DE3490712T1 - Vehicle control and guidance system - Google Patents

Vehicle control and guidance system

Info

Publication number
DE3490712T1
DE3490712T1 DE19843490712 DE3490712T DE3490712T1 DE 3490712 T1 DE3490712 T1 DE 3490712T1 DE 19843490712 DE19843490712 DE 19843490712 DE 3490712 T DE3490712 T DE 3490712T DE 3490712 T1 DE3490712 T1 DE 3490712T1
Authority
DE
Germany
Prior art keywords
vehicle
course
incremental
segments
bearing angle
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
DE19843490712
Other languages
German (de)
Other versions
DE3490712C2 (en
Inventor
Peter Joseph Reeve
Malcolm Thomas West Midlands Roberts
Michael Philip Warwickshire Robins
Original Assignee
The General Electric Co. p.l.c., London
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 The General Electric Co. p.l.c., London filed Critical The General Electric Co. p.l.c., London
Publication of DE3490712T1 publication Critical patent/DE3490712T1/en
Pending legal-status Critical Current

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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • 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
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

- Leerseite -- blank page -

Claims (14)

: : 3A90712 11114 THE GENERAL ELECTRIC COMPANY, p.I.e., London, England Patentansprüche:: 3A90712 11114 THE GENERAL ELECTRIC COMPANY, p.I.e., London, England claims 1. Fahrzeugsteuerungs- und -leitsystem mit einem Fahrzeug, das einen Bewegungsantrieb aufweist, einer Lenkeinrichtung zum Steuern der Bahn des Fahrzeugs, einer Koppelnavigationseinrichtung zum Bestimmen der Position und des Kurses des Fahrzeugs auf inkrementeller Basis, einer elektromagnetischen Peileinrichtung zur sequentiellen Bestimmung des Peilwinkels eines oder mehrerer fester Bezugsziele relativ zum Fahrzeug, einer Einrichtung zum Korrigieren der Koppelnavigationsbestimmungen der Fahrzeugposition und des Fahrzeugkurses in Abhängigkeit von den Bezugsziel-Peilwinkelbestimmungen, einer Einrichtung zum Vorgeben einer gewünschten Bahn (Route) für das Fahrzeug und einer Einrichtung zum Steuern des Bewegungsantriebs in Abhängigkeit von Fehlern (Abweichungen) zwischen der korrigierten Bestimmung der Fahrzeugposition und der gewünschten Bahn.1. Vehicle control and guidance system with a vehicle that has a motion drive, a Steering device for controlling the path of the vehicle, a dead reckoning device for determining the position and course of the vehicle on an incremental basis, an electromagnetic bearing device for sequential determination of the bearing angle of one or more fixed reference targets relative to the vehicle, a device for correcting dead reckoning provisions of the vehicle's position and the vehicle course as a function of the reference target bearing angle determinations, a device for specifying a desired path (route) for the vehicle and a device for controlling the movement drive depending on errors (deviations) between the corrected determination of the Vehicle position and the desired path. 2. System nach Anspruch 1,
dadurch gekennzeichnet, daß die Einrichtung zum Vorgeben einer gewünschten Bahn eine Speichereinrichtung zum Speichern der Bahn in Form einer Folge geradliniger Segmente und eine2. System according to claim 1,
characterized in that the means for specifying a desired path includes memory means for storing the path in the form of a series of rectilinear segments and a Einrichtung zum Umwandeln des Übergangs der geradlinigen Segmente in stetig (weich) gekrümmte Ubergangssegmente aufweist.Means for converting the transition of the rectilinear Has segments in continuously (soft) curved transition segments. 3. System nach Anspruch 2,3. System according to claim 2, gekennzeichnet durch
eine Einrichtung zum Speichern einer zulässigen maximalen Fahrzeuggeschwindigkeit und einer zulässigen Bahnbreite für jedes gerade und gekrümmte Segment in Abhängigkeit von den örtlichen Bahnbedingungen. marked by
means for storing an allowable maximum vehicle speed and an allowable track width for each straight and curved segment as a function of the local track conditions. 4. System nach Anspruch 3,
dadurch gekennzeichnet ,4. System according to claim 3,
characterized , daß die Einrichtung zum Umwandeln des Übergangs in gekrümmte Übergangssegmente eine Einrichtung zum
Berechnen des Radius der Krümmung eines gekrümmten Segments als nicht weniger als die Hälfte des Wertes der Bahnbreite und, wenn verschiedene Bahnbreiten an dem Übergang vorhanden sind, die Hälfte des Wertes der größeren der beiden Bahnbreiten aufweist.that the means for converting the transition into curved transition segments means for
Calculate the radius of curvature of a curved segment to be no less than half the value of the web width and, if there are different web widths at the transition, half the value of the larger of the two web widths. 5. System nach einem der Ansprüche 2 bis 4,
da du rch gekennzeichnet,5. System according to one of claims 2 to 4,
characterized, daß die Koppelnavigationseinrichtung eine Einrichtung zum Abschätzen der Position und des Kurses des Fahrzeugs nach jeder Folge von Zeit- und Weginkrementen von der Position und dem Kurs des Fahrzeugs am Anfang des Inkrements aus und in Abhängigkeitthat the dead reckoning means means for estimating the position and course of the Vehicle after each sequence of time and distance increments and as a function of the position and course of the vehicle at the beginning of the increment von der Vorwärts- und Drehbewegung des Fahrzeugs
während dieses Inkrements aufweist.on the forward and turning motion of the vehicle
has during this increment. 6. System nach Anspruch 5,
gekennzeichnet durch6. System according to claim 5,
marked by eine Einrichtung zum Vorhersagen des Peilwinkelsmeans for predicting the bearing angle eines der Bezugsziele von dem Fahrzeug aus auf derone of the reference targets from the vehicle on the Basis der abgeschätzten Position des Fahrzeugs und der zuletzt bestimmten Position des Bezugsziels.Based on the estimated position of the vehicle and the last determined position of the reference target. 7. System nach Anspruch 6,
gekennzeichnet durch eine Einrichtung zur Feststellung einer Peilwinkelfehlerdiffereriz zwischen dem vorhergesagten Peilwinkel des Ziels und dem Peilwinkel des Ziels, der durch die elektromagnetische Peileinrichtung bestimmt worden ist, eine Kaiman-Filtereinrichtung zur Bildung von Korrekturprodukten, bei denen es sich um Produkte aus dem Peilwinkelfehler und Kaiman-Verstärkungsfaktoren bei allen Positionskoordinaten und dem Fahrzeugkurs handelt, und eine Einrichtung zum Summieren der Korrekturprodukte und der jeweiligen Schätzwerte der Position und des Kurses, die durch die Koppelnavigationseinrichtung abgegeben werden, wobei die Summen die besten Schätzwerte der Position und des Kurses des Fahrzeugs bilden. 7. System according to claim 6,
characterized by a device for determining a bearing angle error difference between the predicted bearing angle of the target and the bearing angle of the target which has been determined by the electromagnetic bearing device, a Kalman filter device for the formation of correction products, which are products of the bearing angle error and Kaiman Gain factors for all position coordinates and the vehicle course, and means for summing the correction products and the respective estimates of the position and course given by the dead reckoning device, the sums forming the best estimates of the position and course of the vehicle. 8. System nach Anspruch 7,
gekennzeichnet durch eine Einrichtung zur Eingabe der besten Schätzwerte in die Koppelnavigationseinrichtung als Basis, auf der der Schätzwert der Fährzeugposition und des Fahrzeugkurses beim nächsten Inkrement ermittelt wird.8. System according to claim 7,
characterized by a device for inputting the best estimated values into the dead reckoning device as a basis on which the estimated value of the vehicle position and the vehicle course is determined in the next increment. 9. System nach einem der Ansprüche 2 bis 4, gekennzeichnet durch eine Einrichtung zum sequentiellen Erzeugen der Koordinaten inkrementeller Bezugspunkte auf den Segmenten, die inkrementelle Vektoren definieren, wobei der Abstand zwischen diesen Punkten gleich dem Produkt der maximal zulässigen Geschwindigkeit für die-9. System according to one of claims 2 to 4, characterized by a device for sequentially generating the coordinates incremental reference points on the segments that define incremental vectors, where the distance between these points is equal to the product of the maximum permissible speed for this- ses Segment und einem Basiszeitinkrement ist.this segment and a base time increment. 10. System nach Anspruch 7,
gekennzeichnet durch eine Einrichtung zum Speichern einer zulässigen Maximalfahrzeuggeschwindigkeit und einer zulässigen Bahnbreite für jedes der gerad- und krummlinigen Segmente in Abhängigkeit von örtlichen Bahnbedingungen, eine Einrichtung zum sequentiellen Erzeugen der Koordinaten inkrementeller Bezugspunkte auf den Segmenten, die inkrementelle Vektoren definieren, wobei der Abstand zwischen diesen Punkten gleich dem Produkt aus der maximal zulässigen Geschwindigkeit für dieses Segment und einem Basiszeitinkrement ist, eine Fehlerfeststelleinrichtung zum Vergleichen der besten Schätzwerte der Fahrzeugposition und des Kurses mit der Position und dem Kurs des nächsten inkrementellen Vektors und zum Erzeugen von Weg- und Kursfehlersignalen und eine Einrichtung zum Erzeugen eines Lenkwinkelsollwertsignals in Abhängigkeit von den Weg- und Kursfehlersignalen.10. System according to claim 7,
characterized by means for storing an allowable maximum vehicle speed and an allowable path width for each of the straight and curvilinear segments depending on local path conditions, means for sequentially generating the coordinates of incremental reference points on the segments defining incremental vectors, the distance between them Points is equal to the product of the maximum permissible speed for this segment and a base time increment, an error detection device for comparing the best estimates of the vehicle position and course with the position and course of the next incremental vector and for generating distance and course error signals and a device for generating a steering angle setpoint signal as a function of the path and course error signals. 11. System nach Anspruch 10,
dadurch gekennzeic h η et, daß die Feststelleinrichtung eine Einrichtung zum Transformieren der Koordinaten der besten Schätzwerte der Fahrzeugposition und des Kurses in einen Bezugsrahmen mit einer Koordinatenachse, die mit einem örtlichen inkrementellen Vektor zusammenfällt und einen Nullpunkt aufweist, der mit dem Bezugspunkt zusammenfällt, zu dem der örtliche inkrementelle Vektor gerichtet ist, aufweist.11. System according to claim 10,
characterized in that the determining means includes means for transforming the coordinates of the best estimates of vehicle position and course into a frame of reference having a coordinate axis coinciding with a local incremental vector and having a zero point coinciding with the reference point to which the local incremental vector is directed. 12. System nach Anspruch 10 oder 11,12. System according to claim 10 or 11, gekennzeichnet -durch eine Einrichtung zum Bilden eines Geschwindigkeits-marked by a device for forming a speed sollwertsignals für das Fahrzeug in Abhängigkeit von der Anzahl der Bezugspunkte, die vor der Fahrzeugposition erzeugt werden.setpoint signal for the vehicle as a function of the number of reference points in front of the vehicle position be generated. 13. System nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet , daß die Peileinrichtung eine Laserstrahlquelle, die eine azimutale Abtastung bewirkt und eine Einrichtung zum Feststellen des Peilwinkels eines Zielreflektors relativ zum Kurs des Fahrzeugs anhand der Richtung des reflektierten Strahls aufweist.13. System according to one of the preceding claims, characterized in that that the direction finding device is a laser beam source which effects azimuthal scanning and a device for determining the bearing angle of a target reflector relative to the course of the vehicle using the Has direction of the reflected beam. 14. Fahrzeugsteuerungs- und -leitsystem im wesentlichen wie beschrieben in Verbindung mit den beigefügten Zeichnungen.14. Vehicle control and guidance system essentially as described in connection with the accompanying drawings.
DE19843490712 1984-05-16 1984-10-19 Vehicle control and guidance system Pending DE3490712T1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB08412425A GB2158965B (en) 1984-05-16 1984-05-16 Driverless vehicle

Publications (1)

Publication Number Publication Date
DE3490712T1 true DE3490712T1 (en) 1986-09-18

Family

ID=10561015

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19843490712 Pending DE3490712T1 (en) 1984-05-16 1984-10-19 Vehicle control and guidance system
DE3490712A Expired - Lifetime DE3490712C2 (en) 1984-05-16 1984-10-19 Driverless vehicle control and guidance system

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE3490712A Expired - Lifetime DE3490712C2 (en) 1984-05-16 1984-10-19 Driverless vehicle control and guidance system

Country Status (10)

Country Link
JP (1) JPS61502149A (en)
KR (1) KR920008053B1 (en)
CA (1) CA1230399A (en)
CH (1) CH667930A5 (en)
DE (2) DE3490712T1 (en)
FR (1) FR2564614B1 (en)
GB (1) GB2158965B (en)
IE (1) IE55783B1 (en)
SE (1) SE457023B (en)
WO (1) WO1985005474A1 (en)

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Also Published As

Publication number Publication date
GB2158965B (en) 1988-05-18
WO1985005474A1 (en) 1985-12-05
IE55783B1 (en) 1991-01-16
KR920008053B1 (en) 1992-09-21
FR2564614B1 (en) 1988-12-09
CA1230399A (en) 1987-12-15
SE8600169L (en) 1986-01-15
GB8412425D0 (en) 1984-06-20
DE3490712C2 (en) 1996-09-19
FR2564614A1 (en) 1985-11-22
GB2158965A (en) 1985-11-20
SE8600169D0 (en) 1986-01-15
JPS61502149A (en) 1986-09-25
KR860700161A (en) 1986-03-31
SE457023B (en) 1988-11-21
CH667930A5 (en) 1988-11-15
IE842728L (en) 1985-11-16

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