US5220497A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for controlling high speed vehicles
Assignee: Philips North America LLC
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Filing: 1990-10-29
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Granted: 1993-06-15
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Expires: 2010-10-29
Abstract
Abstract Maneuvers of a controlled vehicle, such as a car, traveling at moderate to high speeds are planned by propagating cost waves in a configuration space using two search strategies referred to as budding and differential budding. Control is achieved by monitoring properties of the controlled vehicle and adjusting control parameters to achieve motion relative to a frame of reference. The frame of reference may change before the transformation to configuration space occurs. The method transforms goals, obstacles, and the position of the controlled vehicle in task space to a configuration space based on the position of these objects relative to a moving frame of reference. The method also determines a local neighborhood of possible motions based on the control capabilities of the vehicle. In one embodiment, the controlled parameters are time derivatives of the monitored properties. A variation of the method provides for the parallel computation of the configuration space. In one embodiment of the parallel computation, the case where two processes are used, a first process and configuration space would be used to plan. A second process and configuration space would be used to read the setpoints which are sent as control directives to the vehicle.
Inventors
- 👤 Karen I. Trovato
- 👤 Sandeep Mehta
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 18:27
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1656; B25J9/1664; B25J9/1666; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4061; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0268; G05D1/0272; G05D1/20; G05D1/24; G05D1/246; G06; G06F; G06F30/00; G06F30/10; G06F30/15; G06F30/18; G06Q; G06Q10/00; G06Q10/04; G06Q10/047; G08; G08G; G08G1/00; G08G1/16; G08G1/161; G08G9/00; B63; B63B; B63B49/00; B63G; B63G8/00; B63G8/14; B63H; B63H25/00; B63H25/02; B63H25/04; G05B2219/00; G05B2219/30; G05B2219/35; G05B2219/35415; G05B2219/40; G05B2219/40443; G05B2219/40448; G05B2219/40465; G05B2219/40471; G05B2219/40476; G05B2219/45; G05B2219/45131; G05B2219/49; G05B2219/49143
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
103 words
A method for controlling the motion of a vehicle in a physical task space comprising the steps of: generating a data set which represents a configuration space having a frame of reference which is moving relative to the physical space; propagating cost waves in the configuration space data set to create direction arrows; using the direction arrows to find a least cost path from a starting point to a goal point in the physical task space; and controlling one or more parameters affecting the motion of the vehicle after finding the least cost path in a manner that the vehicle follows the path.
Claim 2
Independent Claim
103 words
A method for controlling the motion of a vehicle in a physical task space comprising the steps of: generating a data set which represents a configuration space having a frame of reference which is moving relative to the physical space; propagating cost waves in the configuration space data set to create direction arrows; using the direction arrows to find a least cost path from a starting point to a goal point in the physical task space; and controlling one or more parameters affecting the motion of the vehicle after finding the least cost path in a manner that the vehicle follows the path.
Claim 3
Dependent Claim
22 words
The method of claim 1 wherein the step of generating the data set comprises monitoring one or more properties of the vehicle.
Claim 4
Dependent Claim
17 words
The method of claim 2 wherein the controlled parameters are the time derivatives of the monitored properties.
Claim 5
Dependent Claim
27 words
The method of claim 3 wherein the monitored properties are velocity components of the vehicle and wherein the controlled parameters are the acceleration components of the vehicle.
Claim 6
Dependent Claim
54 words
The method of claim 1 further comprising the steps of repetitively: updating the data set to reflect changes in the task space and or properties of the vehicle; repropagating cost waves in the configuration space data set to update the direction arrows; and modifying the path on the basis of the updated direction arrows.
Claim 7
Dependent Claim
37 words
The method of claim 5 wherein the step of propagating the cost waves comprises budding waves in the configuration space and wherein the step of repropagating the cost waves comprises differentially budding waves in the propagation space.
Claim 8
Dependent Claim
48 words
The method of claim 6 wherein the step of repropagating cost waves comprises: determining if a metric has changed in the configuration space; budding waves in the configuration space if the metric has changed; and differentially budding waves in the configuration space if the metric has not changed.
Claim 9
Independent Claim
240 words
A method for controlling the motion of a vehicle in a physical task space comprising the steps of: 1) generating a first data set which represents a first configuration space having a frame of reference which is moving relative to the physical space; 2) propagating cost waves in the configuration space data set to create first direction arrows; 3) using the first direction arrows to find a least cost first path from starting point to a goal point in the physical task space; and 4) controlling one or more parameters affecting the motion of the vehicle after finding the first least cost path in a manner that the vehicle follows the first path 5) while controlling the parameters in accordance with step 4): generating a second data set which represents a second configuration space having a frame of reference which is moving relative to the physical space; propagating cost waves in the second configuration space data set to create second direction arrows; using the second direction arrows to find a least cost second path from a starting point to a goal point in the physical task space; and then 6) controlling one or more parameters affecting the motion of the vehicle so that the vehicle follows the second path; and then 7) alternatingly repropagating cost waves and finding paths in the first and second data sets while controlling the parameters on the basis of the last most recently determined path.
Claim 10
Independent Claim
240 words
A method for controlling the motion of a vehicle in a physical task space comprising the steps of: 1) generating a first data set which represents a first configuration space having a frame of reference which is moving relative to the physical space; 2) propagating cost waves in the configuration space data set to create first direction arrows; 3) using the first direction arrows to find a least cost first path from starting point to a goal point in the physical task space; and 4) controlling one or more parameters affecting the motion of the vehicle after finding the first least cost path in a manner that the vehicle follows the first path 5) while controlling the parameters in accordance with step 4): generating a second data set which represents a second configuration space having a frame of reference which is moving relative to the physical space; propagating cost waves in the second configuration space data set to create second direction arrows; using the second direction arrows to find a least cost second path from a starting point to a goal point in the physical task space; and then 6) controlling one or more parameters affecting the motion of the vehicle so that the vehicle follows the second path; and then 7) alternatingly repropagating cost waves and finding paths in the first and second data sets while controlling the parameters on the basis of the last most recently determined path.
Claim 11
Dependent Claim
25 words
The method of claim 8 wherein the step of generating the second data set includes copying the first data set into the second data set.
Claim 12
Independent Claim
22 words
The method of any of claims 2, 5, or 8 wherein the least cost path is a path which minimizes fuel use.
Claim 13
Independent Claim
22 words
The method of any of claims 2, 5, or 8 wherein the least cost path is a path which minimizes distance travelled.
Claim 14
Dependent Claim
19 words
The method of claim 1 wherein the frame of reference moves with the same velocity as the controlled vehicle.
Claim 15
Dependent Claim
38 words
The method of claim 1 wherein the path is determined to avoid collisions with obstacles which are moving relative to the task space and the frame of reference moves with the same velocity as one of the obstacles.
Claim 16
Dependent Claim
25 words
The method of claim 1 wherein the vehicle is an automobile or the like moving at higher speed and the task space includes a highway.
Claim 17
Dependent Claim
22 words
The method of claim 1 wherein the vehicle is a submarine tracking another ship, while avoiding the ocean bottom and other obstacles.
Claim 18
Dependent Claim
19 words
The method of claim 1 wherein the choice of frame of reference changes due to changes in sensory information.
Claim 19
Dependent Claim
19 words
The method of claim 12 wherein the controlled vehicle is one of a plurality of vehicles moving in formation.
Claim 20
Independent Claim
112 words
A system for controlling the motion of a vehicle in a physical task space comprising: means for generating a data set which represents a configuration space having a frame of reference which is moving relative to the physical space; means for propagating cost waves in the configuration space data set to create direction arrows; means for using the direction arrows to find a least cost path from a starting point to a goal point in the physical task space; and means for controlling one or more parameters affecting the motion of the vehicle in response to the means for using the direction arrows in a manner that the vehicle follows the path.
Claim 21
Independent Claim
112 words
A system for controlling the motion of a vehicle in a physical task space comprising: means for generating a data set which represents a configuration space having a frame of reference which is moving relative to the physical space; means for propagating cost waves in the configuration space data set to create direction arrows; means for using the direction arrows to find a least cost path from a starting point to a goal point in the physical task space; and means for controlling one or more parameters affecting the motion of the vehicle in response to the means for using the direction arrows in a manner that the vehicle follows the path.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-06-14 | 1996-12-14 | 1997-06-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-06-14 | 2000-12-14 | 2001-06-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-06-14 | 2004-12-14 | 2005-06-15 | $7700.00 | Window Closed / Lapsed |