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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：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：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：US20140214469A1
公开(公告)日：2014-07-31
申请号：US14240907
申请日：2012-08-22
IPC分类号： G06Q10/06
CPC分类号： G06Q10/063114 , G06Q10/00 , G06Q30/00
摘要： Methods and apparatus for determining actions to be performed by a plurality of assets such that a predetermined task is performed. Methods comprise receiving, by a task decomposition module (105), task information that specifies the predetermined task; using the task information, determining, by the task decomposition module (105), a plurality of sub-tasks, the sub-tasks being such that if each of those sub-tasks were performed, the predetermined task would be performed; using information relating to the plurality of assets and the determined sub-tasks, assigning, by an assignment module (115), each sub-task to an asset; for each asset to which a sub-task has been assigned, and for each sub-task assigned to that asset, determining, by a planner module (120), one or more actions, an action determined for an asset and sub-task being such that, if that action is performed by that asset, that sub-task is performed.
摘要翻译： 用于确定由多个资产执行以执行预定任务的动作的方法和装置。 方法包括由任务分解模块（105）接收指定所述预定任务的任务信息; 使用任务信息，由任务分解模块（105）确定多个子任务，所述子任务使得如果执行了这些子任务中的每一个，则执行预定任务; 使用与所述多个资产相关的信息和所确定的子任务，通过分配模块（115）将每个子任务分配给资产; 对于分配给子任务的每个资产和分配给该资产的每个子任务，通过计划模块（120）确定一个或多个动作，为资产和子任务确定的动作为 使得如果由该资产执行该动作，则执行该子任务。
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