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公开(公告)号：US20140012493A1
公开(公告)日：2014-01-09
申请号：US13980328
申请日：2012-01-10
IPC分类号： G01C21/00
摘要： A method and apparatus for determining a trajectory for a vehicle are disclosed, wherein the method can include identifying a starting position (p0) for the vehicle; identifying a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), the desired terminal position (P), and the linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by requirements that: an acceleration of the vehicle during the trajectory is less than a threshold value for the acceleration; and the threshold value for the acceleration is dependent on an infinity norm of a velocity of the vehicle. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中该方法可以包括识别车辆的起始位置（p0）; 识别车辆的期望的终端位置（P）; 线性近似车辆动力学; 并且使用起始位置（p0），期望的终端位置（P）和线性近似来确定车辆的轨迹。 线性近似可以通过以下要求来限制：在轨迹期间车辆的加速度小于加速度的阈值; 并且加速度的阈值取决于车辆速度的无穷大范数。 车辆可能具有曲率极限。
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公开(公告)号：US20130304368A1
公开(公告)日：2013-11-14
申请号：US13980321
申请日：2012-01-10
IPC分类号： G01C21/00
摘要： A method and apparatus are disclosed for determining a trajectory for a vehicle, wherein the method includes: identifying a starting position (p0) for the vehicle; identifying a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), the desired terminal position (P), and the linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by a requirement (e.g., specification) that a magnitude of a velocity of the vehicle is greater than or equal to a threshold value for the velocity. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中所述方法包括：识别所述车辆的起始位置（p0）; 识别车辆的期望的终端位置（P）; 线性近似车辆动力学; 并且使用起始位置（p0），期望的终端位置（P）和线性近似来确定车辆的轨迹。 线性近似可以通过车辆速度的大小大于或等于速度的阈值的要求（例如，规范）来约束。 车辆可以具有曲率极限。
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公开(公告)号：US20140058657A1
公开(公告)日：2014-02-27
申请号：US13980514
申请日：2012-01-10
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G05D1/0212 , G09B23/10
摘要： A method and apparatus for determining a trajectory for a vehicle can include: identifying a starting position (p0) and desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), terminal position (P), and linear approximation, determining the trajectory; wherein the linear approximation can be constrained by a requirement (e.g., specification) that the vehicle may not travel in a region; a centre point of the region is at a distance from a predetermined point on the vehicle substantially equal to a minimum turn radius of the vehicle, in a direction substantially perpendicular to a velocity of the vehicle; and a distance from the centre point of the region to a point on a perimeter of the region is greater than or substantially equal to the minimum turn radius of the vehicle.
摘要翻译： 用于确定车辆的轨迹的方法和装置可以包括：识别车辆的起始位置（p0）和期望的终点位置（P）; 线性近似车辆动力学; 并使用起始位置（p0），终端位置（P）和线性近似，确定轨迹; 其中所述线性近似可以由所述车辆不能在区域中行进的要求（例如，规范）来约束; 该区域的中心点在与车辆的速度基本垂直的方向上与车辆上的预定点基本上等于车辆的最小转弯半径成一定距离; 并且从该区域的中心点到该区域的周边上的点的距离大于或基本上等于车辆的最小转弯半径。
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公开(公告)号：US09074896B2
公开(公告)日：2015-07-07
申请号：US13980514
申请日：2012-01-10
CPC分类号： G01C21/00 , G05D1/0212 , G09B23/10
摘要： A method and apparatus for determining a trajectory for a vehicle can include: identifying a starting position (p0) and desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), terminal position (P), and linear approximation, determining the trajectory; wherein the linear approximation can be constrained by a requirement (e.g., specification) that the vehicle may not travel in a region; a center point of the region is at a distance from a predetermined point on the vehicle substantially equal to a minimum turn radius of the vehicle, in a direction substantially perpendicular to a velocity of the vehicle; and a distance from the center point of the region to a point on a perimeter of the region is greater than or substantially equal to the minimum turn radius of the vehicle.
摘要翻译： 用于确定车辆的轨迹的方法和装置可以包括：识别车辆的起始位置（p0）和期望的终点位置（P）; 线性近似车辆动力学; 并使用起始位置（p0），终端位置（P）和线性近似，确定轨迹; 其中所述线性近似可以由所述车辆不能在区域中行进的要求（例如，规范）来约束; 该区域的中心点在与车辆的速度基本垂直的方向上与车辆上的预定点基本上等于车辆的最小转弯半径成一定距离; 并且从该区域的中心点到该区域的周边上的点的距离大于或基本上等于车辆的最小转弯半径。
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公开(公告)号：US09046372B2
公开(公告)日：2015-06-02
申请号：US13980321
申请日：2012-01-10
摘要： A method and apparatus are disclosed for determining a trajectory for a vehicle, wherein the method includes: identifying a starting position (p0) for the vehicle; identifying a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), the desired terminal position (P), and the linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by a requirement (e.g., specification) that a magnitude of a velocity of the vehicle is greater than or equal to a threshold value for the velocity. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中所述方法包括：识别所述车辆的起始位置（p0）; 识别车辆的期望的终端位置（P）; 线性近似车辆动力学; 并且使用起始位置（p0），期望的终端位置（P）和线性近似来确定车辆的轨迹。 线性近似可以通过车辆速度的大小大于或等于速度的阈值的要求（例如，规范）来约束。 车辆可以具有曲率极限。
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公开(公告)号：US09074895B2
公开(公告)日：2015-07-07
申请号：US13980328
申请日：2012-01-10
摘要： A method and apparatus for determining a trajectory for a vehicle are disclosed, wherein the method can include identifying a starting position (p0) for the vehicle; identifying a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), the desired terminal position (P), and the linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by requirements that: an acceleration of the vehicle during the trajectory is less than a threshold value for the acceleration; and the threshold value for the acceleration is dependent on an infinity norm of a velocity of the vehicle. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中该方法可以包括识别车辆的起始位置（p0）; 识别车辆的期望的终端位置（P）; 线性近似车辆动力学; 并且使用起始位置（p0），期望的终端位置（P）和线性近似来确定车辆的轨迹。 线性近似可以通过以下要求来限制：在轨迹期间车辆的加速度小于加速度的阈值; 并且加速度的阈值取决于车辆速度的无穷大范数。 车辆可以具有曲率极限。
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公开(公告)号：US09043144B2
公开(公告)日：2015-05-26
申请号：US13980324
申请日：2012-01-10
摘要： A method and apparatus for determining a trajectory for a vehicle are disclosed, wherein, the method includes: identifying a starting position (p0) and a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), desired terminal position (P), and linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by requirements (e.g., specifications) that: (i) an acceleration applied to the vehicle at a point on the trajectory is relatively large when the acceleration acts in a direction that is substantially perpendicular to the velocity of the vehicle; and (ii) an acceleration applied to the vehicle at a point on the trajectory is relatively small when the acceleration acts in a direction that is substantially parallel to the velocity of the vehicle. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中，所述方法包括：识别车辆的起始位置（p0）和期望的终点位置（P）; 线性近似车辆动力学; 并使用起始位置（p0），期望的终端位置（P）和线性近似，确定车辆的轨迹。 线性近似可以由要求（例如，规格）来约束：（i）当加速度基本上垂直于车辆速度的方向作用时，施加到轨迹上的点处的车辆的加速度相对较大 ; 以及（ii）当加速度基本上平行于车辆的速度的方向作用时，在轨迹上的点处施加到车辆的加速度相对较小。 车辆可以具有曲率极限。
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公开(公告)号：US20130304369A1
公开(公告)日：2013-11-14
申请号：US13980324
申请日：2012-01-10
IPC分类号： G01C21/00
摘要： A method and apparatus for determining a trajectory for a vehicle are disclosed, wherein, the method includes: identifying a starting position (p0) and a desired terminal position (P) for the vehicle; linearly approximating dynamics of the vehicle; and using the starting position (p0), desired terminal position (P), and linear approximation, determining the trajectory for the vehicle. The linear approximation can be constrained by requirements (e.g., specifications) that: (i) an acceleration applied to the vehicle at a point on the trajectory is relatively large when the acceleration acts in a direction that is substantially perpendicular to the velocity of the vehicle; and (ii) an acceleration applied to the vehicle at a point on the trajectory is relatively small when the acceleration acts in a direction that is substantially parallel to the velocity of the vehicle. The vehicle may have a curvature limit.
摘要翻译： 公开了一种用于确定车辆的轨迹的方法和装置，其中，所述方法包括：识别车辆的起始位置（p0）和期望的终点位置（P）; 线性近似车辆动力学; 并使用起始位置（p0），期望的终端位置（P）和线性近似，确定车辆的轨迹。 线性近似可以由要求（例如，规格）来约束：（i）当加速度基本上垂直于车辆速度的方向作用时，施加到轨迹上的点处的车辆的加速度相对较大 ; 以及（ii）当加速度基本上平行于车辆的速度的方向作用时，在轨迹上的点处施加到车辆的加速度相对较小。 车辆可以具有曲率极限。
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公开(公告)号：US20130013551A1
公开(公告)日：2013-01-10
申请号：US13635562
申请日：2011-03-04
IPC分类号： G06N7/02
摘要： An apparatus and method are disclosed for analysing a process. An exemplary method includes: generating a process template; and determining a probabilistic model specifying the process template. The method can include use of task nodes for tasks of the process; observables nodes for observables that may be caused by performance of the tasks; and a background activities node, wherein observables may further be caused by background activities of the background node. The method can include use of task nodes for tasks of the process; observables nodes for observables that may be caused by performance of the tasks; and a background activities node, observables may further be caused by background activities of the background node. The method can include measuring values of an observable corresponding to one of the observables nodes; and updating a probabilistic estimate of the process state using the measured values.
摘要翻译： 公开了一种用于分析过程的装置和方法。 示例性方法包括：生成过程模板; 以及确定指定所述过程模板的概率模型。 该方法可以包括使用任务节点来处理该过程的任务; 可观察的可观察的节点，可能由执行任务引起; 以及背景活动节点，其中可观测资料还可以由背景节点的背景活动引起。 该方法可以包括使用任务节点来处理该过程的任务; 可观察的可观察的节点，可能由执行任务引起; 和背景活动节点，可观测资料还可能由背景节点的背景活动引起。 该方法可以包括测量与可观察节点之一相对应的观测值的值; 以及使用所述测量值来更新所述过程状态的概率估计。
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公开(公告)号：US20130006577A1
公开(公告)日：2013-01-03
申请号：US13635193
申请日：2011-03-08
IPC分类号： G06F17/18
CPC分类号： G06T7/208 , G01S13/726 , G06T7/277
摘要： An apparatus and a method are disclosed for tracking a plurality of targets (e.g. land-based vehicles). The method can include: for a first time-step, estimating a state of each respective target; at a second time-step, measuring values for a state of each target; for the second time-step, estimating a state of each target using the estimated target states for the first time-step; updating the estimated target states for the second time-step by performing a Joint Probabilistic Data Association process using the measured values; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular.
摘要翻译： 公开了用于跟踪多个目标（例如陆基车辆）的装置和方法。 该方法可以包括：对于第一时间步长，估计每个相应目标的状态; 在第二时间步长测量每个目标的状态的值; 对于所述第二时间步长，使用所述第一时间步长的估计目标状态来估计每个目标的状态; 通过使用测量值执行联合概率数据关联过程来更新第二时间步长的估计目标状态; 以及执行身份管理过程以估计特定状态测量对应于特定状态测量的概率。
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