WO2010130479A3 - Method and arrangement for track control, in particular of mobile vehicles - Google Patents

Method and arrangement for track control, in particular of mobile vehicles Download PDF

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Publication number
WO2010130479A3
WO2010130479A3 PCT/EP2010/053323 EP2010053323W WO2010130479A3 WO 2010130479 A3 WO2010130479 A3 WO 2010130479A3 EP 2010053323 W EP2010053323 W EP 2010053323W WO 2010130479 A3 WO2010130479 A3 WO 2010130479A3
Authority
WO
WIPO (PCT)
Prior art keywords
travel
arrow
vehicle
track control
mobile vehicles
Prior art date
Application number
PCT/EP2010/053323
Other languages
German (de)
French (fr)
Other versions
WO2010130479A2 (en
Inventor
Ulrich-Lorenz Benzler
Anke Svensson
Andreas Pfeil
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2010130479A2 publication Critical patent/WO2010130479A2/en
Publication of WO2010130479A3 publication Critical patent/WO2010130479A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow

Abstract

The invention relates to a method for track control, in particular of mobile vehicles (10a, 10b). According to the invention, the vehicle (10a, 10b) comprises at least one image capturing device (14, 15, 16) which is connected to an evaluation device (19). The at least one image capturing device (14, 15, 16) records image information in and counter to the direction of travel (arrow 11) of the vehicle (10a, 10b), guides said information to the evaluation device (19) as an input variable, which determines, by means of an evaluation algorithm (A), modifications (Evorne, Ehinten) of the image information recorded in the direction of travel (arrow 11) and counter to the direction of travel (arrow 11). The modifications (Evorne, Ehinten) are combined together in the evaluation device (19) in order to detect an angular offset (α) between and actual path (26) provided in relation to a vertical axis (27) and a desired path (25) or a lateral offset (D) of an actual path (28) of the vehicle (10a, 10b) provided in relation to a desired path (25).
PCT/EP2010/053323 2009-05-13 2010-03-16 Method and arrangement for track control, in particular of mobile vehicles WO2010130479A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009003061A DE102009003061A1 (en) 2009-05-13 2009-05-13 Method and device for web control, in particular of mobile vehicles
DE102009003061.1 2009-05-13

Publications (2)

Publication Number Publication Date
WO2010130479A2 WO2010130479A2 (en) 2010-11-18
WO2010130479A3 true WO2010130479A3 (en) 2011-02-24

Family

ID=42978891

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/053323 WO2010130479A2 (en) 2009-05-13 2010-03-16 Method and arrangement for track control, in particular of mobile vehicles

Country Status (2)

Country Link
DE (1) DE102009003061A1 (en)
WO (1) WO2010130479A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012221572A1 (en) * 2012-11-26 2014-05-28 Robert Bosch Gmbh Autonomous locomotion device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5483453A (en) * 1992-04-20 1996-01-09 Mazda Motor Corporation Navigation control system with adaptive characteristics
DE19614916A1 (en) * 1996-04-16 1997-11-06 Detlef Raupach Floor cleaning robot vehicle for use in rooms
US5961571A (en) * 1994-12-27 1999-10-05 Siemens Corporated Research, Inc Method and apparatus for automatically tracking the location of vehicles
JP2007178358A (en) * 2005-12-28 2007-07-12 Aisin Aw Co Ltd System and method for route guidance
EP1962254A2 (en) * 2007-02-13 2008-08-27 Hitachi, Ltd. In-vehicle apparatus for recognizing running environment of vehicle
JP2009054173A (en) * 2008-10-06 2009-03-12 Toyota Motor Corp Device for deciding vehicle travel road
DE102007043534A1 (en) * 2007-09-12 2009-03-19 Robert Bosch Gmbh Arrangement for detecting an environment
EP2042962A1 (en) * 2007-09-27 2009-04-01 Hitachi Ltd. Driving support system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005000651A1 (en) * 2005-01-04 2006-07-13 Robert Bosch Gmbh Method for determining the intrinsic motion of a vehicle
JP4676373B2 (en) * 2006-04-27 2011-04-27 株式会社デンソー Peripheral recognition device, peripheral recognition method, and program
DE102007016802B3 (en) * 2007-04-05 2008-05-15 Miele & Cie. Kg Self-propelled tilling device e.g. robot, navigating method, involves determining driving direction by evaluating determined vectors and by controlling distance to preceding tracks, and forming meander/spiral shaped preset track

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5483453A (en) * 1992-04-20 1996-01-09 Mazda Motor Corporation Navigation control system with adaptive characteristics
US5961571A (en) * 1994-12-27 1999-10-05 Siemens Corporated Research, Inc Method and apparatus for automatically tracking the location of vehicles
DE19614916A1 (en) * 1996-04-16 1997-11-06 Detlef Raupach Floor cleaning robot vehicle for use in rooms
JP2007178358A (en) * 2005-12-28 2007-07-12 Aisin Aw Co Ltd System and method for route guidance
EP1962254A2 (en) * 2007-02-13 2008-08-27 Hitachi, Ltd. In-vehicle apparatus for recognizing running environment of vehicle
DE102007043534A1 (en) * 2007-09-12 2009-03-19 Robert Bosch Gmbh Arrangement for detecting an environment
EP2042962A1 (en) * 2007-09-27 2009-04-01 Hitachi Ltd. Driving support system
JP2009054173A (en) * 2008-10-06 2009-03-12 Toyota Motor Corp Device for deciding vehicle travel road

Also Published As

Publication number Publication date
DE102009003061A1 (en) 2010-11-18
WO2010130479A2 (en) 2010-11-18

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