公开(公告)号：US20190265714A1

公开(公告)日：2019-08-29

申请号：US16285542

申请日：2019-02-26

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： John E. Ball ,  Reuben F. Burch, V ,  Lucas D. Cagle ,  Collin S. Davenport ,  James R. Gafford ,  Tyler J. Hannis ,  Andrew R. Hegman ,  Andrew M. LeClair ,  Yucheng Liu ,  Michael S. Mazzola ,  Howard G. McKinney ,  Tasmia Reza ,  Jian Shi ,  Pan Wei ,  Dennison W. Iacomini

IPC: G05D1/02 ,  G01S17/93 ,  G06N5/04 ,  G06N3/08

Abstract: Enhanced systems and methods for collision avoidance of a high value asset with reflective beacons around it using multi-sensor data fusion on a mobile industrial vehicle. The system has a sensing processing system with a LiDAR and camera sensors, and a multi-processor module responsive to the different sensors. The sensing processing system fuses the different sensor data to locate the reflective beacons. A model predictive controller on the vehicle determines possible control solutions where each defines a threshold allowable speed for the vehicle at discrete moments based upon an estimated path to a breaching point projected from the reflective beacons, and then identifies an optimal one of the control solutions based upon a performance cost function and associated with an optimal threshold allowable speed. The system has a vehicle actuator configured to respond and alter vehicle movement to avoid a collision when the vehicle exceeds the optimal threshold allowable speed.

公开(公告)号：US10761538B2

公开(公告)日：2020-09-01

申请号：US16285542

申请日：2019-02-26

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： John E. Ball ,  Reuben F. Burch, V ,  Lucas D. Cagle ,  Collin S. Davenport ,  James R. Gafford ,  Tyler J. Hannis ,  Andrew R. Hegman ,  Andrew M. LeClair ,  Yucheng Liu ,  Michael S. Mazzola ,  Howard G. McKinney ,  Tasmia Reza ,  Jian Shi ,  Pan Wei ,  Dennison W. Iacomini

IPC: G06F7/70 ,  G05D1/02 ,  G06N3/08 ,  G06N5/04 ,  G01S17/931

Abstract: Enhanced systems and methods for collision avoidance of a high value asset with reflective beacons around it using multi-sensor data fusion on a mobile industrial vehicle. The system has a sensing processing system with a LiDAR and camera sensors, and a multi-processor module responsive to the different sensors. The sensing processing system fuses the different sensor data to locate the reflective beacons. A model predictive controller on the vehicle determines possible control solutions where each defines a threshold allowable speed for the vehicle at discrete moments based upon an estimated path to a breaching point projected from the reflective beacons, and then identifies an optimal one of the control solutions based upon a performance cost function and associated with an optimal threshold allowable speed. The system has a vehicle actuator configured to respond and alter vehicle movement to avoid a collision when the vehicle exceeds the optimal threshold allowable speed.