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    • 38. 发明申请
    • DRIVING SYSTEM OF UNMANNED VEHICLE AND DRIVING PATH GENERATION METHOD
    • 无人驾驶驾驶系统及驾驶路径生成方法
    • US20130325208A1
    • 2013-12-05
    • US13634264
    • 2011-11-22
    • Kenta OsagawaTomonori OzakiKoji TakedaTakashi Hiranaka
    • Kenta OsagawaTomonori OzakiKoji TakedaTakashi Hiranaka
    • G05D1/02
    • G05D1/0212E02F9/205G05D1/0217G05D1/0278G05D1/12G05D2201/0202G05D2201/021
    • Based on initial position information on an instructed fixed switch-back point and position information on a loading point, a relative positional relationship between the loading point and the switch-back point is generated. If the position of the loading point moves, then based on position information on the position- moved loading point, information on a direction of an unmanned vehicle at the loading point and information on a relative positional relationship, a new switch-back point is set at a position where the relative positional relationship can be maintained. When the initial position of the switch-back point is instructed, then on the basis of the initial position information on the switch-back point, a driving path leading to the loading point via the instructed switch-back point is generated and, when the position of the loading point moves, a driving path leading to the position-moved loading point via the new switch-back point is generated.
    • 基于指示的固定切换点的初始位置信息和加载点上的位置信息,生成加载点和切换点之间的相对位置关系。 如果装载点的位置移动,则基于位置移动装载点的位置信息,关于装载点上的无人驾驶车辆的方向的信息和关于相对位置关系的信息,设定新的切换点 在可以维持相对位置关系的位置。 当指示切换点的初始位置时,根据切换点上的初始位置信息,生成通过指示切换点通向加载点的驱动路径,当 加载点的位置移动,产生经由新的切换点通向位置移动加载点的驱动路径。
    • 39. 发明授权
    • Apparatus and method for controlling travel of vehicles
    • 用于控制车辆行驶的装置和方法
    • US08566009B2
    • 2013-10-22
    • US13508570
    • 2010-11-08
    • Tomonori OzakiKoji Takeda
    • Tomonori OzakiKoji Takeda
    • G08G1/00G05D1/00G05B19/4061
    • G06Q50/30G05D1/0297G05D2201/0202G06Q10/047G08G1/096816G08G1/164
    • A method for causing vehicles to travel improves work efficiency by minimizing stop time of the vehicles while avoiding deadlock, wherein reservation-requested routes are generated for the respective vehicles. The reservation-requested routes are parts of travel routes and between the current positions and travel stop positions, and are generated in so that a position not interfering with an interference region shown on a map and the terminal position of the reservation-requested routes for other vehicles becomes a terminal. Then, an already reserved route, is generated on conditions that the reservation-requested route for the vehicle does not interfere with the already reserved routes for the other vehicles and that deadlock does not occur. Then, the respective vehicles are controlled to travel from the current positions to the terminal positions of the already reserved routes.
    • 一种用于使车辆行驶的方法通过最小化车辆的停止时间同时避免死锁来提高工作效率,其中为各车辆生成预约请求的路线。 预留请求的路线是行进路线的一部分,在当前位置和行驶停止位置之间,并且被生成为使得不干扰地图上所示的干扰区域的位置和其他的预约请求路线的终端位置 车辆成为终端。 然后,在车辆的预约请求路线不干扰已经预留的其他车辆的路线并且不发生死锁的条件下,产生已经预留的路线。 然后,各车辆被控制为从当前位置行驶到已预留路线的终端位置。