GB1408078A - Method of controlling a motion of a land vehicle - Google Patents

Method of controlling a motion of a land vehicle

Info

Publication number
GB1408078A
GB1408078A GB1352773A GB1352773A GB1408078A GB 1408078 A GB1408078 A GB 1408078A GB 1352773 A GB1352773 A GB 1352773A GB 1352773 A GB1352773 A GB 1352773A GB 1408078 A GB1408078 A GB 1408078A
Authority
GB
United Kingdom
Prior art keywords
vehicle
grating
detector
signals
image
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.)
Expired
Application number
GB1352773A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ernst Leitz Wetzlar GmbH
Original Assignee
Ernst Leitz Wetzlar GmbH
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
Priority claimed from DE2215576A external-priority patent/DE2215576C3/en
Priority claimed from DE2256885A external-priority patent/DE2256885A1/en
Priority claimed from DE2256915A external-priority patent/DE2256915A1/en
Priority claimed from DE2256850A external-priority patent/DE2256850A1/en
Application filed by Ernst Leitz Wetzlar GmbH filed Critical Ernst Leitz Wetzlar GmbH
Publication of GB1408078A publication Critical patent/GB1408078A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

1408078 Photo-electric speed measurement ERNST LEITZ GmbH 21 March 1973 [30 March 1972 20 Nov 1972 (3)] 13527/73 Heading G1A [Also in Division H4] In the automatic control of a motor vehicle e.g. by application of the brakes to overcome a skid Fig. 1 or the correction of the steering to overcome a front wheel skid Fig. 8 or the automatic application of the brakes to stop a collision with a vehicle following or preceding the vehicle, the velocity of the vehicle relative to the road and/or the other vehicle is optically detected by projecting an image of the road or the other vehicle on to an optical grating in such a manner as to produce, in pairs of photo-detectors, pairs of antiphase useful signals and pairs of in-phase interference signals whereby by subtracting the outputs of the photo-detectors an interference free indication of the velocity of the vehicle relative to the ground and the rate of increase of the image of the other vehicle is detected and when determined as indicating a dangerous condition causes said brake actuation or said steering correction. In the anti-skid embodiment Fig. 1 the output of the optical correlation speed detector 10 is fed to a comparator and servo-mechanism 26, 29 whereby the determined rate of speed is compared with safe thresholds and any detected danger causes actuation of one or more of the brake cylinders. The comparator and servomechanism 26, 29 is also fed with signals from means 30, 33, 31, 32 detecting the rotational speed of the road wheels, undue slip being determined as an unduly high difference between the rotational speed of the wheels and the relative speed of the vehicle to the ground. The detector 10 may comprise a single dimension embodiment Fig. 3 wherein an image of the road 1 is projected via a Wollaston prism 16 producing two slightly displaced images with different polarizations on a grating 5 having the grating aligned at right angles to the direction of movement of the vehicle. The two images after passing through the grating are separated out by polarization divider 7 and detected by respective photo-detectors 8 whereby the desired signals having their anti-phase wanted signals and in-phase interference signals are produced. A second one dimensional embodiment of detector 10 is shown at Fig. 4 whereby the grating is in this form a structure of aligned and adjacent prisms 5a, the image of the road 1 being split in two for the respective detectors 8 by refraction at the two surfaces of each prism. In a third one dimensional embodiment of detector 10 Fig. 4a the grating 5 may comprise sets of four stripes one transparent, one with one direction of polarization, one opaque and one with an orthogonal direction of polarization, the two images of the road being then separated out by polarization separating prisms 7. A slit aperture 6 may be inserted in the image path to improve the resolution. A two dimensional embodiment of the detector 10 uses a grating formed of pyramidal prisms Fig. (9). The four images are then detected by corresponding four detectors 8. A cross shaped aperture (6') Fig. 10 (not shown) may be inserted in the image path to improve resolution. The two dimensional detector 10' is used in the steering correction embodiment Fig. 8 whereby the lateral as well as axial relative velocity of the vehicle is detected and fed to a computer servo-mechanism 25' where it is compared with the actual steering position from detector 24 and with the rotational speed of the wheels from detector 30, 33 whereby any needed correction of the steering is produced for feeding to box 26. In the collision avoiding embodiment Figs. 11g and 12 the grating Fig. 11g is in the form of concentric circles with their spacing increasing with distance from the centre. Such a grating is placed in front of a quadrant detector 10 Fig. 12 whereby signals are produced indicating the rate of increase of the size of the image of the other vehicle such signals being produced from adder 34 and 34' and subtractor 35 and 35' the resulting vertical change and horizontal change of image size signals being fed to a computer 25' for possible comparison with a distance measuring system 27 and any necessary actuation of speed or brake servosystem 26', an approach speed indicator 40 and an audible or visual alarm 28'.
GB1352773A 1972-03-30 1973-03-21 Method of controlling a motion of a land vehicle Expired GB1408078A (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE2215576A DE2215576C3 (en) 1972-03-30 1972-03-30 Device for measuring, controlling and/or displaying the movement of land vehicles
DE2256885A DE2256885A1 (en) 1972-11-20 1972-11-20 METHODS OF MEASURING, CONTROLLING AND / OR DISPLAYING THE MOVEMENT OF LAND VEHICLES
DE2256915A DE2256915A1 (en) 1972-11-20 1972-11-20 METHODS OF MEASURING, CONTROLLING AND / OR DISPLAYING THE MOVEMENT OF LAND VEHICLES
DE2256850A DE2256850A1 (en) 1972-11-20 1972-11-20 METHODS OF MEASURING, CONTROLLING AND / OR DISPLAYING THE MOVEMENT OF LAND VEHICLES

Publications (1)

Publication Number Publication Date
GB1408078A true GB1408078A (en) 1975-10-01

Family

ID=27431469

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1352773A Expired GB1408078A (en) 1972-03-30 1973-03-21 Method of controlling a motion of a land vehicle

Country Status (7)

Country Link
CA (1) CA1015841A (en)
CH (1) CH564778A5 (en)
FR (1) FR2178219B1 (en)
GB (1) GB1408078A (en)
IT (1) IT991555B (en)
NL (1) NL7303957A (en)
SE (1) SE383568B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2214027A (en) * 1987-12-18 1989-08-23 Kone Elevator Gmbh Detecting moving objects
EP0945319A1 (en) * 1998-03-25 1999-09-29 Lucent Technologies Inc. Process for determining dynamic properties of motor vehicles
US6993159B1 (en) 1999-09-20 2006-01-31 Matsushita Electric Industrial Co., Ltd. Driving support system

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2454299C3 (en) * 1974-11-15 1982-03-11 Standard Elektrik Lorenz Ag, 7000 Stuttgart Device for contactless determination of the direction of a relative movement
DE3830747A1 (en) * 1988-09-09 1990-03-22 Freund Eckhard METHOD AND DEVICE FOR AUTOMATICALLY GUIDING THE LONGITUDINAL AND LATERAL MOVEMENTS OF A VEHICLE
DE3840456A1 (en) * 1988-12-01 1990-06-07 Bosch Gmbh Robert METHOD FOR INCREASING THE CONTROL OF A VEHICLE
GB8910507D0 (en) * 1989-05-08 1989-06-21 Lotus Group Plc A wheeled vehicle control system
DE3925831A1 (en) * 1989-08-04 1991-02-07 Bosch Gmbh Robert MOTOR VEHICLE CONTROL OR CONTROL SYSTEM

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2044366A5 (en) * 1969-05-19 1971-02-19 Schnerb Gilbert

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2214027A (en) * 1987-12-18 1989-08-23 Kone Elevator Gmbh Detecting moving objects
AU616710B2 (en) * 1987-12-18 1991-11-07 Kone Elevator Gmbh Procedure and apparatus for detecting objects moving at varying speeds within a certain area
US5073706A (en) * 1987-12-18 1991-12-17 Kone Elevator Gmbh Procedure and apparatus for detecting objects moving at varying speeds within a certain area
GB2214027B (en) * 1987-12-18 1992-03-25 Kone Elevator Gmbh Method and apparatus for detecting objects moving at varying speeds within a certain area
EP0945319A1 (en) * 1998-03-25 1999-09-29 Lucent Technologies Inc. Process for determining dynamic properties of motor vehicles
US6130706A (en) * 1998-03-25 2000-10-10 Lucent Technologies Inc. Process for determining vehicle dynamics
US6993159B1 (en) 1999-09-20 2006-01-31 Matsushita Electric Industrial Co., Ltd. Driving support system

Also Published As

Publication number Publication date
SE383568B (en) 1976-03-15
FR2178219B1 (en) 1976-05-07
CA1015841A (en) 1977-08-16
FR2178219A1 (en) 1973-11-09
CH564778A5 (en) 1975-07-31
NL7303957A (en) 1973-10-02
IT991555B (en) 1975-08-30

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
49R Reference inserted (sect. 9/1949)
PCNP Patent ceased through non-payment of renewal fee