AR049963A1 - Sistema y metodo para controlar un vehiculo terrestre - Google Patents

Sistema y metodo para controlar un vehiculo terrestre

Info

Publication number
AR049963A1
AR049963A1 ARP050102790A ARP050102790A AR049963A1 AR 049963 A1 AR049963 A1 AR 049963A1 AR P050102790 A ARP050102790 A AR P050102790A AR P050102790 A ARP050102790 A AR P050102790A AR 049963 A1 AR049963 A1 AR 049963A1
Authority
AR
Argentina
Prior art keywords
vehicle
command
control
control circuit
oscillation
Prior art date
Application number
ARP050102790A
Other languages
English (en)
Inventor
Frederick W Nelson
Byron Keith Miller
Troy Eugene Schick
Original Assignee
Deere & Co
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 Deere & Co filed Critical Deere & Co
Publication of AR049963A1 publication Critical patent/AR049963A1/es

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Control de direccion automatizado en un método para controlar un vehículo terrestre. La presente se relaciona con un método para controlar un vehículo terrestre, para el control de direccion automatizado del vehículo o lo similar. El método de la presente incluye utilizar un receptor GPS o lo similar y un giroscopio inercial o lo similar para proveer el control de direccion automatizado del vehículo terrestre. Una diferencia entre un error de desviacion de curso y un comando de error lateral es alimentada en un circuito de control de error lateral, produciendo un comando de velocidad lateral. Entonces, la diferencia entre una velocidad lateral medida y el comando de velocidad lateral es alimentada a un circuito de control de velocidad lateral, produciendo un comando de régimen de oscilacion. Finalmente, se calcula la diferencia entre un régimen de oscilacion medido, el comando de régimen de oscilacion, y un régimen de oscilacion de curso curvo para la trayectoria deseada del vehículo y es cargada en un circuito de control de régimen de oscilacion, produciendo un comando de válvula para dirigir el vehículo terrestre sobre o hacia su trayectoria deseada. Se usan entradas tales como el deslizamiento medido de ruedas y lo similar para estimar la autoridad de direccion de las ruedas dirigidas del vehículo; la autoridad de direccion estimada y/o las acciones de un usuario conduciendo el vehículo se utilizan para ajustar la ganancia del circuito de control de régimen de oscilacion.
ARP050102790A 2004-07-06 2005-07-05 Sistema y metodo para controlar un vehiculo terrestre AR049963A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/885,316 US6901319B1 (en) 2004-07-06 2004-07-06 System and method for controlling a ground vehicle

Publications (1)

Publication Number Publication Date
AR049963A1 true AR049963A1 (es) 2006-09-20

Family

ID=34592779

Family Applications (1)

Application Number Title Priority Date Filing Date
ARP050102790A AR049963A1 (es) 2004-07-06 2005-07-05 Sistema y metodo para controlar un vehiculo terrestre

Country Status (7)

Country Link
US (1) US6901319B1 (es)
CN (1) CN1722038A (es)
AR (1) AR049963A1 (es)
AU (1) AU2005323450A1 (es)
BR (1) BRPI0512972A (es)
CA (1) CA2572801A1 (es)
WO (1) WO2006073471A2 (es)

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Publication number Priority date Publication date Assignee Title
US7715964B1 (en) * 2005-05-10 2010-05-11 Trimble Navigation, Ltd. Very low speed vehicle control algorithm operating in the spatial domain
US7894951B2 (en) 2005-10-21 2011-02-22 Deere & Company Systems and methods for switching between autonomous and manual operation of a vehicle
JP4192940B2 (ja) * 2005-11-18 2008-12-10 トヨタ自動車株式会社 移動体用位置推定装置
US8260499B2 (en) * 2007-05-01 2012-09-04 Deere & Company Automatic steering system and method for a work vehicle with feedback gain dependent on a sensed payload
US8180513B2 (en) * 2008-05-05 2012-05-15 Southwest Research Institute Autonomous ground vehicle control system for high-speed and safe operation
US8237389B2 (en) * 2008-11-12 2012-08-07 Irobot Corporation Multi mode safety control module
JP6697955B2 (ja) 2016-05-26 2020-05-27 株式会社クボタ 作業車及び作業車に適用される時間ベース管理システム
US10124827B2 (en) 2016-08-31 2018-11-13 Deere & Company Methods and apparatuses for determining estimates of a vehicle's wheel angle and the vehicle's steering ratio
US11136040B2 (en) * 2018-05-21 2021-10-05 Deere & Company IMU based traction control for wheeled or tracked machine
US10671070B2 (en) * 2018-05-23 2020-06-02 Baidu Usa Llc PID embedded LQR for autonomous driving vehicles (ADVS)
CN110471289B (zh) * 2019-08-28 2021-06-04 湖南大学 一种基于视觉导航移动设备的自适应路径跟踪方法及系统
US11531115B2 (en) * 2020-02-12 2022-12-20 Caterpillar Global Mining Llc System and method for detecting tracking problems
US20220304227A1 (en) * 2021-03-25 2022-09-29 Trimble Inc. Velocity control for improving cross track error of implement-equipped machines
CN113682296A (zh) * 2021-08-25 2021-11-23 中汽创智科技有限公司 一种基于级联pid的车辆横向控制方法、装置及车辆

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI942218A0 (fi) * 1994-05-13 1994-05-13 Modulaire Oy Automatiskt styrningssystem foer obemannat fordon
US5742919A (en) * 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically determining a lateral velocity of a motor vehicle
US5809434A (en) * 1996-04-26 1998-09-15 Ford Global Technologies, Inc. Method and apparatus for dynamically determically determining an operating state of a motor vehicle
US5742918A (en) * 1996-04-26 1998-04-21 Ford Global Technologies, Inc. Method and apparatus for dynamically compensating a lateral acceleration of a motor vehicle
JP2003534180A (ja) * 1999-12-29 2003-11-18 デルファイ・テクノロジーズ・インコーポレーテッド 電動式パワーステアリングシステムを組み込んだ自動車の安定性を改良するための方法及びシステム
AU2001291299A1 (en) * 2000-09-08 2002-03-22 Raytheon Company Path prediction system and method
US6671595B2 (en) * 2002-01-08 2003-12-30 Ford Global Technologies, Llc Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
US6658342B1 (en) * 2002-06-05 2003-12-02 Delphi Technologies, Inc. Vehicle stability control
GB2394702A (en) * 2002-10-30 2004-05-05 Trw Ltd Video enhanced stability control in road vehicles
US6789014B1 (en) * 2003-05-09 2004-09-07 Deere & Company Direct modification of DGPS information with inertial measurement data

Also Published As

Publication number Publication date
CN1722038A (zh) 2006-01-18
AU2005323450A1 (en) 2006-07-13
BRPI0512972A (pt) 2008-04-22
US6901319B1 (en) 2005-05-31
WO2006073471A3 (en) 2006-08-31
CA2572801A1 (en) 2006-07-13
WO2006073471A2 (en) 2006-07-13

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