BRPI0512972A - método e sistema para controlar um veìculo - Google Patents

método e sistema para controlar um veìculo

Info

Publication number
BRPI0512972A
BRPI0512972A BRPI0512972-9A BRPI0512972A BRPI0512972A BR PI0512972 A BRPI0512972 A BR PI0512972A BR PI0512972 A BRPI0512972 A BR PI0512972A BR PI0512972 A BRPI0512972 A BR PI0512972A
Authority
BR
Brazil
Prior art keywords
vehicle
yaw rate
command
measured
control loop
Prior art date
Application number
BRPI0512972-9A
Other languages
English (en)
Inventor
Frederick William Nelson
Troy Eugene Schick
Byron Keith Miller
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 BRPI0512972A publication Critical patent/BRPI0512972A/pt

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

MéTODO E SISTEMA PARA CONTROLAR UM VEìCULO A presente invenção diz respeito a um método para controlar um veículo terrestre, paro controle automático de direção do veículo, ou algo parecido. O método da presente invenção inclui usar um receptor GPS ou algo parecido e um giroscópio inercial ou algo parecido para fornecer controle automático de direção do veículo terrestre. Uma diferença entre um erro de desvio da trilha medido e um comando de erro lateral é alimentado em um laço de controle de erro lateral, produzindo um comando de velocidade lateral. Em seguida, uma diferença entre uma velocidade lateral medida e o comando de velocidade lateral é alimentada em um laço de controle de velocidade lateral, produzindo uma comando de taxa de guinada. Finalmente, uma diferença entre a taxa de guinada medida, o comando da taxa de guinada, e uma taxa de guinada de trajetória curva para o caminho visado do veículo é computada e alimentada em um laço de controle da taxa de guinada, produzindo um comando de válvula para direcionar o veículo terrestre no seu caminho visado, ou em direção a ele. Entradas tais como deslizamento da roda medida e similares são usadas para estimar o controle de direção das rodas dirigidas do veículo; o controle de direção estimado e/ou as ações de um usuário que dirige o veículo são usados para ajustar o ganho do laço de controle da taxa de guinada.
BRPI0512972-9A 2004-07-06 2005-05-23 método e sistema para controlar um veìculo BRPI0512972A (pt)

Applications Claiming Priority (2)

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
PCT/US2005/017911 WO2006073471A2 (en) 2004-07-06 2005-05-23 System and method for controlling a ground vehicle

Publications (1)

Publication Number Publication Date
BRPI0512972A true BRPI0512972A (pt) 2008-04-22

Family

ID=34592779

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0512972-9A BRPI0512972A (pt) 2004-07-06 2005-05-23 método e sistema para controlar um veìculo

Country Status (7)

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

Families Citing this family (14)

* Cited by examiner, † Cited by third party
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
WO2007048003A2 (en) 2005-10-21 2007-04-26 Deere & Company Versatile robotic control module
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
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
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
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
EP1246746B1 (en) * 1999-12-29 2010-02-17 Delphi Technologies, Inc. Method and system for improving motor vehicle stability incorporating an electric power steering system
WO2002021156A2 (en) * 2000-09-08 2002-03-14 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
WO2006073471A3 (en) 2006-08-31
AU2005323450A1 (en) 2006-07-13
AR049963A1 (es) 2006-09-20
WO2006073471A2 (en) 2006-07-13
CA2572801A1 (en) 2006-07-13
US6901319B1 (en) 2005-05-31

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Legal Events

Date Code Title Description
B11A Dismissal acc. art.33 of ipl - examination not requested within 36 months of filing
B11Y Definitive dismissal - extension of time limit for request of examination expired [chapter 11.1.1 patent gazette]