DE69124918D1 - Verfahren und Vorrichtung zur Kontrolle der Hochgeschwindigkeitsfahrzeuge - Google Patents

Verfahren und Vorrichtung zur Kontrolle der Hochgeschwindigkeitsfahrzeuge

Info

Publication number
DE69124918D1
DE69124918D1 DE69124918T DE69124918T DE69124918D1 DE 69124918 D1 DE69124918 D1 DE 69124918D1 DE 69124918 T DE69124918 T DE 69124918T DE 69124918 T DE69124918 T DE 69124918T DE 69124918 D1 DE69124918 D1 DE 69124918D1
Authority
DE
Germany
Prior art keywords
speed vehicles
checking high
checking
vehicles
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69124918T
Other languages
English (en)
Other versions
DE69124918T2 (de
Inventor
Karen Irene Trovato
Sandeep Mehta
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Philips Electronics NV filed Critical Philips Electronics NV
Application granted granted Critical
Publication of DE69124918D1 publication Critical patent/DE69124918D1/de
Publication of DE69124918T2 publication Critical patent/DE69124918T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G9/00—Traffic control systems for craft where the kind of craft is irrelevant or unspecified
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35415—3-D three dimension, space input, spaceball
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40443—Conditional and iterative planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40448—Preprocess nodes with arm configurations, c-space and planning by connecting nodes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40465—Criteria is lowest cost function, minimum work path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40471—Using gradient method
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45131—Turret punch press
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
DE69124918T 1990-10-29 1991-10-21 Verfahren und Vorrichtung zur Kontrolle der Hochgeschwindigkeitsfahrzeuge Expired - Fee Related DE69124918T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/605,057 US5220497A (en) 1987-11-20 1990-10-29 Method and apparatus for controlling high speed vehicles

Publications (2)

Publication Number Publication Date
DE69124918D1 true DE69124918D1 (de) 1997-04-10
DE69124918T2 DE69124918T2 (de) 1997-08-28

Family

ID=24422087

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69124918T Expired - Fee Related DE69124918T2 (de) 1990-10-29 1991-10-21 Verfahren und Vorrichtung zur Kontrolle der Hochgeschwindigkeitsfahrzeuge

Country Status (5)

Country Link
US (1) US5220497A (de)
EP (1) EP0483905B1 (de)
JP (1) JPH04315300A (de)
KR (1) KR920007856A (de)
DE (1) DE69124918T2 (de)

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US5544282A (en) * 1991-04-05 1996-08-06 Chen; Pang C. Method and apparatus for planning motions of robot manipulators
US5548773A (en) * 1993-03-30 1996-08-20 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Digital parallel processor array for optimum path planning
DE19546506A1 (de) * 1995-12-13 1997-06-19 Daimler Benz Ag Fahrzeug-Navigationssystem und Signalverarbeitungsverfahren für ein solches Navigationssystem
US5991674A (en) * 1996-05-02 1999-11-23 Chrysler Corporation Floor shifter linkage for robotic control of vehicle
US5913945A (en) * 1996-05-02 1999-06-22 Daimlerchrysler Corporation Pedal linkage for robotic control of vehicle
US5865266A (en) * 1996-05-02 1999-02-02 Chrysler Corporation Steering wheel linkage for robotic system for automated durability road (ADR) facility
US5821718A (en) * 1996-05-07 1998-10-13 Chrysler Corporation Robotic system for automated durability road (ADR) facility
US6004016A (en) * 1996-08-06 1999-12-21 Trw Inc. Motion planning and control for systems with multiple mobile objects
US5906647A (en) * 1996-09-03 1999-05-25 Chrysler Corporation Vehicle mounted guidance antenna for automated durability road (ADR) facility
US6061613A (en) * 1996-09-03 2000-05-09 Chrysler Corporation Base station for automated durability road (ADR) facility
US5938705A (en) * 1996-09-03 1999-08-17 Chrysler Corporation Vehicle controller (VCON) for automated durability road (ADR) facility
US6141620A (en) * 1996-09-03 2000-10-31 Chrysler Corporation Vehicle control system for automated durability road (ADR) facility
US5908454A (en) * 1996-09-03 1999-06-01 Chrysler Corporation Operator interface for automated durability road (ADR) facility
US5867089A (en) * 1996-09-03 1999-02-02 Chrysler Corporation Base-to-remotely controlled vehicle communications for automated durability road (ADR) facility
US6161071A (en) * 1999-03-12 2000-12-12 Navigation Technologies Corporation Method and system for an in-vehicle computing architecture
KR100520450B1 (ko) * 1999-06-08 2005-10-12 주식회사 코캣 반도체 식각공정용 할로겐족 폐가스 처리제 및 이를 이용한 할로겐족 폐가스의 처리방법
US6415226B1 (en) * 1999-12-20 2002-07-02 Navigation Technologies Corp. Method and system for providing safe routes using a navigation system
US6405128B1 (en) 1999-12-20 2002-06-11 Navigation Technologies Corp. Method and system for providing an electronic horizon in an advanced driver assistance system architecture
WO2007050407A1 (en) * 2005-10-21 2007-05-03 Deere & Company Systems and methods for switching between autonomous and manual operation of a vehicle
EP1961639A1 (de) * 2007-02-22 2008-08-27 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO Unterstützungssystem zur Fahrzeugführung
EP2364891B1 (de) * 2010-03-12 2013-06-19 Volvo Car Corporation Verfahren zum Einschalten einer elektronischen Fahrerunterstützungsfunktion
US20130103305A1 (en) * 2011-10-19 2013-04-25 Robert Bosch Gmbh System for the navigation of oversized vehicles
US8996228B1 (en) 2012-09-05 2015-03-31 Google Inc. Construction zone object detection using light detection and ranging
US9221461B2 (en) * 2012-09-05 2015-12-29 Google Inc. Construction zone detection using a plurality of information sources
US9195914B2 (en) 2012-09-05 2015-11-24 Google Inc. Construction zone sign detection
US9056395B1 (en) 2012-09-05 2015-06-16 Google Inc. Construction zone sign detection using light detection and ranging
US10179583B2 (en) 2016-03-29 2019-01-15 Ford Global Technologies, Llc Vehicle subsystem coordination and control
CN107452201B (zh) * 2017-07-24 2020-05-08 重庆大学 一种考虑前车换道驶离时后车的跟驰加速度确定方法及跟驰行为建模方法
CN110837255B (zh) * 2019-11-08 2022-07-15 哈尔滨工程大学 一种适用于高速水面无人艇的自主危险规避方法

Family Cites Families (6)

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Publication number Priority date Publication date Assignee Title
JPS5773402A (en) * 1980-10-23 1982-05-08 Fanuc Ltd Numerical control system
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4674048A (en) * 1983-10-26 1987-06-16 Automax Kabushiki-Kaisha Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions
US4764873A (en) * 1987-02-13 1988-08-16 Dalmo Victor, Inc., Div. Of The Singer Company Path blockage determination system and method
US4949277A (en) * 1988-03-09 1990-08-14 North American Philips Corporation Differential budding: method and apparatus for path planning with moving obstacles and goals
EP0375055B1 (de) * 1988-12-23 1995-03-22 Koninklijke Philips Electronics N.V. Methode und Vorrichtung zur Steuerung der Fortbewegungsrichtung eines Fahrzeuges und mit so einer Vorrichtung ausgestattetes Fahrzeug

Also Published As

Publication number Publication date
EP0483905A3 (en) 1992-07-08
EP0483905A2 (de) 1992-05-06
KR920007856A (ko) 1992-05-27
DE69124918T2 (de) 1997-08-28
JPH04315300A (ja) 1992-11-06
EP0483905B1 (de) 1997-03-05
US5220497A (en) 1993-06-15

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee