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 Title: |
US5436839:
Navigation module for a semi-autonomous vehicle
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Dausch, Mark E.; Latham, NY
Carey, Bernard J.; Schenectady, NY
Bonissone, Piero P.; Schenectady, NY
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| Assignee: |
Martin Marietta Corporation, Syracuse, NY
other patents from MARTIN-MARIETTA CORPORATION (355180) (approx. 693)
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| Published / Filed: |
1995-07-25
/ 1992-10-26
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| Application Number: |
US1992000966472
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| IPC Code: |
Advanced:
G01C 21/00;
G05B 13/02;
G05D 1/02;
Core:
more...
IPC-7:
G06F 165/00;
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| ECLA Code: |
G05D1/02E3D; G05D1/02E3L; G05D1/02E6;
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| U.S. Class: |
Current:
701/027;
348/135;
700/259;
701/028;
Original:
364/449;
395/094;
348/135;
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| Field of Search: |
364/424.02,449,460,461
318/587
382/001,19,25,26
395/003,61,94
348/113,118,119,135,148
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| Priority Number: |
| 1992-10-26 |
US1992000966472 |
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| Abstract: |
A fuzzy logic based navigation module for use on a semi-autonomous vehicle computes the safety of moving from predefined local regions to adjacent local regions for the purpose of planning a safe path for the vehicle to take to reach its intended destination. Image understanding software provides the input to the system in the form of values for linguistic variables for each local region which impact the safe movement of the vehicle. Using a five level hierarchial rule base structure, the fuzzy inference process computes intermediate and final safety values which are affected not only by local conditions but also by nearby conditions in order to allow a minimum clearance for the vehicle.
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| Attorney, Agent or Firm: |
Checkovich, Paul ;
Young, Stephen A. ;
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| Primary / Asst. Examiners: |
Teska, Kevin J.; Zanelli, Michael
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| Maintenance Status: |
E1 Expired Check current status
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| INPADOC Legal Status: |
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| Designated Country: |
DE ES FR GB IT
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| Family: |
Show 8 known family members
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First Claim:
Show all 9 claims |
What is claimed is:
1. In a navigation system for a semi-autonomous vehicle comprising sensors for sensing conditions on terrain within sensor range and producing raw image data about said terrain, and an image understanding module for extracting features from said raw data in the form of feature data for a plurality of local regions on said terrain, a method for processing said feature data to determine the relative safety of moving said semi-autonomous vehicle from each said local region to an adjacent local region, said method comprising the steps of:
- defining linguistic variables for each of said features using fuzzy membership distributions;
- defining fuzzy rules which determine a safety value for a given combination of values for said linguistic variables; and
- for each local region, inputting values for said linguistic variables to said fuzzy rules and determining an output safety value using a fuzzy inference process.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 3 U.S. patent(s) that reference this one
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