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1. WO2018131322 - SYSTEM, METHOD AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM FOR PARKING VEHICLE

Publication Number WO/2018/131322
Publication Date 19.07.2018
International Application No. PCT/JP2017/043380
International Filing Date 28.11.2017
IPC
B62D 15/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
CPC
B60W 2510/207
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2510Input parameters relating to a particular sub-units
20Steering systems
207Oversteer or understeer
B60W 2554/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2554Input parameters relating to objects
B60W 2710/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2710Output or target parameters relating to a particular sub-units
20Steering systems
B60W 30/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
06Automatic manoeuvring for parking
B62D 15/027
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
B62D 15/0285
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
0285Parking performed automatically
Applicants
  • MITSUBISHI ELECTRIC CORPORATION [JP]/[JP]
Inventors
  • WANG, Yebin
  • JHA, Devesh
Agents
  • SOGA, Michiharu
Priority Data
15/402,35310.01.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM, METHOD AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM FOR PARKING VEHICLE
(FR) SYSTÈME, PROCÉDÉ ET SUPPORT DE STOCKAGE LISIBLE PAR ORDINATEUR NON TRANSITOIRE POUR VÉHICULE SE STATIONNANT
Abstract
(EN)
The present invention relates to a method and a system for an automated parking determines, using the geometry of the vehicle and the map of the parking space, a collision free geometric path connecting an initial state of the vehicle with a target state of parked vehicle through a set of waypoints and determines, using a kinematic model of the vehicle, a set of kinematic subgraphs forming a kinematic graph having multiple nodes connected with kinematic edges. Each waypoint defines a position and orientation of the vehicle, each kinematic subgraph connects a pair of neighboring waypoints of the geometric path, each node defines a state of the vehicle, and each kinematic edge connecting two nodes defines a collision free kinematic path connecting the two nodes according to kinematics of the vehicle. A kinematic path is selected form the kinematic graph and a reference trajectory tracking the kinematic path as a function of time is determined using a dynamic model of the vehicle. The motion of the vehicle is according to the reference trajectory.
(FR)
La présente invention concerne un procédé et un système qui permettent un stationnement automatisé qui détermine, à l'aide de la géométrie du véhicule et de la carte de l'espace de stationnement, un trajet géométrique sans collision reliant un état initial du véhicule à un état cible du véhicule stationné par l'intermédiaire d'un ensemble de points de cheminement et qui détermine, à l'aide d'un modèle cinématique du véhicule, un ensemble de sous-graphes cinématiques formant un graphe cinématique ayant de multiples nœuds reliés à des bords cinématiques. Chaque point de cheminement définit une position et une orientation du véhicule, chaque sous-graphe cinématique relie une paire de points de cheminement voisins du trajet géométrique, chaque nœud définit un état du véhicule, et chaque bord cinématique reliant deux nœuds définit un chemin cinématique sans collision reliant les deux nœuds en fonction de la cinématique du véhicule. Un trajet cinématique est sélectionné à partir du graphe cinématique et une trajectoire de référence qui suit le trajet cinématique en fonction du temps est déterminée à l'aide d'un modèle dynamique du véhicule. Le mouvement du véhicule est en fonction de la trajectoire de référence.
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