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公开(公告)号：EP4398062A3
公开(公告)日：2024-08-14
申请号：EP24175864.8
申请日：2021-12-23
发明人： HULT, Robert , LJUNGQVIST, Oskar
IPC分类号： G05D1/00 , G05D1/229 , G05D1/644 , G05D107/70 , G05D109/10 , G05D105/28 , G05D107/80
CPC分类号： G05D2109/1020240101 , G05D2107/7320240101 , G05D2105/2820240101 , G05D2107/8420240101 , G05D1/2297 , G05D1/644
摘要： A computer-implemented method for optimizing a reference trajectory for an automated vehicle operating in a confined area, the reference trajectory comprising a sequence of reference data points representing a recorded trajectory for the vehicle when following a repeated or cyclical trajectory in the confined area, the method comprising: determining a geometrical projection of the sequence of reference data points for fitting the sequence of reference data points onto a candidate reference trajectory using a discretized projection operation, wherein the projection smooths the fit of the sequence of reference data to a set of data points forming the candidate reference trajectory subject to one or more constraints; quantifying a performance of at least one vehicle task to be performed by the vehicle along the reference trajectory in a simulation of the candidate trajectory; and optimizing the quantified performance to obtain an optimal reference trajectory for the vehicle in the confined area.
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公开(公告)号：EP4183656A1
公开(公告)日：2023-05-24
申请号：EP21209517.8
申请日：2021-11-22
发明人： WIBERG, Wilhelm , LJUNGQVIST, Oskar
摘要： The invention relates to a method for planning a driving trajectory (T) defining a travelling path for a vehicle (100), wherein the driving trajectory (T) is intended to be followed by executing one or more vehicle manoeuvres and wherein the vehicle (100) comprises at least one environment perception sensor (10) having a sensor field of view (12), the method comprising:
- planning the driving trajectory (T) from a first point (A) to a second point (B), by including at least one additional vehicle manoeuvre resulting in a deviation from an otherwise expected travelling path from the first point (A) to the second point (B), so that each section of an area which the vehicle is intended to pass from the first point (A) to the second point (B) is covered in the sensor field of view (12) at least one time during driving from the first point (A) to the second point (B) and at least before passing each respective section. The invention further relates to a method for automatically driving a vehicle (100) along a driving trajectory (T), a processing unit (30), a control unit and to a vehicle (100).-
公开(公告)号：EP4398062A2
公开(公告)日：2024-07-10
申请号：EP24175864.8
申请日：2021-12-23
发明人： HULT, Robert , LJUNGQVIST, Oskar
IPC分类号： G05D1/00
CPC分类号： G05D2109/1020240101 , G05D2107/7320240101 , G05D2105/2820240101 , G05D2107/8420240101 , G05D1/2297 , G05D1/644
摘要： A computer-implemented method for optimizing a reference trajectory for an automated vehicle operating in a confined area, the reference trajectory comprising a sequence of reference data points representing a recorded trajectory for the vehicle when following a repeated or cyclical trajectory in the confined area, the method comprising: determining a geometrical projection of the sequence of reference data points for fitting the sequence of reference data points onto a candidate reference trajectory using a discretized projection operation, wherein the projection smooths the fit of the sequence of reference data to a set of data points forming the candidate reference trajectory subject to one or more constraints; quantifying a performance of at least one vehicle task to be performed by the vehicle along the reference trajectory in a simulation of the candidate trajectory; and optimizing the quantified performance to obtain an optimal reference trajectory for the vehicle in the confined area.
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公开(公告)号：EP4197887A1
公开(公告)日：2023-06-21
申请号：EP22212977.7
申请日：2022-12-13
发明人： WIBERG, Wilhelm , LJUNGQVIST, Oskar
摘要： The disclosure relates to a control system (1) for manoeuvring an automated vehicle (100), wherein the control system (1) comprises one or more obstacle detection sensors (10) which are configured to detect if an intended travelling path of the automated vehicle (100) is free from obstacles or not during manoeuvring of the automated vehicle (100), and wherein the control system (1) is further configured to utilize a plurality of predefined obstacle detection modes during manoeuvring of the automated vehicle (100), wherein the plurality of predefined obstacle detection modes have different levels of obstacle detection accuracy, wherein,
the control system (1) is further configured to select a specific obstacle detection mode from the plurality of predefined obstacle detection modes based on a specific driving mission and/or based on a specific area of operation for the automated vehicle (100) so that the specific obstacle detection mode is used during the specific driving mission and/or in the specific area of operation. The disclosure also relates to a method, a control unit, a vehicle, a computer program and a computer readable medium.-
公开(公告)号：EP4390321A1
公开(公告)日：2024-06-26
申请号：EP22214550.0
申请日：2022-12-19
CPC分类号： G01C21/3492 , G01C21/3453 , B60W40/06
摘要： A computer system (700) comprising a processor device (702) configured to determine at least one travelling path (40) for at least one vehicle (1) is provided. The processor device (702) is further configured to obtain an indication of wear of a drivable surface (10). The drivable surface (10) comprising a set of surface areas (20). The indication of wear is indicative of a wear of each respective surface area in the set of surface areas (20). The processor device (702) is further configured to, based on the indicated wear of the set of surface areas (20) of the drivable surface (10), determine the at least one travelling path (40) for the at least one vehicle (1).
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公开(公告)号：EP4325317A1
公开(公告)日：2024-02-21
申请号：EP22190589.6
申请日：2022-08-16
发明人： WIBERG, Wilhelm , LJUNGQVIST, Oskar
摘要： A method of controlling an autonomous vehicle (no), which is movable on a surface, comprises: obtaining a world model of the surface, by which each area of the surface is associated with a probabilistic occupancy score; determining, on the basis of the area's position, an occupancy threshold to be applied to an area of the surface; enabling movement of the AV into the area if the associated occupancy score is less than the determined occupancy threshold; and otherwise disabling movement into the area. In one embodiment, where the world model is obtained or updated based on measurement data from one or more sensors carried by the autonomous vehicle, the occupancy threshold is determined to be relatively lower if the area is outside a field of view of the sensors carried by the AV and relatively higher if the area is inside the field of view
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公开(公告)号：EP4202589A1
公开(公告)日：2023-06-28
申请号：EP21217504.6
申请日：2021-12-23
发明人： HULT, Robert , LJUNGQVIST, Oskar
IPC分类号： G05D1/02
摘要： A computer-implemented method optimizes a reference trajectory for an automated vehicle operating in a confined area, for example, a mine or construction site or the like. The reference trajectory comprises a sequence of reference data points. The method determines a projection of the sequence of reference data points for fitting the sequence of reference data points onto a candidate reference trajectory. The projection smooths the fit of the sequence of reference data to a set of data points forming the candidate reference trajectory subject to one or more constraints. The method quantifies a performance of at least one vehicle task to be performed by the vehicle along the reference trajectory in a simulation of the candidate trajectory and optimizes the quantified performance to obtain an optimal reference trajectory for the vehicle in the confined area.
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公开(公告)号：EP4105094A1
公开(公告)日：2022-12-21
申请号：EP21180047.9
申请日：2021-06-17
发明人： LJUNGQVIST, Oskar , HULT, Robert , WIGSTRÖM, Oskar
摘要： A method for generating a vehicle trajectory by optimizing a performance measure J . The trajectory may include a sequence of states x = x k k = 1 N of the vehicle. The optimization is subject to predefined vehicle dynamics x k +1 = f ( x k , u k ), where u k is a control input to the vehicle, and a condition that each position of the vehicle shall be close to a reference path X r . The vehicle's position is constrained inside a variable-width corridor around the reference path. A quantity r controlling the width of the corridor is included as an additional optimization variable and the performance measure includes a penalty on the corridor width. To define the corridor, each point of the reference path may be associated with a pair of laterally spaced ellipses and requiring each vehicle position to be outside the ellipses.
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