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System and method for improving collision avoidance in a fixity ground support system using fusion of Multisensor Detection

机译:用于使用多传感器检测融合改善固定地面支持系统中的碰撞避免的系统和方法

摘要

Systems and methods for improving collision avoidance for high value assets with reflective beacons around them use multi-sensor data fusion in mobile industrial vehicles. The system has a sensing processing system with LiDAR and a camera sensor, and a multiprocessor module that responds to different sensors. The sensing processing system fuses different sensor data to locate the reflective beacon. The model prediction controller on the vehicle determines the possible control solutions, and each control solution defines the threshold permissible speed of the vehicle at discrete moments based on the estimated path to the bleaching point projected from the reflection beacon. Then, based on the performance cost function, identify the optimal control solution associated with the optimal threshold tolerance. The system has a vehicle actuator configured to change in response to vehicle movement to avoid a collision when the vehicle exceeds an optimal threshold permissible speed.
机译:用于改善具有反射信标在它们周围的高价值资产的碰撞避免的系统和方法使用移动工业车辆中的多传感器数据融合。 该系统具有带LIDAR和相机传感器的传感处理系统,以及响应不同传感器的多处理器模块。 感测处理系统熔化不同的传感器数据以定位反射信标。 车辆上的模型预测控制器决定了可能的控制解决方案,并且每个控制解决方案基于从反射灯壁投影的漂白点的估计路径来定义车辆的阈值允许速度。 然后,基于性能成本函数,识别与最佳阈值公差相关的最佳控制解决方案。 该系统具有车辆致动器,该车辆致动器被配置为响应于车辆运动而改变,以避免当车辆超过最佳阈值允许速度时的碰撞。

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