determining the class of the object based on the at least one attribute;', 'executing a rule to control the autonomous device based on the class; and', 'controlling the movement assembly based on the rule;, 'one or more processing devices to perform operations comprisingwherein, in a case that the object is classified as an animate object, the rule to control the autonomous device comprises instructions for determining a likelihood of a collision with the object and for outputting an alert based on the likelihood of the collision.2. The system of claim 1 , wherein the classes of objects and rules are stored in the form of a machine learning model.3. The system of claim 1 , wherein claim 1 , in a case that the object is classified as an animate object claim 1 , the rule to control the autonomous device comprises instructions for:controlling the movement assembly to change a speed of the autonomous device;detecting attributes of the object using the one or more sensors; ...

METHOD AND APPARATUS FOR DETERMINING VALIDITY OF MESSAGE RECEIVED BY VEHICLE IN AUTOMATED VEHICLE & HIGHWAY SYSTEMS

In automated vehicle & highway systems, status information of an intersection where a first vehicle tries to enter and a Signal Phase and Timing (SPaT) message are received, a traveling route of the first vehicle is set on a High-Definition (HD) map generated using the intersection status information, lane information having the same lane status as that of a travel lane of the first vehicle is acquired based on the intersection status information and the SPaT message, and a first validity determination for determining whether the intersection status information and the SPaT message are valid is executed based on the lane information and the HD map. Accordingly, a validity of the received message can be determined. The present invention is associated with an artificial intelligence module, an unmmanned aerial vehicle (UAV) robot, an augmented reality (AR) device, a virtual reality (VR) device, and a device related to a 5G service. 1. A method for determining a validity of a message received by a first vehicle in automated vehicle & highway systems , the method comprising:receiving status information on an intersection where the first vehicle tries to enter and a Signal Phase and Timing (SPaT) message;setting a traveling route of the first vehicle on a High-Definition (HD) map generated using the intersection status information;acquiring lane information having the same lane status as that of a travel lane of the first vehicle based on the intersection status information and the SPaT message; andexecuting a first validity determination for determining whether the intersection status information and the SPaT message are valid based on the lane information and the HD map, whereinthe intersection status information includes center point position information of the intersection, entry lane information of the intersection, and exit lane information of the intersection, the lane status indicates a traffic light signal, and the first validity determination is based on a ...

SELF-PROPELLED DEVICE, SELF-PROPELLING METHOD, AND RECORDING MEDIUM

A self-propelled device includes a host device movement vector acquisition unit that is configured to acquire a host device movement vector including a movement speed of the self-propelled device and a distance information acquisition unit that is configured to acquire nearby device distance information including a distance and a direction to the self-propelled device for each of nearby devices located near the self-propelled device. The self-propelled device further includes a nearby device movement vector acquisition unit that is configured to acquire a nearby device movement vector including a movement speed and a movement direction of each of the nearby devices for each of the nearby devices and a determination unit that is configured to determine whether a group movement is possible or not for each of the nearby devices based on the nearby device distance information, the host device movement vector and the nearby device movement vector. 1. A self-propelled device comprising:a memory configured to store instructions; anda processor configured to execute the instructions to:acquire a host device movement vector including a movement speed of the self-propelled device;acquire nearby device distance information including a distance and a direction to the self-propelled device for each of nearby devices located near the self-propelled device;acquire a nearby device movement vector including a movement speed and a movement direction of each of the nearby devices for each of the nearby devices; anddetermine whether a group movement is possible or not for each of the nearby devices based on the nearby device distance information, the host device movement vector and the nearby device movement vector.2. The self-propelled device according to claim 1 , wherein the processor is further configured to execute the instructions claim 1 , when the processor determines that a group movement of a nearby device group constituted by one or more of the nearby devices is possible ...

SYSTEM FOR CONTROLLING A PLURALITY OF AUTONOMOUS VEHICLES ON A MINE SITE

The present application provides a system for controlling a plurality of autonomous vehicles on a mine site, the system comprising: 1. A system for controlling a plurality of autonomous vehicles on a mine site , the system comprising:a centralized platform configured to store an inventory list of vehicles travelling on the mine site and configured to determine and communicate missions to the vehicles; an interface configured to communicate with the centralized platform for receiving a predetermined mission,', 'a trajectory control system configured to autonomously control the autonomous vehicle according to the predetermined mission,', 'a detection system configured to detect other vehicles by evaluating sensor information received from at least one sensor of the vehicle,', 'a collision prediction system configured to predict collisions with the other vehicles detected by the detection system;', 'a V2V communication interface for directly communicating with a V2V communication interface of at least one of the other vehicles on the mine site for exchanging information between the vehicles., 'a plurality of autonomous vehicles, the autonomous vehicles comprising2. The system of claim 1 , wherein the information exchanged between the vehicles comprises localization information and future mission information.3. The system of claim 2 , wherein the future mission information comprises path information on a trajectory to be followed by the vehicle claim 2 , wherein the path information is used by a collision avoidance system of the autonomous vehicle.4. The system of claim 3 , wherein the predetermined missions comprise predetermined trajectories to be followed by the autonomous vehicles claim 3 , and wherein the autonomous vehicles further comprise a collision avoidance system claim 3 , the collision avoidance system being configured to autonomously re-plan the predetermined trajectory onboard the vehicle if the collision prediction system predicts a collision claim 3 , ...

Processor and processing method for rider-assistance system of straddle-type vehicle, rider-assistance system of straddle-type vehicle, and straddle-type vehicle

The present invention obtains a processor and a processing method, a rider-assistance system, and a straddle-type vehicle capable of improving a rider's safety.A processor (20) includes: an acquisition section that acquires surrounding environment information about a straddle-type vehicle (100); a determination section that determines necessity of assistance operation executed by a rider-assistance system (1) to assist with the rider's operation; and a control section that makes an execution device (P) execute the assistance operation in the case where the determination section determines that the assistance operation is necessary. The determination section determines the necessity of the assistance operation by using: a collision index value that is an index value of a collision possibility of a following vehicle against the traveling straddle-type vehicle (100); and a stability index value that is an index value of a stability degree of a relative distance of the following vehicle to the traveling straddle-type vehicle (100).

RECHARGING APPARATUS AND METHOD

Methods and apparatuses are provided for use in monitor power levels at a shopping facility, comprising: central control system separate and distinct from a plurality of self-propelled motorized transport units, wherein the central control system comprises: a transceiver configured to wirelessly receive communications from the plurality of motorized transport units; a control circuit coupled with the transceiver; and a memory coupled to the control circuit and storing computer instructions that cause the control circuit to: identify available stored power levels at each of the plurality of motorized transport units; identify an available recharge station, of a plurality of recharge stations distributed throughout the shopping facility, at least relative to a location of the first motorized transport unit intended to be subjected to recharging; and wirelessly communicate one or more instructions to cause the first motorized transport unit to cooperate with an available recharge station. 1. A system that monitors motorized vehicles operating at a shopping facility , comprising:a transport unit central control system separate and distinct from a plurality of motorized transport units at a shopping facility, wherein each of the plurality of motorized transport units is self-propelled and wherein the transport unit central control system comprises:a transceiver configured to wirelessly receive communications from the plurality of motorized transport units located at the shopping facility;a control circuit coupled with the transceiver; and identify that a first motorized transport unit, of the plurality of motorized transport units, is unable to effectively move itself;', 'determine, based on the determination that the first motorized transport unit is unable to effectively move itself, a location of the first motorized transport unit within the shopping facility;', 'identify a first recharge station, of a plurality of recharge stations at the shopping facility; and', ' ...

U-TURN ASSISTANCE BASED ON DIFFICULTY IN MANEUVERING

Methods, devices and apparatuses pertaining to U-turn assistance. The method may include obtaining, by a computing device, geographic obtaining of a location designated for an operation of a U-turn. The computing device may further obtain vehicle information of a vehicle performing the U-turn, and collect user information of an operator of the vehicle. Based on the geographic information, the vehicle information and the user information, the computing device may determine a level of difficulty of the U-turn and assist the operator with the operation of the U-turn based on the level of difficulty. 1. A method comprising:obtaining geographic information of a location designated for an operation of a U-turn;obtaining vehicle information of a vehicle performing the U-turn;collecting user information of an operator of the vehicle;determining a level of difficulty of the U-turn based on the geographic information, the vehicle information and the user information; andassisting the operator with the operation of the U-turn based on the level of difficulty.2. The method of claim 1 , wherein the obtaining of the geographic information of the location comprises obtaining the geographic information of the location using a free space sensing technique and a motion planning technique.3. The method of claim 1 , wherein the obtaining of the geographic information of the location comprising:generating a feasible path of the U-turn at the location based on the vehicle information and the geographic information;identifying one or more obstructions in the feasible path; andcollecting information of an oncoming traffic at the location to identify one or more potential collisions associated with the feasible path.4. The method of claim 3 , wherein the identifying of the one or more obstructions in the feasible path comprises identifying the one or more obstructions in the feasible path using one or more sensors attached to the vehicle claim 3 , pre-stored geographic information ...

Shopping Facility Assistance System and Method to Retrieve In-Store Abandoned Mobile Item Containers

A central computer system identifies a mobile item container in a retail shopping facility as being abandoned. The central computer system then directs a motorized transport unit through the retail shopping facility to the abandoned mobile item container and causes that motorized transport unit to physically attach to the abandoned mobile item container. The central computer system then directs that motorized transport unit through the retail shopping facility with the attached abandoned mobile item container to a specified destination within the retail shopping facility. Abandonment can be determined as a function, at least in part, of determining that the mobile item container is both stationary and unattended for at least a predetermined amount of time. By one approach the central computer system can use different predetermined amounts of time when assessing abandonment depending upon where in the retail shopping facility the mobile item containers are located.

PAVING COLLISION AVOIDANCE SYSTEM

A paving collision avoidance system includes a paving machine, a compactor, and a controller. The compactor has a hydrostatic braking capability. The controller is configured to stop the compactor when it enters a predetermined boundary determined by the momentum of the compactor and the relative positions of the paving machine and the compactor. 1 a first position detection module configured to generate a signal indicative of a current position of the paving machine; and', 'a first speed detection module configured to generate a signal indicative of a speed of the paving machine;, 'a paving machine having a screed, the paving machine including a second position detection module configured to generate a signal indicative of a current position of the compactor; and', 'a second speed detection module configured to generate a signal indicative of a speed of the compactor; and, 'a compactor having a predefined weight stored thereon, the compactor including receive the signals indicative of the current position of each of the paving machine and the compactor respectively;', 'receive the signals indicative of the speed of each of the paving machine and the compactor respectively, and the predefined weight of the compactor;', 'determine a predetermined boundary surrounding the paving machine based on the predefined weight, the speed, and the current position of the compactor; and', 'stop the compactor based on entering into the predetermined boundary, wherein the stopping is based on hydrostatic braking capability of the compactor., 'a controller in communication with the paving machine and the compactor, the controller configured to. A paving system comprising: The present disclosure relates to a paving system including a paving machine and a compactor, and more particularly to a collision avoidance system for a compactor operating in proximity to a paving machine.A paving system includes a paving machine and a compactor. Traditionally, a paving machine lays asphalt to ...

Method and system for using dynamic boundaries to manage the progression of ride vehicles that have rider control inputs

A method for controlling vehicle progression along a ride path of an amusement park ride. The method includes receiving inputs from a passenger of a vehicle on the ride path and processing the received inputs to determine a vehicle state change. The method includes determining a present or predicted vehicle state and comparing the present or predicted vehicle state with constraints defined by a dynamic boundary associated with the vehicle. The method includes issuing vehicle control commands to a drive assembly to implement the vehicle state change if it complies with the constraints. The dynamic boundary is moved logically along the ride path at a nominal to define a set of boundaries for movement of the vehicle along the ride path. The vehicle state change may be a change that causes the vehicle to travel at a speed differing from the dynamic boundary while remaining within the dynamic boundary.

METHOD AND SYSTEM FOR SYNCHRONIZING MOVEMENT OF TRANSPORT VEHICLES IN A STORAGE FACILITY

A method for synchronizing movement of transport vehicles in a storage facility is provided. A server determines first and second paths in the storage facility to be traversed by first and second transport vehicles, respectively. The server identifies a common path that corresponds to an overlap between the first and second paths. The server determines a safe distance to be maintained between the first and second transport vehicles, for avoiding a collision therebetween, when the first and second transport vehicles traverse the common path in the same direction. The server communicates a message, indicative of the safe distance, to the second transport vehicle for synchronizing movement of the first and second transport vehicles. Based on the message, the second transport vehicle follows the first transport vehicle along the common path and maintains a distance greater than or equal to the safe distance from the first transport vehicle. 1. A method for synchronizing movement of transport vehicles in a storage facility , the method comprising:determining, by a server that is in communication with first and second transport vehicles, first and second paths to be traversed by the first and second transport vehicles, respectively, in the storage facility;identifying, by the server, a common path to be traversed by the first and second transport vehicles in a same direction, the common path corresponding to an overlap between the first and second paths;determining, by the server, a first safe distance to be maintained between the first and second transport vehicles when the first transport vehicle reaches a starting point of the common path; andcommunicating, by the server to the second transport vehicle, a first message for synchronizing movement of the first and second transport vehicles on the common path, wherein the first message is indicative of the first safe distance, and wherein the second transport vehicle follows the first transport vehicle along the common ...

VEHICLE ILLUMINATION DEVICE, VEHICLE AND ILLUMINATION CONTROL SYSTEM

An illumination device provided in a vehicle capable of traveling in an automatic driving mode is provided with: an illumination unit configured so that light is emitted toward the outside of the vehicle; and an illumination control unit configured so that, on the basis of an illumination control signal transmitted from another vehicle capable of traveling in an automatic driving mode and provided with an illumination unit, the illumination state of the illumination unit corresponds to the illumination state of the illumination unit. 2. The vehicle illumination device according to claim 1 , wherein the first illumination control unit is configured to control the first illumination unit to blink in synchronization with the second illumination unit.3. The vehicle illumination device according to claim 1 , wherein the first illumination control unit is configured to control the first illumination unit such that an illumination color of the first illumination unit corresponds to an illumination color of the second illumination unit.6. The illumination control system according to claim 5 , wherein when the first vehicle exists within a predetermined range from the second vehicle claim 5 , the first wireless communication unit is able to receive an illumination control signal from the second wireless communication unit.7. The illumination control system according to claim 5 , wherein when the first vehicle and the second vehicle exist in the vicinity of an intersection point claim 5 , the first wireless communication unit is able to receive the illumination control signal from the second wireless communication unit.8. The illumination control system according to claim 7 , wherein the second vehicle is a vehicle that appears in the vicinity of the intersection point temporally earlier than the first vehicle.9. The illumination control system according to claim 5 , wherein the first vehicle and the second vehicle belong to a group of vehicles traveling in a row traveling ...

METHODS, SYSTEMS AND APPARATUS FOR CONTROLLING MOVEMENT OF TRANSPORTING DEVICES

A system and method for controlling movement of transporting devices arranged to transport containers stored in stacks arranged in a facility having pathways arranged in a grid-like structure above the stacks, the transporting devices being configured to operate on the grid-like structure. A movement optimisation unit is configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device. A reservation unit is configured to reserve a path on the grid-like structure for each transporting device based on the determined route. A clearance unit is configured to provide clearance for each transporting device to traverse a portion of the reserved path. 1. A system for controlling movement of transporting devices arranged to transport containers , the containers being stored in stacks arranged in a facility , the facility having pathways arranged in a grid-like structure above the stacks , the transporting devices being configured to operate on the grid-like structure , the system comprising:a movement optimisation unit configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device;a reservation unit configured to reserve a path on the grid-like structure for each transporting device based on the determined route, wherein the path reserved for each transporting device is provided such that no two transporting devices have locations on the grid-like structure which would cause transporting devices to overlap at a same time; anda clearance unit configured to provide clearance for each transporting device to traverse a portion of the reserved path, wherein the clearance is provided for execution at a future start time.2. The system according to claim 1 , wherein the time between providing the clearance and the future start time is a configurable parameter.3. ...

DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A vehicle driving assistance apparatus that includes: a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane or a lateral lane, based on the determination of whether the object approaches the vehicle from a traveling lane or a lateral lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and provide the control signal to a vehicle control system of the vehicle. 1. A vehicle driving assistance apparatus coupled to a vehicle , comprising:a sensing unit configured to sense an object outside the vehicle; and obtain surrounding situation information,', 'based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane,', 'based on the determination of whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and', 'provide the control signal to a vehicle control system of the vehicle., 'a processor configured to2. The vehicle driving assistance apparatus of claim 1 , wherein the processor is configured to:based ...

METHOD AND APPARATUS FOR DETECTING AND AVOIDING COLLISION APPLIED TO VEHICLE

Embodiments of the present disclosure provide a method for detecting and avoiding a collision applied to a vehicle which determines a first path according to a real-time vehicle status. The method can include: S) predefining a second path according to the real-time vehicle status; S) determining whether the current first path is at risk of a collision, and determining whether the current second path is at risk of a collision; and S) controlling the vehicle with an apparatus using a method for avoiding a collision, in a case where the current first path is at risk of a collision and/or the current second path is at risk of a collision. 1. A method for detecting and avoiding a collision applied to a vehicle , the vehicle determining a first path according to a real-time vehicle status , the method comprising:{'b': '1', 'S) predefining a second path according to the real-time vehicle status;'}{'b': '2', 'S) determining whether the current first path is at risk of the collision, and determining whether the current second path is at risk of the collision; and'}{'b': '3', 'S) controlling the vehicle by an apparatus using a method for avoiding the collision in response to determining that the current first path is at risk of the collision and/or the current second path is at risk of the collision.'}21. The method according to claim 1 , wherein in step S) claim 1 , whether the current first path is at risk of the collision and whether the current second path is at risk of the collision are determined by selecting a combination of one or more of following operations:a vehicle status estimation, a braking time and braking distance estimation, an obstacle filtering, an obstacle tracking, a first path analysis, a safe distance calculation, an obstacle confidence calculation, a calculation of a distance to a most dangerous obstacle, a collision detection strategy assessment or a collision risk level assessment.3. The method according to claim 1 , wherein the first path is a ...

VEHICLE CONTROL DEVICE MOUNTED ON VEHICLE AND METHOD FOR CONTROLLING THE VEHICLE

A vehicle control device for a vehicle includes: a communication unit configured to receive vehicle-to-everything (V2X) information, the V2X information including position data; and a control unit configured to generate a control signal associated with driving of the vehicle based on the V2X information. The control unit generates the control signal associated with driving of the vehicle by: determining an expected driving route of the vehicle; based on the determination of the expected driving route of the vehicle, determining a region of interest; and based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by: transmitting, through the communication unit, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and receiving, through the communication unit, the first V2X information transmitted by the communication-enabled devices. 1. A vehicle control device for a vehicle , the vehicle control device comprising:a communication unit configured to receive vehicle-to-everything (V2X) information, the V2X information comprising position data; anda control unit configured to generate a control signal associated with driving of the vehicle based on the V2X information, determining an expected driving route of the vehicle;', 'based on the determination of the expected driving route of the vehicle, determining a region of interest; and', transmitting, through the communication unit, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and', 'receiving, through the communication unit, the first V2X information transmitted by the communication-enabled devices., 'based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by], 'wherein the control unit generates the control ...

AUTONOMOUS DRIVING ROBOT APPARATUS AND METHOD FOR AUTONOMOUSLY DRIVING THE ROBOT APPARATUS

Disclosed herein are an autonomous driving robot apparatus and an autonomous driving method. The autonomous driving method of the autonomous driving robot apparatus includes receiving task information for autonomous driving from a server device for supporting autonomous driving; creating a route for autonomous driving based on the task information and performing autonomous driving; and selecting an autonomous driving operation corresponding to any one of moving, waiting, and wandering when arriving at a preset destination by performing autonomous driving along the route. 1. An autonomous driving method of an autonomous driving robot apparatus , comprising:receiving task information for autonomous driving from a server device for supporting autonomous driving;creating a route for autonomous driving based on the task information and performing autonomous driving; andselecting an autonomous driving operation corresponding to any one of moving, waiting, and wandering when arriving at a preset destination by performing autonomous driving along the route.2. The autonomous driving method of claim 1 , wherein selecting the autonomous driving operation is configured such that the autonomous driving robot apparatus determines at least one of a kind and a state of the destination and selects the autonomous driving operation depending on the determination.3. The autonomous driving method of claim 2 , wherein selecting the autonomous driving operation is configured such that the autonomous driving robot apparatus checks whether there is available space in a waiting area when the kind of the destination is determined to be an entrance to the waiting area.4. The autonomous driving method of claim 3 , wherein selecting the autonomous driving operation is configured such that the autonomous driving robot apparatus moves to an exit of the waiting area when it is determined that there is available space in the waiting area.5. The autonomous driving method of claim 4 , wherein ...

SHOPPING FACILITY ASSISTANCE OBJECT DETECTION SYSTEMS, DEVICES AND METHODS

Some embodiments provide apparatuses and methods useful to providing control over movement of motorized transport units. In some embodiments, an apparatus providing control over movement of motorized transport units at a shopping facility comprises: a central computer system comprising: a transceiver; a control circuit; a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: obtain, from one or more of the communications received from the motorized transport unit, route condition information comprising information corresponding to an intended route of travel; obtain additional route condition information detected by one or more detectors external to the motorized transport unit; detect an object affecting the intended route of travel; identify an action to be taken by the motorized transport unit with respect to the detected object; and communicate one or more instructions. 1. An apparatus providing control over movement of motorized transport units at a shopping facility , comprising: a transceiver configured to receive communications from the motorized transport unit located at a shopping facility;', 'a control circuit coupled with the transceiver; and', 'a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of:', 'obtain, from one or more of the communications received from the motorized transport unit, route condition information acquired by the motorized transport unit, wherein the route condition information comprises information corresponding to an intended route of travel by the motorized transport unit;', 'obtain additional route condition information existing at the shopping facility and detected by one or more detectors external to the motorized transport unit;', 'detect, in response to an evaluation of both the route condition information ...

INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, COMPUTER PROGRAM PRODUCT, INFORMATION PROCESSING SYSTEM, AND VEHICLE CONTROL SYSTEM

An information processing device according to an embodiment includes one or more hardware processors. The processors generate a plurality of nodes at positions corresponding to an operation indicated by an avoidance pattern to avoid a first object on a first trajectory based on one or more avoidance patterns indicating one or more operations of a mobile object for avoiding an object. The processors search for a trajectory candidate whose moving cost is smaller than that of another trajectory candidate among a plurality of trajectory candidates connecting a plurality of nodes for each avoidance pattern. The processors select a trajectory candidate whose moving cost is smaller than that of another trajectory candidate from among one or more trajectory candidates searched for each avoidance pattern. 1. An information processing device comprising:one or more hardware processors configured togenerate, on a basis of one or more avoidance patterns each indicating one or more operations of a mobile object for avoiding an object, a plurality of nodes at positions corresponding to the operations indicated by the avoidance patterns to avoid a first object on a first trajectory;search for, among a plurality of trajectory candidates connecting the plurality of nodes, a trajectory candidate having a moving cost smaller than a moving cost of another trajectory candidate for each of the avoidance patterns; andselect the trajectory candidate having the moving cost smaller than the moving cost of the other trajectory candidate among one or more trajectory candidates searched for each of the avoidance patterns.2. The information processing device according to claim 1 , wherein the one or more hardware processorsgenerate, in presence of a second object on a second trajectory that is the trajectory candidate the one or more hardware processors searches for, a plurality of nodes at positions corresponding to the operations indicated by the avoidance patterns to avoid the second object on ...

MULTI-INTELLIGENT-AGENT COOPERATED TRANSPORTATION METHOD, SYSTEM AND COMPUTER READABLE STORAGE MEDIUM

The present disclosure relates to the field of swarm intelligence and provides a multi-intelligent-agent cooperated transportation method and system as well as a computer readable storage medium. The method includes: establishing a transportation model of a multi-intelligent-agent formation, and performing obstacle avoidance control between intelligent agents and neighbor intelligent agents based on pheromones of the intelligent agents themselves and the neighbor intelligent agents of the intelligent agents; acquiring, by a leader intelligent agent, state information of the leader intelligent agent by utilizing a distributed observer triggered based on self-pheromone release; regulating, by utilizing an intelligent agent cooperation controller triggered based on self-pheromone release, state information of the intelligent agents according to the state information of the leader intelligent agent; and enabling the neighbor intelligent agents of the intelligent agents to jump the queue to the multi-intelligent-agent formation according to the state information of the intelligent agents when obstacles are encountered. 1. A multi-intelligent-agent cooperated transportation method , comprising the steps of:establishing a transportation model of a multi-intelligent-agent formation, and performing obstacle avoidance control between intelligent agents and neighbor intelligent agents based on pheromones of the intelligent agents and the neighbor intelligent agents of the intelligent agents;acquiring, by a leader intelligent agent, state information of the leader intelligent agent by utilizing a distributed observer triggered based on self-pheromone release;regulating, by utilizing an intelligent agent cooperation controller triggered based on self-pheromone release, state information of the intelligent agents according to the state information of the leader intelligent agent; andenabling the neighbor intelligent agents of the intelligent agents to jump the queue to the multi- ...

Systems for mining vehicle collision avoidance

A mining vehicle control system includes a detection unit configured to determine a proximity of a monitored mining vehicle to a first mining vehicle and a controller configured to determine first protection lines that linearly project from the first mining vehicle and second protection lines that linearly project from the monitored mining vehicle. The first protection lines are determined based on a moving speed of the first mining vehicle. The second protection lines are determined based on a moving speed of the monitored mining vehicle. The controller is configured to direct the first mining vehicle to change movement of the first mining vehicle responsive to intersection of one or more of the first protection lines with one or more of the second protection lines.

HAUL VEHICLE CONTROL SYSTEM AND HAUL VEHICLE MANAGEMENT METHOD

A haul vehicle control system includes a reference line creating unit configured to create, on the basis of a boundary curve of a running area in a work site where a haul vehicle runs, a reference line set in the running area, and a running course creating unit configured to create a running course for the haul vehicle which is set in the running area on the basis of the reference line. 1. A haul vehicle control system comprising:a reference line creating unit configured to create, based on a boundary curve of a running area in a work site where a haul vehicle is configured to run, a reference line set so as to connect a start point and an end point of the running area; anda running course creating unit configured to create a running course for the haul vehicle which is set in the running area, based on the reference line.2. The haul vehicle control system according to claim 1 , whereinthe running course creating unit sets the running courses on both sides of at least part of the reference line.3. The haul vehicle control system according to claim 1 , whereinthe reference line creating unit creates the reference line such that a distance from the boundary curve is long, and a length of the reference line connecting the start point and the end point of the running area is short.4. The haul vehicle control system according to claim 1 , whereinthe reference line creating unit creates the reference line based on start point data and end point data of the haul vehicle configured to run in the running area.5. The haul vehicle control system according to claim 1 , whereinthe reference line creating unit creates the reference line so as to increase a turning radius of the haul vehicle and reduce a steering change amount of the haul vehicle per unit time.6. The haul vehicle control system according to claim 1 , whereinthe reference line creating unit determines reference points by selecting some candidate points from a plurality of candidate points calculated based on the ...

ROBOT GUIDANCE SYSTEM

A guidance system S includes a plurality of autonomous mobile robots () which guide a user to a destination, and a reception apparatus () which is provided separately from the robots () and recognizes the destination. Availability of each of the plurality of robots () is managed based on a state of the robot and the destination, 1. A robot guidance system , comprising:a plurality of autonomous mobile robots which guide a user to a destination;a reception apparatus which is provided separately from the plurality of autonomous mobile robots and recognizes the destination; anda robot management unit which recognizes a state of each of the plurality of autonomous mobile robots and manages availability of each of the plurality of autonomous mobile robots based on the recognized destination and the recognized state.2. The robot guidance system according to claim 1 , comprising:a movement characteristic storage section which stores a movement characteristic that is a characteristic related to mobility of each of the plurality of autonomous mobile robots; anda robot selection section which selects at least one of the plurality of autonomous mobile robots as an autonomous mobile robot to guide the user, based on the destination recognized by the reception apparatus and the movement characteristic stored in the movement characteristic storage section.3. The robot guidance system according to claim 2 , wherein each of the plurality of autonomous mobile robots is driven by an internal battery claim 2 ,the movement characteristic is a characteristic including a remaining battery charge amount of each of the plurality of autonomous mobile robots, andthe robot selection section selects at least one of the plurality of autonomous mobile robots as an autonomous mobile robot to guide the user, based on a distance to the destination recognized by the reception apparatus and the movement characteristic of each of the plurality of autonomous mobile robots.4. The robot guidance system ...

NOVEL SYSTEMS AND METHODS THAT FACILITATE UNDERSIDE INSPECTION OF CRAFTS

A craft inspection process is described. The craft inspection process includes: (i) locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset; (ii) locating, using the overhead robot and the craft offset, a component and/or sub-component of the candidate craft within one of one or more of the robotic envelopes and identifying a component offset and/or the sub-component offset; and (iii) inspecting the component and/or the sub-component using an underside robot and the component offset and/or the sub-component offset. 1. A craft inspection process comprising:locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset;locating, using said overhead robot and said craft offset, a component and/or sub-component of said candidate craft within one of said one or more robotic envelopes and identifying a component offset and/or sub-component offset;conveying from said overhead robot to one or more computer systems at least one information chosen from a group including a point of origin of said component and/or said sub-component, one or more boundary coordinates of said component and/or said sub-component, an overhead scan path, signal to commence underside inspection, component offset and sub-component offset; andprocessing, using said one or more computer systems, said at least one information received from said overhead robot to develop underside information used during underside inspection.2. The craft inspection process of claim 1 , further comprising conveying said underside information from said one or more computer systems to an underside robot.3. A process for developing a reference database claim 1 , said process comprising:teaching, using an overhead robot, location of a reference craft in space within one or more robotic envelopes;teaching, using said overhead robot, location of a component and/or a sub-component of said craft ...

SAFETY SYSTEM FOR INTEGRATED HUMAN/ROBOTIC ENVIRONMENTS

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment. 1. A method implemented by one or more processors , the method comprising:determining, using one or more sensors, presence information and actor type information about an actor present within a first area, of an environment that is divided into a plurality of areas that comprise the first area; a first safety classification if the actor type information indicates the actor present within the first area is of a predetermined first type, or', 'a second safety classification if the actor type information indicates the actor present within the first area is of a predetermined second type, wherein the second safety classification is more restrictive than the first safety classification;, 'determining a particular safety classification of the first area based on at least the presence information and the actor type information, wherein the particular safety classification comprisesdetermining trajectory data related to a trajectory of the actor;determining, using the trajectory data and the particular safety ...

USE OF SOUND WITH ASSISTED OR AUTONOMOUS DRIVING

A vehicle includes a set of sound sensors coupled to one or more processing systems that process sound data from the set of sound sensors in order to provide assisted driving features or functionality such as an emergency vehicle avoidance. 1. A vehicle comprising;a processing system;a set of one or more sound sensors coupled to the processing system, the sound sensors configured to receive sounds from the vehicle's exterior;a set of wheels;a set of one or more motors coupled to the set of wheels and coupled to the processing system;a set of one or more brakes coupled to the set of one or more wheels and to the processing system; andwherein, the processing system is to receive data from the set of one or more sound sensors about sounds from the vehicle's exterior, to process the received data, and to provide assisted driving capabilities for the vehicle in response to the result of processing the received data.2. The vehicle as in wherein the set of sound sensors include at least one microphone and wherein the assisted driving capabilities include one or more of: one or more warnings or autonomous driving of the vehicle and wherein the processing system includes a plurality of processors and associated memory and non-volatile storage.3. The vehicle as in wherein the set of sound sensors include a set of microphones arranged on the vehicle to provide reception of sounds from around the vehicle's exterior and wherein the processing system is to determine a type of the source of sounds by recognizing the sounds or is to identify the source of the sound by recognizing the sounds.41. The vehicle as in clam wherein the assisted driving capabilities including stopping the vehicle or changing the direction of travel of the vehicle in response to determining a collision with another vehicle is likely or warning against a lane change.5. The vehicle as in claim 1 , wherein the processing system uses data representing sounds of other vehicles that may collide with the vehicle ...

Operation of a Vehicle While Suppressing Fluctuating Warnings

Operating a host vehicle is described as including identifying remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle and identifying host vehicle information indicating a geospatial state and a kinematic state for the host vehicle. For a sequence of sampling points, a converging time to a converging location within a transportation network is determined based on the remote vehicle information and the host vehicle information. Operation of the host vehicle is modified to a modified operation responsive the converging time, having been above a first threshold, failing below the first threshold, and the modified operation of the host vehicle is maintained until the converging time remains above a second threshold higher than the first threshold for a defined number of contiguous sampling points of the sequence. A method, vehicle, and apparatus are described. 1. A method for operating a host vehicle , comprising:identifying remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle;identifying host vehicle information indicating a geospatial state and a kinematic state for the host vehicle;for a sequence of sampling points, determining a converging time to a converging location within a transportation network based on the remote vehicle information and the host vehicle information;modifying operation of the host vehicle to a modified operation responsive the converging time, having been above a first threshold, falling below the first threshold; andmaintaining the modified operation of the host vehicle until the converging time remains above a second threshold higher than the first threshold for a defined number of contiguous sampling points of the sequence.2. The method of claim 1 , further comprising:initializing a counter responsive to the converging time falling below the first threshold; andresponsive to the converging time exceeding the second threshold, incrementing the counter ...

Collision avoidance based on centralized coordination of vehicle operations

A computer-implemented method performed by a centralized coordinated vehicle guidance system may include: obtaining analytics data for a plurality of vehicles or objects centrally communicating with or detected by the centralized coordinated vehicle guidance system; detecting, based on the analytics data, a collision event within one or more vehicle-object pairs; determining trajectory adjustment information for one or more vehicle in the vehicle-object pairs involved in the collision event; and outputting the trajectory adjustment information to cause the vehicle to modify its trajectory.

TRAFFIC MANAGEMENT FOR MATERIALS HANDLING VEHICLES IN A WAREHOUSE ENVIRONMENT

Systems and methods for a materials handling vehicle to navigate a vehicle transit surface in a warehouse environment including a navigation subsystem configured to cooperate with a traction control unit, a braking system, a steering assembly, and an obstacle detection subsystem to: determine whether the materials handling vehicle is approaching, or has arrived at, a potentially contested intersection; associate with the intersection pre-positioned warehouse object data, a set of road rules, and obstacle data; and navigate the materials handling vehicle through the intersection utilizing warehouse navigation maneuvers in combination with the associated set of road rules, obstacle avoidance maneuvers, or both, the warehouse navigation maneuvers accounting for the associated pre-positioned warehouse object data and the obstacle avoidance maneuvers accounting for the obstacle data derived from the obstacle detection subsystem. 1. A materials handling vehicle configured to navigate a vehicle transit surface in a warehouse environment , the materials handling vehicle comprisinga vehicle body,a plurality of vehicle wheels supporting the vehicle body,a traction control unit, a braking system, and a steering assembly, each operatively coupled to one or more of the plurality of vehicle wheels,an obstacle detection subsystem, and determine whether the materials handling vehicle is approaching, or has arrived at, a potentially contested intersection;', 'associate pre-positioned warehouse object data derived from a database of pre-positioned warehouse objects in the warehouse environment with the potentially contested intersection;', 'associate a set of road rules with the potentially contested intersection;', 'associate obstacle data derived from the obstacle detection subsystem with the potentially contested intersection; and', 'navigate the materials handling vehicle through the potentially contested intersection utilizing warehouse navigation maneuvers in combination with ...

ENHANCED SYSTEMS, APPARATUS, AND METHODS FOR IMPROVED AUTOMATED AND AUTONOMOUS OPERATION OF LOGISTICS GROUND SUPPORT EQUIPMENT

An improved retrofit assembly for ground support equipment providing autonomous operation of the logistics ground support equipment (GSE). The assembly has a refit control system attached to the GSE (with a vehicle dynamics control processor and a data preprocessing control processor), retrofitted proprioceptive sensors coupled to the vehicle dynamics control processor monitoring operating parameters and characteristics of the GSE, retrofitted exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the GSE, and refit actuators for different control elements on the GSE and to autonomously alter motion of the GSE. The refit control system programmatically receives sensor data from the proprioceptive sensors and exteroceptive sensors; optimizes a path for the GSE based upon the different sensor data; and activates at least one of the actuators according to the optimized path for the GSE. 1. A retrofit assembly apparatus for use on a logistics ground support equipment to enhance a level of autonomous operation of the logistics ground support equipment , the assembly comprising:a refit control system attached to the logistics ground support equipment, the refit control system comprising a vehicle dynamics control processor and a data preprocessing control processor; a first group of proprioceptive sensors coupled to the vehicle dynamics control processor that monitor operating parameters and characteristics of the logistics ground support equipment, and', 'a second group of exteroceptive sensors coupled to the data preprocessing control processor that monitors an exterior environment of the logistics ground support equipment;, 'a plurality of retrofitted sensors coupled to the refit control system and disposed on the logistics ground support equipment as retrofitted equipment to the logistics ground support equipment, the retrofitted sensors comprising'}a plurality of actuators coupled to the refit control system, ...

Vehicle control device, vehicle control method and vehicle control program

A vehicle control device includes a detection unit which detects a peripheral vehicle, the peripheral vehicle traveling around an own vehicle, and a prediction unit which refers to a detection result of the detection unit so as to predict position change of the peripheral vehicle, and in a case where a second vehicle, which travels in immediately back of the first vehicle, is predicted to catch up with a first vehicle between the first vehicle and the second vehicle, predicts position change of the second vehicle on the assumption that the second vehicle travels in a manner to follow the first vehicle while keeping a certain distance with respect to the first vehicle after the second vehicle catches up with the first vehicle.

Platooning controller, system including the same, and method thereof

A platooning controller, a vehicle system including the same, and a method thereof are provided. The platooning controller includes a processor that identifies information about outside vehicles around a platooning line based on sensing information of platooning vehicles, determines whether views of the outside vehicles are obstructed by the platooning line based on the information about the outside vehicles, controls the platooning vehicles such that the views of the outside vehicles are obtained, and performs collision avoidance control and a storage storing the sensing information or a result of determination of whether a view is obstructed.

Localized dynamic swarming for automobile accident reduction

A method, system, and apparatus to detect when one or more moving vehicles are close to a first vehicle, and to take necessary actions to maintain a minimum distance between vehicles in a dynamic environment by automatic navigation. A computer method and apparatus for automobile accident reduction by maintaining a minimum distance with respect to all nearby vehicles on the road. In addition, methods to synchronously move a group of vehicles on a highway through a swarming action where each vehicle keeps a region immediately around it free of other vehicles while maintaining the speed of the vehicle immediately in front or nearby is also disclosed.

AUTONOMOUS VEHICLE USED AS GOLF CADDIE AND CART

A method for using an autonomous vehicle as a caddie and cart. The method includes selecting caddie mode from a group including a caddie mode and a cart mode, selecting a mode in the caddie mode from a group including a caddie advice mode, a swing detection mode, and a golf ball detection mode. In another embodiment, the method includes selecting the cart mode and selecting a mode in the cart mode from a group including a follow golfer mode, a ride mode, and a golf ball mode. The autonomous vehicle includes a vehicle frame and a body, a vehicle propulsion unit, a plurality of wheels driven by the vehicle propulsion unit, a controller for selecting a mode of operation, a display for communicating data to the golfer, a camera for supplying data to the controller, and a GPS apparatus for determining a position of the autonomous vehicle. 1. A method for providing golf caddie and cart services to a golfer using an autonomous vehicle , the golfer playing with a golf ball and a plurality of golf clubs , comprising the steps of:selecting a caddie mode from a group comprising (1) the caddie mode and (2) a cart mode;selecting a mode in the caddie mode selected from a group comprising (1) a caddie advice mode, (2) a swing detection mode, and (3) a golf ball detection mode; andselecting the cart mode.2. The method of wherein the caddie mode further comprises the steps of:activating a camera on the autonomous vehicle; anddetecting the golfer.3. The method of wherein the caddie advice mode further comprises the steps of:detecting a direction and speed of wind;detecting a distance from the golf ball to a pin located on a green of a golf hole;detecting if an obstacle is present between the golfer and the pin; andproviding a selection of a golf club from the plurality of golf clubs to the golfer.4. The method of wherein the step of providing a selection of the golf club from the plurality of golf clubs is based upon the direction and the intensity of wind claim 3 , the distance from ...

NAVIGATION ROUTE RESERVATION FOR WAREHOUSE ROBOT

The present disclosure discloses a method and system for assisting a robot to navigate in a warehouse setting. In some embodiments, robot is configured to receive a reserved route and move according to the reserved route as it navigates inside a warehouse. A reserved route includes one or more waypoints. Each waypoint represents a location and a size, the size being the space needed for accommodating a robot at the location. The one or more waypoints are listed in a sequence for a robot to follow sequentially. In some embodiments, each waypoint may further include a timestamp representing the time that the robot given the reserved route is supposed to arrive at the location. 1. A method for moving one or more automated guided robots , comprising:receiving a first path through a path reservation by an automated guided robot, wherein the first path comprises one or more waypoints listed in a sequence;storing the first path; andmoving along the first path by reaching each of the one or more waypoints sequentially;whereinthe path reservation is that the server starts from the point where the automated guided robot starts to move, and proceeds sequentially according to waypoints in a path, until the reservation fails, then the server feeds back information of all waypoints that have been successfully reserved to the automated guided robot, and the automated guided robot moves forward along the waypoints that have been successfully reserved, and continues to reserve a waypoint to be passed while moving forward.2. The method of claim 1 , further comprising:receiving a second path by the automated guided robot before the automated guided robot has reached an end of the first path, staying at the end of the first path when the automated guided robot does not receive the second path, and requesting the second path after a pre-determined time period has elapsed, wherein the second path comprises a sequence of one or more waypoints; and/ormarking the first path as completing ...

Coordination of paths of a plurality of movable machines

A method for at least partially automated coordination of a path arrangement of a machine arrangement, having a path of at least one first movable machine and an additional path of at least one second movable machine. The method includes determining at least one waiting dependency between a path point of a path of a first machine in the machine arrangement and a path point of the additional path in order to avoid a collision between the first and second machines, provided that a quality criterion for leaving the paths while complying with this waiting dependency is not worse than complying with an alternative inverse waiting dependency between a path point of the path of the first machine and a path point of the additional path in order to avoid the same collision.

Driving assistance device and driving assistance method

A driving assistance device includes a driving situation acquisition unit that acquires driving situations of vehicles that may collide with each other, a driving characteristics acquisition unit that acquires driving characteristics of drivers of the vehicles, a driving action determination unit that determines driving actions that allow the vehicles to avoid collision with each other in the driving situation acquired by the driving situation acquisition unit and that match the driving characteristics acquired by the driving characteristics acquisition unit, and a driving action instruction unit that instructs the vehicles about the driving actions determined by the driving action determination unit.

SYSTEM AND METHOD FOR ADJUSTING A YIELDING SPACE OF A PLATOON

A system and a method for adjusting a yielding space of a platoon are provided. The system can include camera modules, sensors, interface circuitry, processing circuitry, and memory. The sensors can detect one or more behaviors of one or more vehicles adjacent to the platoon. The processing circuitry can determine one or more triggering events between the one or more vehicles and the platoon based on the one or more behaviors. The processing circuitry can adjust the yielding space of the platoon. 1. A method of adjusting a yielding space of a platoon , comprising:detecting, by a first set of sensors, one or more behaviors of one or more vehicles adjacent to the platoon;determining, using processing circuitry, one or more triggering events between the one or more vehicles and the platoon based on the one or more behaviors; andadjusting the yielding space of the platoon.2. The method of claim 1 , wherein the first set of sensors includes one or more camera modules claim 1 , Lidar claim 1 , radars claim 1 , or ultrasonic sensors.3. The method of claim 1 , wherein the first set of sensors is in the platoon.4. The method of claim 1 , wherein the one or more behaviors of the one or more vehicles include changes in vehicle speed claim 1 , changes in lane position claim 1 , driver head orientation claim 1 , driver head movement claim 1 , and location of hands of the drivers on a steering wheel of the one or more vehicles.5. The method of claim 1 , wherein the one or more triggering events include the one or more vehicles entering into the platoon and the one or more vehicles crossing the platoon.6. The method of claim 1 , wherein the yielding space is adjusted based on the one or more triggering events claim 1 , the adjustment including a speed of adjusting the yielding space or a length of the yielding space.7. The method of claim 1 , further comprising:detecting, by a second set of sensors, the one or more behaviors of the one or more vehicles adjacent to the platoon; ...

AUTONOMOUS RESCUE LANE

In one example, notice of a priority vehicle is obtained. A first protective field is generated around a current vehicle and a second protective field is generated around the priority vehicle. A priority lane is created by moving the first protective field of the current vehicle away from the second protective field of the priority vehicle. 1. A system , comprising:a memory that is to store instructions; and obtain notice of a priority vehicle;', 'generate a first protective field around a current vehicle and a second protective field around the priority vehicle;', 'create a priority lane by moving the first protective field of the current vehicle away from the second protective field of the priority vehicle., 'a processor communicatively coupled to the memory, wherein when the processor is to execute the instructions, the processor is to2. The system of claim 1 , wherein the notice of the priority vehicle is broadcast by a third party.3. The system of claim 1 , wherein the notice of the priority vehicle is provided by a drone.4. The system of claim 1 , wherein instructions for generating the priority lane are provided by indicator lights of the current vehicle.5. The system of claim 1 , wherein a reactive collision avoidance controller is to determine and track all possible sources of collision and to avoid the sources of collision in the first protective field and the second protective field.6. The system of claim 1 , wherein the first protective field is based claim 1 , at least partially claim 1 , on a speed and velocity of the current vehicle.7. The system of claim 1 , wherein the first protective field is based claim 1 , at least partially claim 1 , on a speed and velocity of a plurality of other vehicles.8. The system of claim 1 , wherein the first protective field is based claim 1 , at least partially claim 1 , on a position and velocity of the priority vehicle.9. The system of claim 1 , wherein a rescue lane controller determines the location of the ...

Autonomous vehicle operation within a center turn lane

Operations of an autonomous vehicle while waiting to make a turn from a center turn lane are described. In response to determining that the detected object intends on turning through the center turn lane from a transverse direction, it can be determined whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane. If the object turning path would impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane to allow the autonomous vehicle to make the turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle. The autonomous vehicle can be caused to implement the determined driving maneuver.

COLLISION-WARNING SYSTEM

A controller includes a processor and a memory storing processor-executable instructions in a host vehicle. The processor is programmed to designate a target vehicle as a collision risk upon determining that an intersection angle between the host vehicle and the target vehicle is between preset lower and upper bounds and an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold. 1. A controller comprising a processor and a memory storing processor-executable instructions in a host vehicle such that the processor is programmed to: an intersection angle between the host vehicle and the target vehicle is between preset lower and upper bounds and', 'an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold., 'designate a target vehicle as a collision risk upon determining that'}2. The controller of claim 1 , wherein the processor is further programmed to determine whether the target vehicle is within a preset range of the host vehicle.3. The controller of claim 1 , wherein the preset lower bound is greater than zero degrees.4. The controller of claim 3 , wherein the preset upper bound is less than 180 degrees.5. The controller of claim 1 , wherein the processor is further programmed to control a vehicle subsystem to evade the target vehicle if designated as a collision risk.6. The controller of claim 5 , wherein controlling the vehicle subsystem includes instructing brakes to brake.7. The controller of claim 5 , wherein controlling the vehicle subsystem includes instructing a steering system to turn.8. The controller of claim 1 , wherein the processor is further programmed to confirm the collision risk independently of the azimuth angle rate of change of the host vehicle.9. The controller of claim 1 , wherein the processor is further programmed to instruct a vehicle subsystem to evade the target vehicle if designated as a collision risk and if the collision risk is confirmed ...

SYSTEMS, METHODS, AND MOBILE CLIENT DEVICES FOR SUPERVISING INDUSTRIAL VEHICLES

The embodiments described herein relate to systems and methods for presenting information from a management server on a mobile client device to facilitate the management of industrial vehicles. Embodiments of the system can include a plurality of industrial vehicles communicatively coupled to the management server, and a mobile client device communicatively coupled to the management server. The mobile client device can include a display, a wireless communication circuit, and one or more client processors. Encoded objects, vehicular objects, or combinations thereof can be presented upon the display of the mobile client device to present information from the management server. 1. A system comprising a management server , a plurality of industrial vehicles , and a mobile client device , wherein:the management server comprises one or more server processors;each of the industrial vehicles comprises one or more vehicular processors, and is communicatively coupled to the management server;the mobile client device comprises a display, a wireless communication circuit, and one or more client processors, and is communicatively coupled to the management server; (i) determine a localized position with respect to an inventory transit surface of an industrial facility;', '(ii) detect an operational characteristic;', '(iii) transmit vehicular data indicative of the localized position and the operational characteristic to the management server; and', '(iv) navigate along the inventory transit surface of the industrial facility to change respective positions of the industrial vehicles;, 'the one or more vehicular processors of each of the industrial vehicles execute vehicle functions to (i) determine based upon the vehicular data that an impact has occurred involving one of the industrial vehicles; and', '(ii) derive an impact descriptor indicative of the impact from the vehicular data;, 'the one or more server processors of the management server execute server functions tothe ...

DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A vehicle driving assistance apparatus that includes: a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane or a lateral lane, based on the determination of whether the object approaches the vehicle from a traveling lane or a lateral lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and provide the control signal to a vehicle control system of the vehicle. 1. (canceled)2. A vehicle driving assistance apparatus for a vehicle , the vehicle driving assistance apparatus comprising a processor configured to:obtain surrounding situation information from one or more sensors, the one or more sensors being configured to sense an object outside the vehicle;based on a location of the object outside the vehicle, determine an approach direction of the object relative to the vehicle;based on the determination of the approach direction of the object, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, or a brake apparatus of the vehicle to thereby (i) avoid collision between the vehicle and the object or (ii) perform an action that minimizes an impulse exerted on the vehicle during the collision or (iii) both; andprovide the control signal to a vehicle control system of the vehicle.3. The vehicle driving assistance apparatus of claim 2 , wherein the approach direction of the object corresponds to a first direction in which the object approaches the vehicle from a traveling lane in which the vehicle is ...

METHOD FOR CONTROLLING A GROUP OF VEHICLES

A method for controlling a group of vehicles, the group of vehicles including at least two vehicles. The method includes transmitting a piece of driving information from at least one of the vehicles to a vehicle-independent processing unit; ascertaining individual control rules for the individual vehicles of the group of vehicles as a function of the transmitted piece of driving information; transmitting the ascertained individual control rules back to the respective vehicles; and controlling each vehicle of the group of vehicles as a function of the transmitted piece of driving information, using the individual control rule for the respective vehicle, with the aid of the vehicle-independent processing unit. 1. A method for controlling a group of vehicles , the group of vehicles including at least two vehicles , the method comprising:transmitting a piece of driving information from at least one of the vehicles to a vehicle-independent processing unit;ascertaining individual control rules for the individual vehicles of the group of vehicles as a function of the transmitted piece of driving information;transmitting the ascertained individual control rules back to the respective vehicles; andcontrolling each vehicle of the group of vehicles as a function of the transmitted piece of driving information, using the individual control rule for the respective vehicle, with the aid of the vehicle-independent processing unit.2. The method as recited in claim 1 , wherein the control of a vehicle of the group of vehicles includes an activation of at least one of: (i) an acceleration unit claim 1 , (ii) a braking unit claim 1 , and/or (iii) a steering unit claim 1 , of the respective vehicles.3. The method as recited in claim 1 , further comprising:confirming a receipt of the back-transmitted individual control rules by the respective vehicle, a confirmation signal being transmitted from the respective vehicle to at least one of: (i) the vehicle-independent processing unit, and/ ...

SYSTEM AND METHOD FOR DETERMINING FLEET WIDE INTEGRITY UTILIZING BLOCKCHAIN METHODOLOGY

A method for determining fleet wide integrity comprises forming a user measurement block for each user in a fleet network, the user measurement block comprising: navigation measurements received by the user, relative user measurements received by the user from other users, and navigation state and integrity solutions. The user measurement block is signed and sent to all other users for validation. Each user executes a numerical process to determine a navigation state and integrity of all users. A fleet state block is formed comprising: a header including a hash of last valid fleet state block header, a nonce-proof of work, and a root hash of Merkle tree; and a data block including measurement, state, and integrity information of the fleet. The fleet state block is sent to all other users for validation. If the fleet state block passes validation, the user forms a chain of fleet state blocks. 1. A method for determining fleet wide integrity , the method comprising: one or more navigation measurements received by the user from one or more navigation aids;', 'one or more relative user measurements received by the user from one or more other users in the fleet network;', 'one or more navigation state solutions for the user; and', 'one or more integrity solutions for the user;', 'wherein the user measurement block for each user is digitally signed;, 'forming a user measurement block for each user in a fleet network, the user measurement block for each user comprising wherein each user in the fleet network validates all received user measurement blocks;', 'wherein each user executes a numerical process to determine a navigation state and integrity of all users in the fleet network;, 'sending the signed user measurement block of each user to all other users in the fleet network;'} a header including a hash of last valid fleet state block header, a nonce-proof of work, and a root hash of Merkle tree; and', 'a data block including measurement, state, and integrity ...

Work Vehicle Automatic Traveling System

A work vehicle automatic traveling system includes a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element on which a work vehicle is to travel next, from a travel route element set and a circling route element set. The route element selecting unit includes a cooperative route element selection rule, which is employed when a plurality of work vehicles carry out work travel cooperatively in an area CA to be worked, and an independent route element selection rule, which is employed when a single independent work vehicle among the work vehicles carries out work travel independently in the area CA to be worked. When the independent work vehicle is carrying out independent work travel in the area CA to be worked, and a work vehicle aside from the host vehicle is carrying out circling travel based on the circling route element or is stopped, the next travel route element is selected on the basis of the independent route element selection rule. 1. A work vehicle automatic traveling system for a plurality of work vehicles that carry out work travel cooperatively in a work site while exchanging data , the system comprising:an area setting unit that sets the work site to an outer peripheral area, and an area to be worked on an inner side of the outer peripheral area;a host vehicle position calculating unit that calculates a host vehicle position;a route managing unit that manages a travel route element set and a circling route element set so as to be capable of readout, the travel route element set being an aggregate of multiple travel route elements constituting a travel route that covers the area to be worked, and the circling route element set being an aggregate of circling route elements constituting a circling route that goes around the outer peripheral area;a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element, on which the work vehicle is ...

TRAFFIC CONTROL SERVER AND SYSTEM

A traffic control server controls traffic for a first vehicle traveling on an outgoing lane and a second vehicle traveling on a return lane and having attributes that are different from the first vehicle The traffic control server is provided with a travel-permitted zone setting unit for setting a first travel-permitted zone which is a partial zone of the outgoing lane and in which travel of the first vehicle is permitted, and a second travel-permitted zone which is a partial zone of the return lane and in which travel of the second vehicle is permitted. The travel-permitted zone setting unit sets the first travel-permitted zone and the second travel-permitted zone so as to cause the second vehicle to stop or decelerate and the first vehicle to travel when the first vehicle and the second vehicle pass each other. 131702070. A traffic control server () for performing traffic control of a first vehicle () , which is traveling in an approach lane in a mine where the approach lane and a return lane are provided in parallel to each other , and a second vehicle () , which is different in attribute from the first vehicle () and is traveling in the return lane , comprising:{'b': 311', '100', '70', '200', '20, 'i': 'b', 'a travel-permitted zone setting unit () configured to set a first travel-permitted zone () as a partial zone, where the first vehicle () is allowed to travel, in the approach lane and a second travel-permitted zone () as another partial zone, where the second vehicle () is allowed to travel, in the return lane,'}{'b': 311', '100', '200', '70', '20', '20', '70, 'i': 'b', 'wherein the travel-permitted zone setting unit () is configured to set the first travel-permitted zone () and second travel-permitted zone () so that, when the first vehicle () and the second vehicle () pass each other, the second vehicle () is stopped or slowed down and the first vehicle () is allowed to travel.'}2. The traffic control server according to claim 1 , wherein:{'b': 311', '100 ...

SYSTEM OF AUTONOMOUS VEHICLES

A system and method for control of the system, with a plurality of autonomous vehicles having intersecting routes, a control, an operational area, and a predefined place with positions provided with a vehicle presence detection device. The method includes detecting the presence of the vehicles in a detection device, and beginning to travel with a first vehicle according to a travel action. The travel action is chosen from travelling of a route through the operational area from a predefined place, and an advancing action within a predefined place from a first detection device to a second detection device which is not yet occupied. Beginning to travel is carried out only if each of the vehicles has been detected as present at one of the predefined places, or, at most one vehicle has the status “not present at one of the predefined places” if the travel action relates to an advancing action. 111-. (canceled)12: Method for controlling a system of:N unmanned autonomous vehicles, where N≧2,a control device for at least partially controlling at least one of the autonomous vehicles,an operational area with a floor over which the vehicles can move, wherein the vehicles are each configured to travel independently over one or more routes which are possible for that vehicle, wherein for at least one vehicle at least one of the possible routes intersects at least at one point with at least one possible route of another of the vehicles, and alsoat least one predefined place which adjoins the operational area, with in total M predefined positions which are each provided with at least one detection device to detect the presence of one of the vehicles and to signal the presence to the control device, where M≧2wherein the method comprises:the collecting in the control device of a presence status of each of the vehicles to determine a condition for the system, and wherein the presence status comprises the presence of the vehicle at a predefined place as detected by the at least one ...

METHOD, COMPUTER PROGRAM, AND APPARATUS FOR DETERMINING A MINIMUM INTER-VEHICULAR DISTANCE FOR A PLATOON, VEHICLE, TRAFFIC CONTROL ENTITY

A transportation vehicle, a traffic control entity, a method, a computer program, and an apparatus for determining a minimum inter-vehicular distance for a platoon. The method for determining a minimum inter-vehicular distance for a platoon of transportation vehicles obtains information related to a predicted quality of service (pQoS) of communication links between the transportation vehicles of the platoon; a speed of the transportation vehicles of the platoon; and one or more maximum decelerations of the transportation vehicles of the platoon. The method also uses a functional relationship between the pQoS, the speed, the one or more maximum decelerations, and an inter-vehicular distance to determine the minimum inter-vehicular distance. 1. An apparatus for determining a minimum inter-vehicular distance for a platoon , the apparatus comprising:one or more interfaces for communicating with one or more transportation vehicles of the platoon and a mobile communication system; and obtain information related to a predicted quality of service (pQoS) of communication links between the transportation vehicles of the platoon, a speed of the transportation vehicles of the platoon, and one or more maximum decelerations of the transportation vehicles of the platoon; and', 'use a functional relationship between the pQoS, the speed, the one or more maximum decelerations, and an inter-vehicular distance to determine the minimum inter-vehicular distance., 'a control module configured to control the apparatus to2. The apparatus of claim 1 , wherein the pQoS includes a packet inter-reception time.3. The apparatus of claim 1 , wherein the functional relationship is based on simulated and/or measurement data.4. The apparatus of claim 1 , wherein the functional relationship is based on a linear regression of data.5. The apparatus of claim 1 , wherein the functional relationship is based on historical data.6. The apparatus of claim 1 , wherein the control module is further configured ...

SYSTEMS AND METHODS FOR MANAGING MOVEMENT OF MATERIALS HANDLING VEHICLES

According to the subject matter of the present disclosure, an automated warehouse environment is provided where designated materials handling vehicles are programmed to initiate permission inquiries at primary and secondary nodes of a travel route in the warehouse environment. Alternatively, or additionally, the present disclosure also presents an automated warehouse environment where an asset manager comprises an occupancy grid generator, and a designated materials handling vehicle is programmed to avoid otherwise unpermitted travel along path segments that overlap the locked cells of the occupancy grid. 1. An automated warehouse environment comprising a plurality of materials handling zones , a plurality of materials handling vehicles , and an asset manager in communication with the materials handling vehicles , wherein:the asset manager and the materials handling vehicles collectively comprise a dynamic localization engine that is programmed to establish location data of the materials handling vehicles in the warehouse environment, as the vehicles move throughout the warehouse environment;the asset manager further comprises a path planner that is programmed to establish a travel route for a designated vehicle along established path segments in the warehouse environment, the travel route comprising primary nodes and secondary nodes;at least one primary node of the plurality of primary nodes established by the asset manager is correlated with a materials handling zone or a dedicated vehicular zone of the warehouse environment;the secondary nodes of the travel route established by the asset manager are correlated with established path segments in the warehouse environment;the path planner is further programmed to establish the travel route through the warehouse environment by, at least, establishing one primary node as an origin node and another primary node as a destination node, and referring to location data representing the locations of the origin node, the ...

SYSTEMS AND METHODS FOR GENERATING SAFE TRAJECTORIES FOR MULTI-VEHICLE TEAMS

The present subject matter relates to systems and methods for generating trajectories for a plurality of vehicles in a multi-vehicle system. An optimal motion plan is determined for moving each of the plurality of vehicles between a respective starting position and an assigned goal position, possible collisions are identified among the optimal motion plans of the plurality of vehicles, and, for a subset of the plurality of vehicles identified as being associated with a possible collision, the optimal motion plan of each vehicle in the subset is modified to define modified trajectories that each include a common circular holding pattern such that the possible collision is avoided. 1. A method for generating trajectories for a plurality of vehicles in a multi-vehicle system , the method comprising:determining an optimal motion plan for moving each of the plurality of vehicles between a respective starting position and an assigned goal position;identifying possible collisions among the optimal motion plans of the plurality of vehicles; andfor a subset of the plurality of vehicles identified as being associated with a possible collision, modifying the optimal motion plan of each vehicle in the subset to define modified trajectories that each include a common holding pattern such that the possible collision is avoided.2. The method of claim 1 , wherein the optimal motion plan for each of the plurality of vehicles comprises a constant-velocity straight-line path.4. The method of claim 1 , wherein modifying the optimal motion plan of each vehicle in the subset to include a common holding pattern comprises designating a set of intermediate waypoints in the holding pattern.5. The method of claim 4 , wherein modifying the optimal motion plan of each vehicle in the subset to define modified trajectories comprises assigning an entry waypoint from among the intermediate waypoints for each vehicle in the subset.6. The method of claim 5 , wherein a different entry waypoint is ...

METHOD FOR CONTROLLING THE CIRCULATION OF VEHICLES IN A NETWORK

The invention relates to a method for controlling the circulation of vehicles in a network controlled by a control system managing the circulation of communicating vehicles according to a first mode, the first mode managing the movement of the communicating vehicle toward the end terminal of a first section in which a non-communicating vehicle has been detected by implementing a discrimination step eliminating any protection zone located the moving vehicle, when a distance between the communicating vehicle and said end terminal is smaller than a threshold, the method comprising switching into a second mode, when the communicating vehicle enters the first section, the second mode inhibiting the implementation of the discrimination step at least in the first section. 12343. A method for controlling the circulation of communicating and non-communicating vehicles in a network , the network comprising tracks divided into a set of sections , , , each delimited by two end terminals , beacons and track sensors , the set of track sensors forming a secondary detection system ,each communicating vehicle being provided with an active on board position detection device, called primary detection device, the primary detection device forming, with the beacons, a primary detection system,each non-communicating vehicle being a vehicle with no primary detection device,the network being controlled by a control system able to manage the circulation of the communicating vehicles on each section according to a first operating mode, associating a first protection zone with each communicating vehicle, the location of the first protection zone depending on a position of the communicating vehicle defined by the primary detection system, and associating a second protection zone with each non-communicating vehicle, the location of the second protection zone depending on a position of the non-communicating vehicle defined by the secondary detection system, 'switching the control system into a ...

METHODS, SYSTEMS AND APPARATUS FOR CONTROLLING MOVEMENT OF TRANSPORTING DEVICES

Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems and computer-readable media for controlling the movement of transporting devices configured for fully—and/or partly automated handling of goods and/or controlling operations conducted at various workstations. 1. A system for controlling movement of one or more transporting devices , the transporting devices transporting containers , the containers being stored in a facility , in which the facility stores the containers in a plurality of stacks , the facility further having a plurality of pathways arranged in a grid-like structure above the stacks , the one or more transporting devices operating on the grid-like structure , the system comprising:one or more computers configured to execute computer instructions, which when executed provide:one or more first utilities for determining and reserving routes for moving one or more transporting devices through a plurality of pathways and determining and reserving routes for moving the one or more transporting devices when transporting one or more of a plurality of containers; andone or more second utilities for determining and controlling retrieval of the one or more containers by the one or more transporting devices from within one or more of the plurality of stacks; wherein the first and second utilities together control retrieval and movement of the one or more containers once retrieved by a transporting device, said utilities being further configured to instruct one or more of the transporting devices to move one or more containers from within one or more stacks to an alternative position, each utility including means for ensuring that in moving one or more containers, the one or more containers, be placed in an alternative position within any one of the stacks other than a stack from ...

Dynamic cross-lane travel path determination by self-driving vehicles

A method, system, and/or computer program product creates an unimpeded pathway on a roadway for a first self-driving vehicle (SDV). One or more processor(s) determine a first vehicle priority level of the first SDV by determining that a current planned destination of the first SDV is a health care facility, an electronic calendar has no appointment entry on a current date for a passenger of the SDV at the health care facility, and thus the passenger is making an emergency visit to the health care facility. The processor(s) determine that the first vehicle priority level is higher than the other vehicle priority levels. The processor(s) then direct SDV on-board computers on other SDVs to adjust spacing distances between the other SDVs, such that adjusted spacing distances between the SDVs provide a pathway including unobstructed lane changes for the first SDV, permitting the first SDV to maneuver in an unimpeded manner.

Organized Intelligent Merging

A method is provided for organized intelligent merge notifications. The method includes identifying a merge aperture using a processor. Merging vehicle parameters for a merging vehicle approaching the merge aperture are received over a network. Simulations of traffic moving through the merge aperture is performed by the processor based on the received merging vehicle parameters. The simulations are optimized by the processor to determine a merge distance for the merging vehicle. A merge notification is generated by the processor for the merging vehicle based on the merge distance. 1. A method comprising:identifying, using a processor, a merge aperture;receiving, over a network, merging vehicle parameters for a merging vehicle approaching the merge aperture;performing, using the processor, a simulation of traffic moving through the merge aperture based on the received merging vehicle parameters;optimizing, using the processor, the simulation to determine a merge distance for the merging vehicle; andgenerating, using the processor, a merge notification for the merging vehicle based on the merge distance.2. The method of claim 1 , wherein receiving the merging vehicle parameters comprises:receiving an initial vehicle speed of the merging vehicle and a merging rate.3. The method of further comprising:receiving, over the network, environmental parameters for the merge aperture.4. The method of claim 2 , wherein the simulation of traffic moving through the merge aperture is also based on the environmental parameters.5. The method of claim 4 , wherein the environmental parameters include road conditions and speeds of other vehicles approaching the merge aperture.6. The method of claim 5 , wherein the simulation is optimized by iteratively modifying the simulation.7. The method of claim 6 , wherein the simulation is optimized using a particle swarm optimization.8. The method of claim 1 , wherein the merge distance minimizes a travel time of the merging vehicle through the ...

Testing Predictions For Autonomous Vehicles

Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action. 1. A method of controlling a first vehicle autonomously in order to complete a turn comprising:maneuvering, by the one or more processors, the first vehicle autonomously to complete a first portion of the turn in a way that would allow the first vehicle to cancel the turn and also allow a second vehicle to pass by the first vehicle without causing a collision between the first vehicle and the second vehicle;determining, by the one or more processors, whether the second vehicle is taking a responsive action in response to the maneuvering;maneuvering the first vehicle autonomously to complete a second portion of the turn, by the one or more processors, by controlling the first vehicle autonomously based on the determination.2. The method of claim 1 , wherein the maneuvering is performed and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the turn.3. The method of claim 1 , wherein the turn includes making a right turn from a first roadway to a second roadway across a path second ...

AUTONOMOUS VEHICLE SUPPORT FOR SECONDARY VEHICLE

In general, techniques are described by which a first vehicle may provide support services for a second vehicle. A first vehicle, including a memory and a processor, may be configured to perform the techniques. The memory may be configured to store vehicle information relating to a second vehicle, the second vehicle configured to be operated by an operator. The processor may be configured to autonomously control positioning, based on the vehicle information, the first vehicle at a location relative to the second vehicle, and perform, after reaching the location, at least one service for the second vehicle. 1. A method comprising:receiving, by one or more processors of a first vehicle autonomously controlling operation of the first vehicle, vehicle information relating to a second vehicle, the second vehicle configured to be operated by an operator; andautonomously controlling positioning, by the one or more processors of the first vehicle and based on the vehicle information, the first vehicle at a location relative to the second vehicle so as to perform at least one service for the second vehicle.2. The method of claim 1 , wherein the at least one service includes a protection service in which the first vehicle operates at the location relative to the second vehicle to protect the second vehicle from other vehicles operating in a vicinity of the second vehicle.3. The method of claim 2 , further comprising:obtaining an operating context in which the second vehicle is being operated; anddetermining, based on the determined operating context and the vehicle information, the location at which the first vehicle is to operate.4. The method of claim 3 ,wherein the second vehicle is a bicycle, andwherein determining the location comprises determining, based on the determined operating context and the vehicle information, the location at which the first vehicle is to operate so as to emulate drafting conditions for the bicycle.5. The method of claim 2 , further comprising: ...

ROBOT CLEANER AND A CONTROLLING METHOD FOR THE SAME

A cleaning system may include a first mobile robot, a communication unit configured to communicate with a second mobile robot that emits a second signal, and a controller configured to recognize the location of the second mobile robot using the second signal, and control a moving speed of the first mobile robot such that the second mobile robot follows a trajectory corresponding to the movement of the first mobile robot based on the recognized location. The controller may transmit a first signal to the second mobile robot in response to the first mobile robot approaching the second mobile robot to within a distance less than a threshold distance from the second mobile robot, and control avoidance moving of the first mobile robot and the second mobile robot based on the second signal of the second mobile robot responding to the first signal. 1. A cleaning system including a plurality of mobile robots , the cleaning system comprising:a driving unit configured to move a main body of a first mobile robot;a communication unit configured to communicate with a second mobile robot; and recognize the location of the second mobile robot using a second signal emitted by the second mobile robot;', 'control a moving speed of the main body such that the second mobile robot follows a trajectory corresponding to the movement of the main body based on the recognized location;', 'transmit a first signal to the second mobile robot in response to the main body approaching the second mobile robot in a first direction to within a distance less than a first threshold distance to the second mobile robot; and', 'control avoidance moving of the main body and the second mobile robot based on the second signal of the second mobile robot emitted in response to the first signal., 'a controller configured to2. The cleaning system according to claim 1 , wherein the controller is configured to transmit the first signal while reducing a moving speed of the main body when the main body approaches the ...

METHOD AND APPARATUS FOR DETERMINING A DESIRED TRAJECTORY FOR A VEHICLE

A method for automatic determination and/or monitoring of a target trajectory for a vehicle by which a starting point corresponding to the current position of the vehicle is connected to a target point. The method includes determining different trajectories of the vehicle that connect the starting point to the target point, detecting a further target trajectory for each road user, wherein each of the further target trajectories connects the starting point of the respective road user to a target point corresponding to the respective road user, determining the trajectories of the vehicle as collision-free trajectories that do not result in a collision with one of the further road users if the respective road user is moving on the target trajectory, and determining and/or monitoring the target trajectory of the vehicle depending on the collision-free trajectories of the vehicle. 1. A method for automatically determining and/or monitoring a target trajectory for a vehicle connecting a starting point that corresponds to the current position of the vehicle to a target point , the method comprising:determining different trajectories of the vehicle that connect the starting point to the target point;detecting a further target trajectory for each road user, wherein each of the further target trajectories connects the starting point of the respective road user to a target point corresponding to the respective road user;determining those trajectories of the vehicle as collision-free trajectories that do not result in a collision with one of the further road users in response to the respective road user moving on the target trajectory thereof; anddetermining and/or monitoring the target trajectory of the vehicle depending on the collision-free trajectories of the vehicle.2. The method of claim 1 , further comprising:determining an occupancy map that indicates whether one of the road users is in a certain grid cell of a grid map of a lane in which the vehicle is traveling at a ...

PLATOONING CONTROLLER FOR PERFORMING BRAKING CONTROL BASED ON HITCH ANGLE, A SYSTEM INCLUDING THE SAME, AND A METHOD THEREOF

A platooning controller, a vehicle system including the same, and a method thereof perform braking control based on a hitch angle. The platooning controller includes a processor that controls platooning of one or more vehicles, each with a trailer, and includes a storage storing information for controlling the platooning. The processor controls a host vehicle such that a hitch angle of the host vehicle with the trailer meets a predetermined reference angle, when it is necessary to perform braking control, and controls the host vehicle to perform the braking control. 1. A platooning controller , comprising:a processor configured to control platooning of one or more vehicles, each with a trailer; anda storage that stores information for controlling the platooning,wherein the processor is configured tocontrol a host vehicle such that a hitch angle of the host vehicle with a corresponding trailer meets a predetermined reference angle, when it is necessary to perform braking control, and control the host vehicle to perform the braking control.2. The platooning controller of claim 1 , wherein the processor determines a current situation as a situation which needs the braking control claim 1 , when the current situation is a critical driving situation while the host vehicle is traveling straight.3. The platooning controller of claim 1 , wherein the processor transmits a control command signal to the one or more vehicles claim 1 , each with the trailer claim 1 , to control the one or more vehicles such that a hitch angle and a heading angle of each of the vehicles meet the predetermined reference angle claim 1 , when it is necessary to perform the braking control.4. The platooning controller of claim 3 , wherein the processor performs braking control of the host vehicle and transmits a braking control command to following vehicles claim 3 , when the host vehicle arrives at a braking control time and when receiving a signal indicating that the control of the hitch angle and ...

A ROBOT CLEANER AND A CONTROLLING METHOD FOR THE SAME

A mobile robot according to an embodiment of the present disclosure may comprise a main body, a moving unit configured to move the main body, a communication unit configured to communicate with a second mobile robot that emits a signal, and a controller configured to recognize a position of the another mobile robot using the signal, control the moving unit to follow a trajectory corresponding to a movement of the another mobile robot based on the recognized position, and in response to the length of trajectory to be followed by the main body deviating from the predetermined range, output a control command to cause a moving speed of the main body or the second mobile robot to change. 1. A mobile robot , comprising:a main body;a moving unit configured to move the main body;a communication unit configured to communicate with a second mobile robot that emits a signal; anda controller configured to:recognize a position of the second mobile robot using the signal;control the moving unit to follow a trajectory corresponding to a movement of the second mobile robot based on the recognized position;determine whether a length of the trajectory to be followed by the main body deviates from a predetermined range; andin response to a length of trajectory to be followed by the main body deviating from a predetermined range, output a control command to cause a moving speed of the main body or the second mobile robot to change.2. The mobile robot of claim 1 , wherein the controller is further configured to determine the length of trajectory to be followed based on positions of a plurality of points forming the trajectory corresponding to the movement of the second mobile robot and a current position of the main body.3. The mobile robot of claim 1 , wherein the controller is further configured to:sense positions of a plurality of points forming the trajectory corresponding to the movement of the second mobile robot;store information corresponding the positions of the plurality of ...

REAL-TIME FORMED ROBOTIC SWARM FOR MATERIAL HANDLING

Methods and systems for transporting an object may include a plurality of transport vehicles. A transport vehicle may be autonomous, and may have one or more wheels extending from a body for engaging a ground surface. A method may include providing a destination for the object to the plurality of transport vehicles, wherein the plurality of transport vehicles determines a route to the destination, dividing the route into one or more route segments for the plurality of transport vehicles, encountering an obstacle with a first one of the transport vehicles while traveling along one of the route segments, and sending a location of the obstacle from the first transport vehicles to at least a second one of the transport vehicles. A second one of the transport vehicles may modify at least one of the route segments to avoid the obstacle based upon the provided location. 1. A method of transporting an object with a plurality of transport vehicles having one or more wheels extending from a body for engaging a ground surface , the method comprising:designating the plurality of transport vehicles as a swarm using a first electronic controller;providing a destination for the object to the plurality of transport vehicles from the first electronic controller, wherein the plurality of transport vehicles determines a route to the destination;dividing the route into one or more route segments for the plurality of transport vehicles using one or more transport vehicle controllers;encountering an obstacle with a first one of the transport vehicles while traveling along one of the route segments; andsending a location of the obstacle from a first one of the transport vehicle controllers, the first one of the transport vehicle controllers associated with the first one of the transport vehicles to at least a second one of the transport vehicle controllers, the second one of the transport vehicle controllers associated with a second one of the transport vehicles, wherein the location of ...

PLURALITY OF AUTONOMOUS MOBILE ROBOTS AND CONTROLLING METHOD FOR THE SAME

A plurality of autonomous mobile robots are disclosed. The mobile robots may include a mobile robot that has a traveling unit that moves or rotates a main body of the mobile robot. The mobile robot has a sensor that detects another mobile robot in a detection area spanning a predetermined angle with respect to the front of the main body. The mobile robot also has a controller that rotates the detection area of the mobile robot when the other mobile robot detected within the detection area moves out of the detection area. 1. A mobile robot , comprising:a main body;a traveling unit configured to move or rotate the main body;a sensor configured to detect another mobile robot in a detection area spanning a predetermined angle with respect to a front of the main body; anda controller configured to rotate the detection area when the other mobile robot detected within the detection area moves out of the detection area.2. The robot of claim 1 , wherein when the other mobile robot moves out of the detection area claim 1 , the controller is configured to rotate the detection area so that the other mobile robot is repositioned in the detection area.3. The robot of claim 1 , wherein the controller is configured todetermine, using the sensor, a direction in which the other mobile robot moves out of the detection area, androtate the detection area in a direction corresponding to the determined direction.4. The robot of claim 1 , wherein the controller is configured torotate the detection area in a left direction when the other mobile robot moves out of the detection area in the left direction, androtate the detection area in a right direction when the another mobile robot moves out of the detection area in the right direction.5. The robot of claim 1 , wherein the controller is configured to control the wheel to move the main body toward the other mobile robot detected within the detection area.6. The robot of claim 1 , wherein the controller is configured to cause the main body ...

APPARATUS AND METHOD FOR CONTROLLING DRIVING OF VEHICLE

An apparatus and method for controlling driving of a vehicle are disclosed. The disclosed method includes: determining, by a determinator, whether smart cruise driving of a vehicle is performed; determining, by the determinator, whether a rear vehicle performs a lane change when the vehicle is in a smart cruise driving state; determining, by the determinator, a collision possibility based on whether the rear vehicle performs the lane change; determining, by the determinator, whether a front vehicle is present; based on the determined collision possibility; and calculating, by a controller, a target distance or a target speed when there is a front vehicle. 1. A method for controlling driving of a vehicle , the method comprising:determining, by a determinator, whether smart cruise driving of the vehicle is performed;determining, by the determinator, whether a rear vehicle performs a lane change when the vehicle is in a smart cruise driving state;determining, by the determinator, a collision possibility based on whether the rear vehicle performs the lane change;determining, by the determinator, whether a front vehicle is present based on the determined collision possibility; andcalculating, by a controller, a target distance or a target speed when the front vehicle is present.2. The method according to claim 1 , wherein determining whether the rear vehicle performs a lane change comprises: determining whether the rear vehicle travels in the same lane as a travel lane of the vehicle.3. The method according to claim 2 , further comprising:determining, by the determinator, whether the rear vehicle performs the lane change to the travel lane of the vehicle when the rear vehicle travels in a lane different from the travel lane of the vehicle.4. The method according to claim 3 , wherein determining the collision possibility comprises:calculating a requirement time for prevention of collision of the vehicle with the rear vehicle;calculating a time-to-collision of the vehicle ...

Systems and methods for scheduling and coordinating applications of fertilizers, pesticides, and water in agricultural fields

Systems and methods for scheduling and coordinating applications of fertilizers, pesticides, and water to fields while avoiding interferences between vehicles and other equipment may be implemented with a mobile irrigation system, a fertilizer applicator, a pesticide applicator, and a processing system. The processing system schedules and coordinates applications of fertilizers, pesticides, and water and prevents interferences between the machines primarily with data received from an irrigation schedule implemented by the irrigation system and data received from the fertilizer and pesticide applicators.

COMPUTER-IMPLEMENTED METHOD AND SYSTEM FOR DYNAMICALLY POSITIONING A VEHICLE RELATIVE TO ANOTHER VEHICLE IN MOTION FOR ON-THE-FLY OFFLOADING OPERATIONS

Computer-implemented methods and systems are disclosed for automatically positioning a moving first vehicle relative to a moving second vehicle traveling in a given area. The method includes the steps of: (a) tracking the second vehicle and guiding the first vehicle to attain a given position relative to the second vehicle; and (b) controlling the first vehicle to maintain a generally constant speed such that an operator of the second vehicle can adjust the speed of the second vehicle to correspondingly adjust a relative position of the second vehicle to the first vehicle in a direction of movement of the first and second vehicles, and controlling the first vehicle to maintain a given distance from the second vehicle in a direction generally perpendicular to the direction of movement of the first and second vehicles by tracking the second vehicle. 1. A computer-implemented method for automatically positioning a moving first vehicle relative to a moving second vehicle traveling in a given area , the method comprising the steps of:(a) tracking the second vehicle and guiding the first vehicle to attain a given position relative to the second vehicle; and(b) once the first vehicle has attained the given position relative to the second vehicle, controlling the first vehicle to maintain a generally constant speed such that an operator of the second vehicle can adjust the speed of the second vehicle to correspondingly adjust a relative position of the second vehicle to the first vehicle in a direction of movement of the first and second vehicles, while controlling the first vehicle to maintain a given distance from the second vehicle in a direction generally perpendicular to the direction of movement of the first and second vehicles by tracking the second vehicle.2. The method of claim 1 , wherein the second vehicle comprises an offloader claim 1 , and the first vehicle comprises a receiver claim 1 , wherein the receiver receives material from the offloader during step (b) ...

Unmanned following vehicle

An unmanned following vehicle includes a controller configured to control the unmanned following vehicle to move in parallel with a moving object by following the moving object on a left side or a right side of the moving object, wherein the controller is configured to control the unmanned following vehicle to move in parallel with the moving object by: adjusting a moving speed of the unmanned following vehicle according to a Y-axis coordinate difference value, which is a difference value between a position of the moving object and a position of the unmanned following vehicle in a forward direction, and adjusting a steering direction and a steering angle of the unmanned following vehicle according to an X-axis coordinate difference value, which is a difference value between the position of the moving object and the position of the unmanned following vehicle in a lateral direction.

ENVIRONMENT MACHINE INTERFACE SYSTEM

Methods, systems and apparatus for an autonomous vehicle to interact with its surrounding are described. One example method implemented by an autonomous vehicle processor includes receiving an input indicative of presence of one or more conditions for an autonomous vehicle to interact with an environment of the autonomous vehicle, determining, based on the one or more conditions, one or more interfacing signals to be outputted and outputting the one or more interfacing signals for a duration that depends on the one or more conditions. 1. A method of implementing an interface between an autonomous vehicle and an environment of the autonomous vehicle , comprising:receiving an input indicative of presence of one or more conditions for the autonomous vehicle to interact with the environment of the autonomous vehicle;determining, based on the one or more conditions, one or more interfacing signals to be outputted; andoutputting the one or more interfacing signals for a duration that depends on the one or more conditions.2. The method of claim 1 , wherein the input is received from at least one of: a microphone claim 1 , a camera claim 1 , a light detection and ranging (LiDAR) device claim 1 , or a radar of the autonomous vehicle.3. The method of claim 2 , wherein the microphone is configured to capture audio in an ultrasonic range of audio frequencies.4. The method of claim 1 , wherein the one or more conditions include detecting a presence of an object within a pre-determined distance from the autonomous vehicle.5. The method of claim 1 , wherein the one or more conditions include determining that an object is moving along a trajectory that will bring the object to a collision with the autonomous vehicle.6. The method of claim 1 , wherein the determining claim 1 , based on the one or more conditions claim 1 , one or more interfacing signals to be outputted is performed using a predicted movement trajectory of the autonomous vehicle.7. The method of claim 1 , wherein the ...

Method and System for Autonomous Vehicles to Pass Through Road intersection Safely

A method and a system for at least two autonomous vehicles to safely pass through a road intersection are provided. The method includes providing an information receiving circle in each of the maps circling the road intersection; providing a broadcasting circle circled by the information receiving circle concentrically, circling a road intersection; traveling all autonomous vehicles toward the road intersection and into the information receiving circle; traveling one of the autonomous vehicles into the broadcasting circle for broadcasting traffic information; receiving traffic information of the autonomous vehicle traveling in the broadcasting circle by the other autonomous vehicle; and determining which autonomous vehicle passes through the road intersection first according to the traffic information broadcasted by the autonomous vehicle. When the other autonomous vehicle determines to let the autonomous vehicle pass first, the other autonomous vehicle stops before the intersection until the autonomous vehicle has passed through the road intersection. 1. A method for at least two autonomous vehicles to safely pass through a road intersection , the location of the road intersection stored in a map installed in a computer of each of the autonomous vehicles , each of the computers of the autonomous vehicles having a communication module capable of broadcasting and receiving traffic information , the road intersection where a plurality of roads meet , the method comprising:providing an information receiving circle in each of the maps circling the road intersection;providing a broadcasting circle in each of the maps circling the road intersection, wherein each of the broadcasting circles is circled by each of the information receiving circles in each of the maps concentrically;traveling all autonomous vehicles toward the road intersection and into the information receiving circle;traveling one of the autonomous vehicles further into the broadcasting circle for ...

VEHICLE ASSISTANCE

A computer is programmed to receive a message from a second vehicle indicating a fault in a second vehicle component. The computer is further programmed to modify an area of control of the first vehicle to include a location of the second vehicle, and to provide a control instruction to the second vehicle. 1. A computer , comprising a processor and a memory , the memory storing instructions executable by the processor such that the computer is programmed to:receive, in a first vehicle, a message from a second vehicle indicating a fault in a second vehicle component;upon receipt of the message, modify an area of control of the first vehicle to include a location of the second vehicle; andprovide a control instruction to the second vehicle.2. The computer of claim 1 , further programmed to receive data from a first vehicle sensor claim 1 , and to provide the control instruction to the second vehicle at least partially based on the received data from the first vehicle sensor.3. The computer of claim 2 , further programmed to provide the control instruction at least partially based on a distance between the first vehicle and the second vehicle.4. The computer of claim 1 , wherein the control instruction is based in part on the modified area of control.5. The computer of claim 1 , further programmed to identify a stopping location for the second vehicle and to provide a plurality of control instructions to navigate the second vehicle to the identified stopping location.6. The computer of claim 5 , further programmed to set a second vehicle computer to an inactive state upon determining that the second vehicle reached the identified stopping location.7. The computer of claim 1 , further programmed to receive claim 1 , from the second vehicle claim 1 , data specifying a location of the second vehicle.8. The computer of claim 1 , further programmed to broadcast a message indicating that the second vehicle is at least partially controlled by the first vehicle.9. The computer ...

DYNAMIC WINDOW APPROACH USING OPTIMAL RECIPROCAL COLLISION AVOIDANCE COST-CRITIC

A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity. 1. A method for navigation of a robot along a goal path and avoiding obstacles , comprising:receiving a goal pose for a first robot;determining a goal path for the first robot;receiving an obstacle map;receiving the pose of the first robot;receiving the pose of one or more other robots;generating a set of candidate velocities for the first robot;evaluating, using a first objective function, the first set of candidate velocities;selecting, based on the first objective function, a first preferred velocity of the first robot;creating a set of velocity obstacles based on the pose(s) of the one or more other robots and the first preferred velocity of the first robot;evaluating, using a second objective function, the set of candidate velocities;selecting, based on the second objective function, a second preferred velocity for the first robot; andmoving the first robot based on the second preferred velocity.2. The method of claim 1 , wherein the goal path comprises a path from a current pose of the first robot to the goal pose of the first robot.3. The method of claim 1 , wherein goal pose of the robot is the pose of a fiduciary associated product bin in an order fulfillment warehouse application.4. ...

METHOD AND SYSTEM FOR COMMUNICATING VEHICLE POSITION INFORMATION TO AN INTELLIGENT TRANSPORTATION SYSTEM

An aftermarket vehicle communication device engageable to a vehicle for providing location information associated with the vehicle to a V2X data stream. The device includes a housing configured to be detachably engageable to the vehicle. A GPS circuit is coupled to the housing and is disposable in communication with a GPS system to receive a GPS signal therefrom, with the received GPS signal being representative of a location of the vehicle when the housing is engaged to the vehicle. An antenna circuit is also coupled to the housing and is in communication with the GPS circuit. The antenna circuit is configured to receive the GPS signal from the GPS circuit and communicate the GPS signal to the V2X data stream. 1. An aftermarket vehicle communication device engageable to a vehicle for providing location information associated with the vehicle to a V2X data stream , the device comprising:a housing configured to be detachably engageable to the vehicle;a GPS circuit disposable in communication with a GPS system to receive a GPS signal therefrom, the received GPS signal being representative of a location of the vehicle when the housing is engaged to the vehicle; andan antenna circuit coupled to the housing and in communication with the GPS circuit, the antenna circuit being configured to receive the GPS signal from the GPS circuit and communicate the GPS signal to the V2X data stream.2. The device as recited in claim 1 , wherein the GPS circuit and the antenna circuit both being operable independent of the device being in communication with a vehicle electrical system on the vehicle.3. The device as recited in claim 1 , further comprising a micro computing unit (MCU) coupled to the housing and in communication with the GPS circuit and the antenna circuit claim 1 , the MCU being configured to generate an alert signal communicable to the V2X data stream via the antenna circuit claim 1 , the alert signal identifying the vehicle as being non-autonomous.4. The device as ...

VEHICLE-TO-EVERYTHING (V2X) FULL-DUPLEX LOCALIZATION ASSISTANCE FOR V2X RECEIVERS

The disclosure describes embodiments for modifying an operation of a vehicle component based on a Vehicle-to-Everything (V2X) communication. In some embodiments, a method includes receiving, by a remote vehicle, a request message inquiring what additional identifying information of an ego vehicle the remote vehicle requests so that the remote vehicle has a capacity to identify the ego vehicle as a transmitter of a V2X message. The method includes transmitting a response message including response data that describes the additional identifying information of the ego vehicle that provides the remote vehicle with the capacity to identify the ego vehicle as the transmitter of the V2X message when the ego vehicle is among a plurality of vehicles. The method includes receiving the V2X message that includes assistance data describing the additional identifying information. The method includes modifying the operation of the vehicle component of the remote vehicle based on the assistance data. 1. A method for modifying an operation of a vehicle component based on a Vehicle-to-Everything (V2X) communication , the method comprising:receiving, by a remote vehicle, a request message inquiring what additional identifying information of an ego vehicle the remote vehicle requests so that the remote vehicle has a capacity to identify the ego vehicle as a transmitter of a V2X message;transmitting, by the remote vehicle, a response message including response data that describes the additional identifying information of the ego vehicle that provides the remote vehicle with the capacity to identify the ego vehicle as the transmitter of the V2X message when the ego vehicle is among a plurality of other vehicles;receiving, by the remote vehicle, the V2X message that includes assistance data describing the additional identifying information; andmodifying, by the remote vehicle, the operation of the vehicle component of the remote vehicle based on the assistance data.2. The method of claim ...

ROUTE ESTIMATION SYSTEM, ROUTE ESTIMATION METHOD AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM FOR THE SAME

An optimum route of multiple mobile objects is estimated by: generating a time-series route candidate of a shortest route for each mobile object; generating a time-series route candidate of a detour route for each mobile object; calculating route assignment evaluation values for the shortest route and the detour route for each mobile object; calculating travel distance evaluation values for the shortest route and the detour route for each mobile object; calculating a route collision evaluation value of a combination for the shortest route and the detour route for each mobile object; and comparing a total value of the route assignment evaluation value, the travel distance evaluation value, and the route collision evaluation value for combinations of the time-series route candidates of the mobile objects, and estimating one of the combinations of the time-series route candidates of the mobile objects as the optimum route. 1. A route estimation system for estimating an optimum route of a plurality of mobile objects , comprising:a shortest route generation unit that generates a time-series route candidate of a shortest route for each of the plurality of mobile objects;a detour route generation unit that generates a time-series route candidate of a detour route for each of the plurality of mobile objects;a route assignment evaluation value calculation unit that calculates a route assignment evaluation value of the time-series route candidate of the shortest route and a route assignment evaluation value of the time-series route candidate of the detour route for each of the plurality of mobile objects;a travel distance evaluation value calculation unit that calculates a travel distance evaluation value of the time series route candidate of the shortest route and a travel distance evaluation value of the time series route candidate of the detour route for each of the plurality of mobile objects;a route collision evaluation value calculation unit that calculates a route ...

Autonomous Road Surface Marking Vehicle

This invention pertains to the development of an autonomous road surface marking vehicle that is capable of detecting road, pedestrians, cars, and other road obstacles and in which these autonomous vehicles provide several types of functionalities such as painting different lines, adding markers, removing markers, warning other traffic, etc. The autonomous road surface marking vehicle is designed to follow routes and mark road surfaces and comprises an autonomous vehicle that includes a drive by wire kit, a database sorting the routes, locations, and types of markings, a mechanism for detecting the road, pedestrians, cars, and other road obstacles, and a control system that control the autonomous vehicle to follow routes and operate the road surface marking device at the proper location. 1. An autonomous road surface marking vehicle designed to follow routes and mark road surfaces comprising:an autonomous vehicle that includes a drive by wire kit;a database storing the routes, locations, and types of markings;a mechanism for detecting the road, pedestrians, cars and other road obstacles;a control system that controls the autonomous vehicle to follow routes and operate the road surface marking device at the proper locations.2. The autonomous road surface marking vehicle of wherein multiple autonomous vehicles are convoyed to provide additional functionalities (painting different lines claim 1 , adding markers claim 1 , removing markers claim 1 , warning other traffic claim 1 , etc.).3. The autonomous road surface marking vehicle of wherein the autonomous vehicle or vehicles follow a leader autonomous vehicle that is either manned or unmanned rather than following the stored routes.4. The autonomous road surface marking vehicle of wherein if the first autonomous vehicle of the convoy is a manned vehicle claim 1 , this vehicle may be a smaller autonomous vehicle that does not require a CDL license.5. The autonomous road surface marking vehicle of wherein the autonomous ...

METHOD AND APPARATUS FOR CONTROLLING AN AUTONOMOUS VEHICLE

A method for operating an automated vehicle includes controlling by one or more computing devices an autonomous vehicle; receiving by one or more computing devices sensor data from the vehicle corresponding to moving objects in a vicinity of the vehicle; receiving by one or more computing devices road condition data; and determining by one or more computing devices undesirable locations related to the moving objects. The undesirable locations related to the moving objects for the vehicle are based at least in part on the road condition data. The step of controlling the vehicle includes avoiding the undesirable locations. 1. A method comprising:controlling by one or more computing devices an autonomous vehicle;receiving by one or more computing devices sensor data from said vehicle corresponding to moving objects in a vicinity of said vehicle;receiving by one or more computing devices road condition data; 'said undesirable locations related to said moving objects for said vehicle is based at least in part on said road condition data; wherein', 'determining by one or more computing devices undesirable locations related to said moving objects; wherein'}said step of controlling said vehicle includes avoiding said undesirable locations.2. The method of claim 1 , wherein said road condition data includes information about the existence of precipitation on a road surface.3. The method of claim 1 , including:categorizing by one or more computing devices said moving objects into first and second categories; whereinsaid step of determining undesirable locations for said vehicle is based at least in part on whether said moving objects are in said first or said second category.4. The method of claim 1 , wherein:said road condition data includes information about the existence of water on a road surface;said first category includes large vehicles; andsaid step of determining undesirable locations includes identifying areas where said first category of objects are likely to ...

VEHICLE FOR THE AUTONOMOUS TRANSPORT OF AN OBJECT

The disclosed is a vehicle for the autonomous transport of an object to a destination, having a loading bed for receiving the object, a side wall extending longitudinally around the loading bed and bounding a usable area of the loading bed, and a controller, wherein the loading bed is designed to alter the usable area, and the controller is designed to navigate the vehicle to the destination along a route that takes the alteration in the usable area into consideration. 1. A vehicle for the autonomous transport of an object to a destination , havinga loading bed for receiving the object,a side wall extending longitudinally around the loading bed and bounding a usable area of the loading bed, anda controller, whereinthe loading bed is designed to alter the usable area, andthe controller is designed to navigate the vehicle to the destination along a route that takes the alteration in the usable area into consideration.2. The vehicle according to claim 1 , wherein the usable area and/or a surface area of the loading bed is alterable in the longitudinal direction and/or in the transverse direction of the loading bed claim 1 , and/or the loading bed is designed to alter the size of the usable area.3. The vehicle according to claim 1 , wherein the loading bed is configured in a telescopically extendable and/or foldable manner for the purpose of alteration claim 1 , in particular of altering the size.4. The vehicle according to claim 1 , wherein the loading bed and the side wall are arranged at a fixed angle to one another.5. The vehicle according to claim 1 , wherein the side wall peripherally bounds the loading bed and/or the usable area claim 1 , adjoins the loading bed without a gap claim 1 , is arranged in a foldable manner on the loading bed and/or is arranged orthogonally to the loading bed.6. The vehicle according to claim 1 , wherein the side wall is variable in length.7. The vehicle according to claim 6 , wherein claim 6 , for changing its length claim 6 , the ...

OPERATION CONTROL SYSTEM

An operation control system includes: a first detector that detects a transport body that has reached a predetermined reference position on a first transport line; an obstacle sensor and an autonomous traveling control unit provided in each of a plurality of self-propelled carrier bodies traveling on a second transport line; a gate provided on the second transport line; and a gate driving unit that moves the gate to a retracted position when the first detector detects the transport body, and moves the gate to an advanced position when the first detector does not detect the transport body. The autonomous traveling control unit controls the travel of the carrier bodies such that a forward separation distance, a distance between any of the carrier bodies and another carrier body or an obstacle ahead of the carrier body, is equal to or greater than a predetermined collision prevention distance. 1. An operation control system to be applied to a facility including: a first transport line on which a plurality of transport bodies is transported by a transport mechanism at a predetermined reference speed while being separated at a predetermined reference distance; and a second transport line on which a plurality of self-propelled carrier bodies travels , the second transport line being provided in parallel to the first transport line , the operation control system causing the plurality of carrier bodies to travel in synchronization with the plurality of transport bodies , the operation control system comprising:an obstacle sensor provided in each of the plurality of carrier bodies and configured to detect an obstacle present ahead of each of the carrier bodies;an autonomous traveling control unit provided in each of the plurality of carrier bodies and configured to control the travel of each of the carrier bodies based on an input signal from the obstacle sensor,a gate provided on the second transport line and movable between an advanced position advanced to a detection ...

ROBOTIC AD HOC NETWORK

Described herein is system in which separate networks are operated on behalf of system components associated within an inventory system. Mobile drive units may receive initial instructions from a central authority and may identify a number of system components relevant to the provided instructions. The mobile drive unit may be configured to traverse to locations associated with the identified system components. As the mobile drive unit traverses the inventory floor, it may connect to the separate networks that it comes into contact with. Upon connecting to a network associated with a system component relevant to its set of instructions, the mobile drive unit may provide instructions to the system component to cause it to execute an action. In some embodiments, the mobile drive unit may connect to a system component in order to perform a route guidance algorithm and/or collision avoidance algorithm. 1. An inventory system , comprising:a workstation configured for performance of a task related to one or more inventory items associated with an inventory holder when the inventory holder is positioned at the workstation;a local area network configured to connect the workstation with one or more mobile drive units within a connectivity range from the workstation;a management system configured to provide instructions to the one or more mobile drive units in relation to the one or more inventory items; a processor; and', receive, from the management system, a set of instructions that comprises an indication of the workstation and a subset of instructions to be executed by the workstation with respect to the one or more inventory items;', 'traverse along a route determined based on the set of instructions;', 'connect to the local area network as the mobile drive unit enters a proximity of the workstation associated with the local area network; and', 'upon determining that the mobile drive unit is connected to the local area network associated with the workstation, provide ...

ROBOT COORDINATION IN A SHARED WORKSPACE

Methods, systems, and computer programs stored on computer storage devices, for coordinating movements of robots are disclosed. One of the methods includes, for each robot in a group of robots, identifying a set of tasks assigned to the robot and generating a plurality of candidate motion plans. The method further includes, for each candidate motion plan: (i) generating a 3D model that represents a volume of space through which the robot would move in executing the sequence of motions represented by the candidate motion plan, and (ii) determining a score for the candidate motion plan. The method further includes determining conflicts between candidate motion plans of different robots, selecting a motion plan from the candidate motion plans based on the score for the selected motion plan and the conflicts, and providing the selected motion plans for execution by the group of robots. 120-. (canceled)21. A computer-implemented method comprising:assigning a first group of tasks to a first robot and a second group of one or more tasks to a second robot;generating a plurality of candidate motion plans for the first group of tasks assigned to the first robot, wherein each candidate motion plan for the first group of tasks specifies a different respective sequence for performing the first group of tasks;generating a second candidate motion plan for the second group of one or more tasks assigned to the second robot;generating a respective three-dimensional model for each candidate motion plan, the three-dimensional model representing a volume of space through which a robot would move to perform the one or more tasks of the candidate motion plan;determining that a conflict occurs between a first candidate motion plan for the first robot and the second candidate motion plan for the second robot, including using respective three-dimensional models for the first candidate motion plan and the second candidate motion plan to determine that an intersection occurs between respective ...

Systems, devices and methods for restoring shopping space conditions

Systems, apparatuses, and methods for restoring shopping space conditions are provided. A system for restoring shopping space conditions comprises a motorized transport unit comprising at least one sensor, and a central computer system comprising a wireless transceiver for communicating with the motorized transport unit. The central computer system being configured to: identify a section of a shopping space having a dropped item, instruct the motorized transport unit to travel to the section of the shopping space and collect information associated with the dropped item using the at least one sensor, determine a characteristic of the dropped item in the section of the shopping space using the at least one sensor of the motorized transport unit, and select a cleaning task from a plurality of cleaning tasks based on the characteristic of the dropped item.

METHOD, DEVICE, AND SYSTEM OF CONTROLLING MOVEMENT OF MULTI-VEHICLE, AND COMPUTER-READABLE STORAGE MEDIUM

A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route. 1. A method of controlling movement of multi-vehicle , the method comprising:acquiring a constraint condition under which multiple vehicles move and a calculation cycle for calculating movement routes of the vehicles;acquiring a position of each of the vehicles;specifying a target position for each vehicle;calculating, based on the position of each of the vehicles, the target position, and the constraint condition, a movement route for prediction steps of each of the vehicles;determining, based on the movement routes of the vehicles, a driving condition of each of the vehicles from a current time to a unit time; andcontrolling movement of each of the vehicles,wherein calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.2. The method according to claim 1 , wherein the constraint condition includes position information ...

SYSTEMS AND METHODS FOR DETECTION AND PRESENTATION OF OCCLUDED OBJECTS

System, methods, and other embodiments described herein relate to acquiring remote sensor data and identifying occluded objects from the remote sensor data. In one embodiment, a method includes acquiring, within a vehicle from one or more remote sensors, remote sensor data that indicates information about a nearby environment of the vehicle. The method includes identifying an occluded object in the surrounding environment according to the remote sensor data, and local sensor data generated by the vehicle. The occluded object is obscured from being perceived by one or more vehicle sensors of the vehicle. The local sensor data indicates information about at least nearby objects that have been observed by the vehicle sensors. The method includes rendering, within the display of the vehicle, a visualization of the occluded object to provide a view of the occluded object when the occluded object is otherwise obscured from being perceived by the vehicle. 1. A vision system for depicting occluded objects on a display within a vehicle , comprising:one or more processors;a memory communicably coupled to the one or more processors and storing:a monitoring module including instructions that when executed by the one or more processors cause the one or more processors to acquire, within the vehicle from one or more remote sensors, remote sensor data that indicates information about a nearby environment of the vehicle,wherein the monitoring module includes instructions to identify an occluded object in the nearby environment according to the remote sensor data, and local sensor data generated by the vehicle, wherein the occluded object is obscured from being perceived by one or more vehicle sensors of the vehicle, and wherein the local sensor data indicates information about at least observed objects in a surrounding environment that have been observed by the one or more vehicle sensors; anda display module including instructions that when executed by the one or more processors ...

AUTOMATIC DRIVING CONTROL SYSTEM AND AUTOMATIC DRIVING CONTROL METHOD

Provided are an automatic driving control system and an automatic driving control method that are capable of clearing away suspicion of a foul by exchanging a “hand” for determining priority of passage by a fair method that allows no foul when automatically driven vehicles face each other on a road. When the automatically driven vehicles face each other on the road, the “hand” for determining the priority of passage is exchanged by performing transmission/reception two times by use of a composite number of prime numbers each having a large number of digits. 1. An automatic driving control system for a vehicle , comprising a control operation part for determining , when automatically driven vehicles of an own vehicle and another vehicle face each other on a road , priority of passage by exchanging a “hand” through a communication device for performing vehicle-to-vehicle communications provided to the vehicle , [ multiply a prime number 1 indicating the “hand” of the own vehicle by a prime number 2 that is different from the prime number 1 and unknown to the another vehicle, and transmit a result thereof to the another vehicle as (first composite number)=(prime number 1)×(prime number 2); and', 'receive, from the another vehicle, (second composite number)=(prime number 3)×(prime number 4) obtained by multiplying a prime number 3 indicating a “hand” of the another vehicle by a prime number 4 that is different from the prime number 3 and unknown to the own vehicle;, 'as first transmission/reception, multiply the second composite number received in the first transmission/reception by the prime number 2, and transmit a result thereof to the another vehicle as (third composite number)=(prime number 3)×(prime number 4)×(prime number 2); and', 'receive, from the another vehicle, (fourth composite number)=(prime number 1)×(prime number 2)×(prime number 4) obtained by multiplying the first composite number transmitted in the first transmission/reception by the prime number 4;, ...

Testing Predictions For Autonomous Vehicles

A method and apparatus for controlling a first vehicle autonomously are disclosed. For instance, one or more processors may plan to maneuver the first vehicle to complete an action and predict that a second vehicle will take a particular responsive action. The first vehicle is then maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously according to whether the second vehicle begins to take the particular responsive action.

Shopping facility track system and method of routing motorized transport units

Some embodiments include a track system comprising: an elevated track system comprising a series of elevated tracks that are positioned elevated above a sales floor and products distributed over at least a portion of the sales floor of a retail store, and configured such that multiple motorized transport units travel along the series of elevated tracks in traversing at least portions of the retail store.

CARRIER SYSTEM

A transport system includes transport vehicles, and a controller to control traveling of the transport vehicles. The track includes a first main track, junction points on the first main track and spaced apart from each other, and branch tracks each connected to the first main track via the junction points different from one another. The junction points are spaced apart from each other on the first main track. On each of the branch tracks, a stop position corresponding to a delivery port for each transport vehicle to deliver and receive a load is provided. The controller controls the respective transport vehicles stopping at the stop positions of the branch tracks to control a transport vehicle on a downstream branch track to start simultaneously with or before a transport vehicle on an upstream branch track. 17-. (canceled)8. A transport system comprising:a plurality of transport vehicles to travel along a track and convey a load; anda controller configured or programmed to control traveling of the transport vehicles; whereinthe track includes a first main track, a plurality of junction points provided on the first main track and spaced apart from each other, and a plurality of branch tracks each connected to the first main track via the junction points different from one another;the respective junction points are spaced apart from each other on the first main track;on each of the branch tracks, a stop position corresponding to a delivery port for each transport vehicle to deliver and receive a load is provided; andthe controller is configured or programmed to control the respective transport vehicles stopping at the stop positions corresponding to the respective delivery ports of the branch tracks to control a transport vehicle on a downstream branch track to start simultaneously with or before a transport vehicle on an upstream branch track.9. The transport system according to claim 8 , wherein the controller is configured or programmed to control the respective ...

Traffic light operation

A plurality of vehicles predicted to pass through an intersection are identified. An acceleration and a start time are assigned for each of the vehicles. The start time is based at least in part on actuation of a traffic light. One or more vehicle subsystems are instructed to be actuated based on the assigned acceleration and the start time upon actuation of the traffic light.

SYSTEM AND METHOD TO OPERATE AN AUTOMATED VEHICLE

Systems and methods for operating an automated vehicle such as an autonomous vehicle may include an autonomous guidance system, a method of automatically controlling and autonomous vehicle based on electronic messages from roadside infrastructure or other-vehicles, a method of automatically controlling an autonomous vehicle based on cellular telephone location information, pulsed LED vehicle-to-vehicle (V2V) communication system, a method and apparatus for controlling an autonomous vehicle, an autonomous vehicle with unobtrusive sensors, and adaptive cruise control integrated with a lane keeping assist system. The systems and methods may use information from radar, lidar, a camera or vision/image devices, ultrasonic sensors, and digital map data to determine a route or roadway position and provide for steering, braking, and acceleration control of a host vehicle. 110010. A method (B) of operating a vehicle (B) , comprising the steps of:{'b': '102', 'receiving a message from roadside infrastructure via an electronic receiver (B); and'}{'b': '104', 'providing, by a computer system in communication with said electronic receiver, instructions based on the message to automatically implement countermeasure behavior by a vehicle system (B).'}21001014. The method (B) of operating a vehicle (B) according to claim 1 , wherein the roadside infrastructure is a traffic signaling device (B) and data contained in the message includes a device location claim 1 , a signal phase claim 1 , and a phase timing claim 1 , wherein the vehicle system is a braking system claim 1 , and wherein the step of providing instructions includes the sub-steps of:{'b': '1102', 'determining a vehicle speed (B);'}{'b': '1104', 'determining the signal phase in a current vehicle path (B);'}{'b': 10', '1106, 'determining a distance between the vehicle (B) and the device location (B); and'}{'b': 10', '1108, 'providing, by the computer system, instructions to the braking system to apply vehicle brakes based ...

Container accessing station with lifting device

An automated storage and retrieval system includes an automated storage and retrieval grid, a container accessing station, a delivery rail system, and a delivery vehicle operating on the delivery rail system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising a first set of parallel rails arranged in a horizontal plane (P) and. extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; and a delivery column adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery rail system includes at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining a delivery grid of delivery grid cells. The delivery vehicle includes a motorized vehicle body and a container carrier provided above the motorized vehicle body for carrying the storage container. The delivery vehicle is arranged to transport the storage container from the delivery port of the storage grid ...

SYSTEM WITH GLOBAL POSITIONING AND RF TIME-OF-LIGHT RANGING FOR SUPERVISING THE SAFETY ON A SITE

A system for determining an object position on a site with large machinery, particularly a mine site, a construction site, or an agricultural area, based on radio frequency time-of-flight ranging. The system is configured to determine a current position of a reference point indicative of a position of a machine on the site, to access an arrangement dataset indicative of a positional relationship between the reference point and a mounting location on the machine of at least one anchor of a point-to-point radio ranging unit, and to determine a position of the at least one anchor based on the current position of the reference point and the arrangement dataset, wherein the position of the at least one anchor is provided to a position determining unit configured for determining position information of tags based on ranging data of the point-to-point radio ranging unit. 2. A system according to claim 1 , wherein the system is configured to determine the current position of the reference point based on at least one of:a local positioning unit configured for providing positioning data in a local coordinate system of the site,a global positioning unit configured for providing positioning data in a global coordinate system, anda site plan comprising positional information for the reference point.3. The system according to claim 1 , wherein the arrangement dataset comprises at least one of:geometrical information on the dimensions and shape of the machine,arrangement or motion information of the machine,a location of the reference point on the machine,the mounting location of the at least one of the anchors on the machine,a heading of the machine, anda two-dimensional or three-dimensional vector indicating a distance between the location of the at least one anchor and the reference point and a two-dimensional or three-dimensional orientation of the location of the at least one anchor with respect to the reference point.4. The system according to claim 1 , wherein the position ...

MOVEMENT CONTROL METHOD AND SYSTEM THEREOF FOR MULTIPLE ROBOTS

A movement control method for multiple robots, including: obtaining a first operating status and a first predicted moving path corresponding to a first robot; obtaining a second operating status and a second predicted moving path corresponding to a second robot; determining whether the first predicted moving path and the second moving path have overlapping segments or adjacent segments; in response to the first predicted moving path and the second moving path having overlapping segments or adjacent segments, determining whether the difference between the first prediction time of the first robot and the second prediction time of the second robot is less than a given time; and in response to the difference being less than the given time, changing a first moving status of the first robot or a second moving status of the second robot according to the first operating status and the second operating status. 1. A movement control method for multiple robots , comprising:obtaining a first operating status and a first predicted moving path corresponding to a first robot;obtaining a second operating status and a second predicted moving path corresponding to a second robot;determining whether the first predicted moving path and the second predicted moving path have overlapping segments or adjacent segments;in response to the first predicted moving path and the second predicted moving path having the overlapping segments or the adjacent segments, determining whether a difference between a first prediction time of the first robot and a second prediction time of the second robot, corresponding to the overlapping segments or the adjacent segments, is less than a given time; andin response to the difference between the first prediction time and the second prediction time being less than the given time, changing a first movement status of the first robot or a second movement status of the second robot according to the first operating status and the second operating status.2. The ...

Detecting and responding to traffic redirection for autonomous vehicles

The technology relates to controlling a vehicle in an autonomous driving mode, the method. For instance, a vehicle may be maneuvered in the autonomous driving mode using pre-stored map information identifying traffic flow directions. Data may be received from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection not identified the map information. The received data may be used to identify one or more corridors of a traffic redirection. One of the one or more corridors may be selected based on a direction of traffic flow through the selected corridor. The vehicle may then be controlled in the autonomous driving mode to enter and follow the selected one of the one or more corridors based on the determined direction of flow of traffic through each of the one or more corridors.

Method and Apparatus for Controlling an Autonomous Vehicle

A method for operating an automated vehicle includes controlling by one or more computing devices an autonomous vehicle; receiving by one or more computing devices sensor data from the vehicle corresponding to moving objects in a vicinity of the vehicle; receiving by one or more computing devices road condition data; and determining by one or more computing devices undesirable locations related to the moving objects. The undesirable locations related to the moving objects for the vehicle are based at least in part on the road condition data. The step of controlling the vehicle includes avoiding the undesirable locations. 1. A method comprising:receiving, by one or more computing devices of a vehicle, sensor data from vehicle sensors configured to detect objects in a vicinity of the vehicle;updating, based on the sensor data, a map to include locations of at least one of the objects in the vicinity of the vehicle, the map being accessible by multiple vehicles including the vehicle;determining correlation rates between locations of the at least one of the objects and corresponding locations of map elements; andadjusting, based on the correlation rates, a routing control strategy of the vehicle.2. The method of claim 1 , wherein the objects comprise road features claim 1 , the method further including:determining, with the one or more computing devices and based on a world coordinate system, coordinates of the road features;identifying the corresponding map elements; andcomparing the locations of the detected road features to the locations of the corresponding map elements.3. The method of claim 2 , wherein the road features and corresponding map elements include one or more of lane lines claim 2 , navigational markers claim 2 , and road edges.4. The method of claim 2 , further comprising:determining, with the one or more computing devices and based on a distance between the road features and the corresponding map elements at a plurality of points along a planned route ...

USING SHARED TRAFFIC INFORMATION TO SUPPORT ADAPTIVE CRUISE CONTROL (ACC) BETWEEN PLATOONING VEHICLES

Systems and methods are provide for highway vehicle platoon maintenance management. Commercial highway vehicle platoon maintenance management is provided where it is desirable to determine traffic conditions around vehicles of the platoon, to share the determined traffic conditions with the other vehicles of the platoon, and to determine and share adaptive cruise control (ACC) parameters between the platooning vehicles for adjusting platoon inter-vehicle following distances based on the determined traffic conditions. 1122010112. A system () supporting platoon adaptive cruise control (ACC) between an associated platooning vehicle () and a set of at least one other associated platooning vehicle () travelling cooperatively as a platoon (P) along an associated roadway () , the system () comprising:{'b': 300', '20', '300', '20, 'claim-text': a processor;', 'a non-transient memory device operatively coupled with the processor; and', {'b': 20', '1, 'logic stored in the non-transient memory and executable by the processor to support the platoon ACC between the associated platooning vehicle () and the set of at least one other associated vehicle travelling as the platoon (P) along the associated roadway ();'}], 'a platoon control unit () configured to be disposed in the associated platooning vehicle (), the platoon control unit () being in operative communication with an associated electronic control unit (ECU) of the associated platooning vehicle (), the platoon control unit comprising{'b': 214', '300, 'claim-text': [{'b': '20', 'sense a presence of one or more extra-platoon traffic vehicles (TVs) relative to the associated platooning vehicle (); and'}, {'b': '214', 'selectively generate extra-platoon traffic vehicle data (EP_TV_Data) representative of the one or more extra-platoon traffic vehicles (TVs) being sensed by the sensor unit (); and'}], 'a sensor unit () operatively coupled with the platoon control unit (), the sensor unit being operable to{'b': 250', '300, ' ...