| 摘要 |
<p>An obstacle advisory system determines the likely trajectory 16 of a vehicle and possible waypoints 17, 18 and 19 at predetermined intervals DELTA chi along the trajectory 16. The system determines if the trajectory 16 is straight or curved and dependent on this determination uses an associated equation to determine the distance DELTA chi between waypoints 17, 18 and 19 along the likely trajectory 16. <??>For a straight trajectory the interval DELTA chi between waypoints 17, 18 and 19 is calculated by: <DF> DELTA x = 2<SQRT>R<2> - y<2></SQRT> </DF> where R is the radius of a spherical region 20, 21 or 22 around the vehicle and y is the radius of a notional minimum sphere that encloses the vehicle. <??>Then analysis determines whether or not a region 20, 21 or 22 centred around its respective possible waypoint 17, 18 and 19 includes an obstacle. If the region 20, 21 and 22 does not include a obstacle then the system can disregard the volume enclosed by the region 20, 21 or 22 from further analysis thereby saving processing. Alternatively, the system subdivides the region into smaller regions for further analysis and determination as to whether or not the region still includes the obstacle. <??>The results are displayed to an operator of the vehicle. Calculation of waypoints for a likely curved trajectory is also disclosed. <IMAGE></p> |
