公开(公告)号：WO2019165409A1

公开(公告)日：2019-08-29

申请号：PCT/US2019/019525

申请日：2019-02-26

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： BALL, John, E. ,  BURCH V, Reuben, F. ,  CAGLE, Lucas, D. ,  DAVENPORT, Collin, S. ,  GAFFORD, James, R. ,  HANNIS, Tyler, J. ,  HEGMAN, Andrew, R. ,  LECLAIR, Andrew, M. ,  LIU, Yucheng ,  MAZZOLA, Michael, S. ,  MCCKINNEY, Howard, G. ,  REZA, Tasmia ,  SHI, Jian ,  WEI, Pan ,  IACOMINI, Dennison, W.

IPC: B60Q1/26 ,  B60Q1/48 ,  G01S15/00 ,  G01S15/93 ,  G05D5/02

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：WO2019165409A9

公开(公告)日：2019-08-29

申请号：PCT/US2019/019525

申请日：2019-02-26

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： BALL, John, E. ,  BURCH V, Reuben, F. ,  CAGLE, Lucas, D. ,  DAVENPORT, Collin, S. ,  GAFFORD, James, R. ,  HANNIS, Tyler, J. ,  HEGMAN, Andrew, R. ,  LECLAIR, Andrew, M. ,  LIU, Yucheng ,  MAZZOLA, Michael, S. ,  MCCKINNEY, Howard, G. ,  REZA, Tasmia ,  SHI, Jian ,  WEI, Pan ,  IACOMINI, Dennison, W.

IPC: B60Q1/26 ,  B60Q1/48 ,  G01S15/00 ,  G01S15/93 ,  G05D5/02

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.