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1. (WO2019061616) IMPEDANCE-BASED MOTION CONTROL FOR AUTONOMOUS VEHICLES
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Pub. No.: WO/2019/061616 International Application No.: PCT/CN2017/107484
Publication Date: 04.04.2019 International Filing Date: 24.10.2017
IPC:
B60W 30/00 (2006.01) ,B60W 40/00 (2006.01) ,G05D 1/03 (2006.01)
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
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
40
Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
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
03
using near-field transmission systems, e.g. inductive-loop type
Applicants:
HUAWEI TECHNOLOGIES CO., LTD. [CN/CN]; Huawei Administration Building, Bantian, Longgang District Shenzhen, Guangdong 518129, CN
Inventors:
YADMELLAT, Peyman; CA
Priority Data:
15/720,99929.09.2017US
Title (EN) IMPEDANCE-BASED MOTION CONTROL FOR AUTONOMOUS VEHICLES
(FR) COMMANDE DE MOUVEMENT BASÉE SUR L'IMPÉDANCE POUR VÉHICULES AUTONOMES
Abstract:
(EN) Methods and systems for controlling motion of a vehicle are disclosed. Sensor data is obtained, representing an environment of the vehicle (100). A reference control trajectory is corrected, using one or more virtual forces, to provide a desired trajectory. The one or more virtual forces are generated by applying an impedance scheme to the sensor data. A desired trajectory is outputted for controlling the vehicle. The methods and systems do not require any accurate model of the vehicle's dynamic state or environment. Instead, control may be carried out by relying on sensor data.
(FR) L’invention concerne des procédés et des systèmes de commande d'un véhicule. Des données de capteur sont obtenues, représentant un environnement du véhicule (100). Une trajectoire de commande de référence est corrigée, à l'aide d'une ou de plusieurs forces virtuelles, pour fournir une trajectoire souhaitée. Lesdites une ou plusieurs forces virtuelles sont générées par application d'un schéma à impédance aux données de capteur. Une trajectoire souhaitée est émise en sortie pour commander le véhicule. Les procédés et les systèmes ne nécessitent pas de modèle précis de l'état ou de l'environnement dynamique du véhicule. Au lieu de cela, la commande peut être effectuée en se basant sur des données de capteur.
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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)