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1. (WO2019026317) SYSTEM AND METHOD FOR CONTROLLING MOTION OF VEHICLE
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Pub. No.: WO/2019/026317 International Application No.: PCT/JP2018/004104
Publication Date: 07.02.2019 International Filing Date: 31.01.2018
IPC:
G05D 1/02 (2006.01) ,B60W 50/00 (2006.01) ,B60W 10/20 (2006.01) ,B60W 30/06 (2006.01) ,A01D 34/00 (2006.01) ,A47L 11/40 (2006.01) ,B62D 15/02 (2006.01) ,B60W 50/06 (2006.01) ,A47L 9/28 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50
Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10
Conjoint control of vehicle sub-units of different type or different function
20
including control of steering systems
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30
Purposes 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
06
Automatic manoeuvring for parking
A HUMAN NECESSITIES
01
AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
D
HARVESTING; MOWING
34
Mowers; Mowing apparatus of harvesters
A HUMAN NECESSITIES
47
FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
L
DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11
Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40
Parts or details of machines not provided for in groups A47L11/02-A47L11/38108
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
15
Steering not otherwise provided for
02
Steering position indicators
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50
Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
06
Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
A HUMAN NECESSITIES
47
FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
L
DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9
Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
28
Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Regulation of suction cleaners by electric means
Applicants:
MITSUBISHI ELECTRIC CORPORATION [JP/JP]; 7-3, Marunouchi 2-chome, Chiyoda-ku, Tokyo 1008310, JP
Inventors:
BORTOFF, Scott, A.; US
WANG, Yebin; US
DAI, Jin; US
Agent:
SOGA, Michiharu; S. SOGA & CO., 8th Floor, Kokusai Building, 1-1, Marunouchi 3-chome, Chiyoda-ku, Tokyo 1000005, JP
KAJINAMI, Jun; S. SOGA & CO. 8th Floor, Kokusai Building 1-1, Marunouchi 3-chome Chiyoda-ku, Tokyo 1000005, JP
UEDA, Shunichi; S. SOGA & CO. 8th Floor, Kokusai Building 1-1, Marunouchi 3-chome Chiyoda-ku, Tokyo 1000005, JP
Priority Data:
15/667,73403.08.2017US
Title (EN) SYSTEM AND METHOD FOR CONTROLLING MOTION OF VEHICLE
(FR) SYSTÈME ET PROCÉDÉ DE COMMANDE DE DÉPLACEMENT DE VÉHICULE
Abstract:
(EN) A system for controlling a motion of a vehicle from an initial state to a target state includes a path planner to determine a discontinuous curvature path connecting the initial state with the target state by a sequential composition of driving patterns. The discontinuous curvature path is collision-free within a tolerance envelope centered on the discontinuous curvature path. The system further includes a path transformer to locate and replace at least one treatable primitive in the discontinuous curvature path with a corresponding continuous curvature segment to form a modified path remaining within the tolerance envelope. Each treatable primitive is a predetermined pattern of elementary paths. The system further includes a controller to control the motion of the vehicle according to the modified path.
(FR) L'invention concerne un système de commande d'un déplacement d'un véhicule d'un état initial à un état cible, comprenant un planificateur de trajet servant à déterminer un trajet à courbure discontinue reliant l'état initial à l'état cible par une composition séquentielle de modèles de conduite. Le trajet à courbure discontinue est exempt de collision à l'intérieur d'une enveloppe de tolérance centrée sur le trajet à courbure discontinue. Le système comprend en outre un transformateur de trajet servant à localiser et à remplacer au moins une primitive pouvant être traitée du trajet à courbure discontinue par un segment à courbure continue correspondant pour former un trajet modifié demeurant dans l'enveloppe de tolérance. Chaque primitive pouvant être traitée est un modèle prédéfini de trajets élémentaires. Le système comprend en outre un dispositif de commande servant à commander le déplacement du véhicule conformément au trajet modifié.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)