GB1471745A - Method of automatically steering a vehicle - Google Patents

Method of automatically steering a vehicle

Info

Publication number
GB1471745A
GB1471745A GB3370674A GB3370674A GB1471745A GB 1471745 A GB1471745 A GB 1471745A GB 3370674 A GB3370674 A GB 3370674A GB 3370674 A GB3370674 A GB 3370674A GB 1471745 A GB1471745 A GB 1471745A
Authority
GB
United Kingdom
Prior art keywords
voltage
feedback
steering
tacho
vehicle
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
GB3370674A
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of GB1471745A publication Critical patent/GB1471745A/en
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/14—Control of position or direction using feedback using an analogue comparing device
    • G05D3/1445—Control of position or direction using feedback using an analogue comparing device with a plurality of loops
    • G05D3/1463—Control of position or direction using feedback using an analogue comparing device with a plurality of loops using PID devices
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Landscapes

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

Abstract

1471745 Automatic steering ROBERT BOSCH GmbH 31 July 1974 [1 Aug 1973] 33706/74 Heading G3R A vehicle is automatically steered to follow a guide track defined by an alternating electromagnetic field by a system in which differential voltages induced in two respective pairs of coils 1, 2 carried by the vehicle, at front and rear, are added, are directly, the other inverted, at a summing point S together with a third feedback, voltage VG derived from a steering angle transducer 36, the summed voltage Us being compared with the output of the steering angle transducer to form a steering control voltage U ST , for steering motor 33. The voltages are such that straight line travel corresponds to a voltage from S equal to half the supply voltage. The coils 1, 2 are connected to S through devices 3, 4 which derive the differential voltages from the coil pairs, "on course" being equal to half the supply; these are connected as shown to operational amplifiers 6, 21, the latter of which carries out the inversion. A potentiometer 29 provides for proportioning between the front and rear differential voltages. A further operational amplifier circuit 16 adds an error rate term to the point S. The amount of feedback voltage UG can be adjusted at 40. In a modification, Fig. 2 (not shown) the feedback is automatically increased with increasing vehicle speed for steering angles above a speed dependent limit by a circuit including further operational amplifiers connected to the feedback circuit through diodes and receiving the output of a tachogenerator. When the amplified tacho.voltage is above the feedback level the diodes block and no modification is made, but when the feedback voltage exceeds that of the tacho, on tight turns, the diodes conduct so that the tacho voltage is added to that of the steering angle feedback. The characteristic of the tacho. may be modified, possibly to be made non-linear, by a circuit illustrated in Fig. 5 (not shown).
GB3370674A 1973-08-01 1974-07-31 Method of automatically steering a vehicle Expired GB1471745A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2338889A DE2338889C2 (en) 1973-08-01 1973-08-01 Method for steering a vehicle

Publications (1)

Publication Number Publication Date
GB1471745A true GB1471745A (en) 1977-04-27

Family

ID=5888528

Family Applications (1)

Application Number Title Priority Date Filing Date
GB3370674A Expired GB1471745A (en) 1973-08-01 1974-07-31 Method of automatically steering a vehicle

Country Status (3)

Country Link
DE (1) DE2338889C2 (en)
FR (1) FR2239375B3 (en)
GB (1) GB1471745A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2330580A1 (en) * 1975-11-06 1977-06-03 Logisticon Inc Underfloor cable guidance for automatic vehicle - has forward and reverse sensors as e.g. pair of coils spanning guide cable
FR2434072A1 (en) * 1978-08-25 1980-03-21 Albaret Sa DEVICE FOR STEERING AND SPEED CONTROL OF A MOTOR VEHICLE
DE3072048D1 (en) * 1980-12-31 1987-12-03 Jungheinrich Kg Load transport vehicle with driving means for high speeds in both directions
FR2610427B1 (en) * 1987-02-04 1995-09-29 Protee SYSTEM AND METHOD FOR MONITORING THE RUNNING OF A SELF-CONTAINED VEHICLE

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1208391B (en) * 1961-06-20 1966-01-05 Philips Nv Device for automatic steering of a freely moving vehicle along a conductor through which alternating current flows
DE1808442A1 (en) * 1968-11-12 1970-06-11 Siemens Ag Control of a motor vehicle along a conductor laid in the roadway

Also Published As

Publication number Publication date
DE2338889A1 (en) 1975-02-13
FR2239375B3 (en) 1976-10-15
DE2338889C2 (en) 1983-09-15
FR2239375A1 (en) 1975-02-28

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
PCNP Patent ceased through non-payment of renewal fee