MX2018008160A - Metodo de planificacion de trayectoria para calcular maniobras optimas de estacionamiento para vehiculos carreteros y sistema correspondiente. - Google Patents
Metodo de planificacion de trayectoria para calcular maniobras optimas de estacionamiento para vehiculos carreteros y sistema correspondiente.Info
- Publication number
- MX2018008160A MX2018008160A MX2018008160A MX2018008160A MX2018008160A MX 2018008160 A MX2018008160 A MX 2018008160A MX 2018008160 A MX2018008160 A MX 2018008160A MX 2018008160 A MX2018008160 A MX 2018008160A MX 2018008160 A MX2018008160 A MX 2018008160A
- Authority
- MX
- Mexico
- Prior art keywords
- vehicle
- parking maneuvers
- path planning
- planning method
- road vehicles
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 3
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—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
- B60W30/00—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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
- B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Human Computer Interaction (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Feedback Control In General (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Road Repair (AREA)
Abstract
Se describe un método de planificación de trayectoria para calcular maniobras de estacionado óptimas para vehículos carreteros (11), en particular que operan en un ambiente conocido en presencia de obstáculos estáticos, el método comprende operar de acuerdo con un procedimiento de cálculo de programación dinámico (300) para calcular. un conjunto de controles de vehículo (O, I), implementando una maniobra de estacionado óptima para alcanzar un conjunto objetivo de estados (x1) que corresponde a un objetivo de estacionado dado, las maniobras de estacionado son trayectorias obtenidas por un sistema de ecuaciones que generan un modelo de la evolución del estado del vehículo carretero (11) como una función de los controles de vehículo, el método incluye: calcular (200) un conjunto de funciones de valor ({V0, ..., VKmax}) de una función de costo (tc) de maniobras de estacionado que alcanzan el conjunto objetivo de estados (x1) como solución de viscosidad única de una ecuación de Halmiton Jacobi Bellman, la función de costo (tc) toma en consideración un tiempo de llegada del vehículo (11) para una maniobra de estacionado dada, suministrar el conjunto de funciones de valor ({V0, ..., VKmax}) junto con un estado de inicio (x0) del vehículo, como entrada al procedimiento de cálculo de programación dinámica (300), calcular por lo menos el conjunto de controles de vehículo (O, I). El conjunto de ecuaciones que modelan la evolución del estado del vehículo carretero es un sistema conmutado de ecuaciones entre un primer subsistema (f(x,1,?)) si el vehículo (11) está en movimiento hacia adelante y un segundo subsistema (f(x,2,?)) si el vehículo (11) está en movimiento en reversa o hacia atrás, la función de costo (tc) toma en consideración adicionalmente el tiempo de arribo de varios cambios de dirección (k) del vehículo carretero (11) entre el movimiento hacia adelante y el movimiento en reversa.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102017000073722A IT201700073722A1 (it) | 2017-06-30 | 2017-06-30 | "Procedimento di pianificazione di percorso per il calcolo di manovre di parcheggio ottimale per veicoli stradali e sistema corrispondente" |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| MX2018008160A true MX2018008160A (es) | 2019-01-31 |
| MX390549B MX390549B (es) | 2025-03-19 |
Family
ID=60183015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| MX2018008160A MX390549B (es) | 2017-06-30 | 2018-06-29 | Metodo de planificacion de trayectoria para calcular maniobras optimas de estacionamiento para vehiculos carreteros y sistema correspondiente. |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US10960876B2 (es) |
| EP (1) | EP3422133B1 (es) |
| CN (1) | CN109215370B (es) |
| BR (1) | BR102018013351A2 (es) |
| IT (1) | IT201700073722A1 (es) |
| MX (1) | MX390549B (es) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912407B (zh) * | 2019-05-08 | 2022-05-17 | 胡贤良 | 一种多机器人系统的路径规划方法 |
| CN112230638B (zh) * | 2019-06-28 | 2022-11-18 | 魔门塔(苏州)科技有限公司 | 一种车辆的停车路径规划方法和装置 |
| CN112660148B (zh) * | 2019-09-30 | 2022-09-02 | 阿波罗智能技术(北京)有限公司 | 确定车辆的调头路径的方法、装置、设备和介质 |
| CN112824198B (zh) * | 2019-11-21 | 2023-05-02 | 北京京东乾石科技有限公司 | 一种轨迹决策方法、装置、设备和存储介质 |
| CN111307152B (zh) * | 2020-02-18 | 2022-02-11 | 中国科学院合肥物质科学研究院 | 一种自主泊车路径反向生成规划方法 |
| CN111402616B (zh) * | 2020-02-20 | 2022-01-04 | 西安电子科技大学 | 智能停车控制方法、系统、存储介质、终端 |
| CN113442908B (zh) * | 2020-03-24 | 2022-04-22 | 广州汽车集团股份有限公司 | 自动泊车路径规划方法及系统、泊车控制设备 |
| CN113561962B (zh) * | 2020-04-28 | 2023-11-10 | 广州汽车集团股份有限公司 | 一种自动泊车路径规划方法及系统、泊车控制设备 |
| CN111859778B (zh) * | 2020-06-04 | 2021-12-28 | 阿波罗智能技术(北京)有限公司 | 泊车模型的生成方法和装置、电子设备和存储介质 |
| CN112061114B (zh) * | 2020-08-17 | 2022-02-25 | 广东工业大学 | 一种基于自适应伪谱法的自主泊车系统最优路径控制方法 |
| CN112677995B (zh) * | 2021-01-07 | 2021-12-21 | 腾讯科技（深圳）有限公司 | 一种车辆轨迹规划方法、装置、存储介质及设备 |
| CN112793562B (zh) * | 2021-02-03 | 2023-02-28 | 武汉理工大学 | 一种自动泊车路径的规划和跟踪控制方法、规划装置、存储介质和计算机设备 |
| CN113320527B (zh) * | 2021-06-29 | 2022-10-14 | 惠州华阳通用电子有限公司 | 一种基于车头泊车的自动泊车方法 |
| DE102021120632B3 (de) | 2021-08-09 | 2022-10-06 | Avl Software And Functions Gmbh | Verfahren zur Durchführung eines autonomen Einparkvorganges eines Fahrzeuges |
| CN116353619A (zh) * | 2021-12-28 | 2023-06-30 | 魔门塔(苏州)科技有限公司 | 一种自动泊车路径规划方法、装置、介质及设备 |
| CN114590271B (zh) * | 2022-01-18 | 2025-08-08 | 深圳一清创新科技有限公司 | 确定停车位的方法、电子设备及存储介质 |
| CN114527768B (zh) * | 2022-03-07 | 2023-06-30 | 上海海事大学 | 基于hjb方程数据驱动解的无人船最优避障路径规划方法 |
| CN115268474B (zh) * | 2022-08-04 | 2024-10-25 | 西北工业大学 | 一种基于改进Dubins曲线的水下航行器编队方法 |
| CN115657675A (zh) * | 2022-10-26 | 2023-01-31 | 北京宾理信息科技有限公司 | 一种车辆运动路径生成方法、系统及存储介质 |
| CN117664170A (zh) * | 2023-12-05 | 2024-03-08 | 阿波罗智联(北京)科技有限公司 | 确定目标路径的方法、装置、电子设备、存储介质及车辆 |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10322829A1 (de) * | 2003-05-19 | 2004-12-09 | Daimlerchrysler Ag | Steuerungssystem für ein Fahrzeug |
| JP5332034B2 (ja) * | 2008-09-22 | 2013-11-06 | 株式会社小松製作所 | 無人車両の走行経路生成方法 |
| WO2010096783A1 (en) * | 2009-02-20 | 2010-08-26 | The Trustees Of Columbia University In The City Of New York | Dynamic contingency avoidance and mitigation system |
| US8229866B2 (en) * | 2009-09-04 | 2012-07-24 | Alex Alaniz | Method and system for detecting correlation in data sets |
| GB2520474B (en) * | 2013-07-04 | 2017-10-25 | Jaguar Land Rover Ltd | Vehicle Control System |
| US20160202670A1 (en) * | 2015-01-08 | 2016-07-14 | Northwestern University | System and method for sequential action control for nonlinear systems |
| US10214206B2 (en) * | 2015-07-13 | 2019-02-26 | Magna Electronics Inc. | Parking assist system for vehicle |
| DE102016220945A1 (de) * | 2015-11-06 | 2017-05-11 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zum Unterstützen eines Manövriervorganges eines Kraftfahrzeuges |
| CN106054876B (zh) * | 2016-06-02 | 2019-04-19 | 西北工业大学 | 一种针对空间多任务的避障路径最优逐次操作规划方法 |
| CN106500697B (zh) * | 2016-10-13 | 2019-05-28 | 浙江工业大学 | 适用于动态环境的ltl-a*-a*最优路径规划方法 |
-
2017
- 2017-06-30 IT IT102017000073722A patent/IT201700073722A1/it unknown
-
2018
- 2018-06-25 EP EP18179476.9A patent/EP3422133B1/en active Active
- 2018-06-28 BR BR102018013351-9A patent/BR102018013351A2/pt not_active Application Discontinuation
- 2018-06-28 US US16/021,357 patent/US10960876B2/en active Active
- 2018-06-29 MX MX2018008160A patent/MX390549B/es unknown
- 2018-07-02 CN CN201810712426.8A patent/CN109215370B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| MX390549B (es) | 2025-03-19 |
| IT201700073722A1 (it) | 2018-12-30 |
| CN109215370A (zh) | 2019-01-15 |
| US20190001967A1 (en) | 2019-01-03 |
| EP3422133A1 (en) | 2019-01-02 |
| BR102018013351A2 (pt) | 2019-04-16 |
| EP3422133B1 (en) | 2021-11-17 |
| US10960876B2 (en) | 2021-03-30 |
| CN109215370B (zh) | 2022-05-31 |
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