IE842728L - Vehicle control and guidance system - Google Patents

Vehicle control and guidance system

Info

Publication number
IE842728L
IE842728L IE842728A IE272884A IE842728L IE 842728 L IE842728 L IE 842728L IE 842728 A IE842728 A IE 842728A IE 272884 A IE272884 A IE 272884A IE 842728 L IE842728 L IE 842728L
Authority
IE
Ireland
Prior art keywords
vehicle
reference points
vectors
guidance system
vehicle control
Prior art date
Application number
IE842728A
Other versions
IE55783B1 (en
Original Assignee
Gen Electric Co Plc
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 Gen Electric Co Plc filed Critical Gen Electric Co Plc
Publication of IE842728L publication Critical patent/IE842728L/en
Publication of IE55783B1 publication Critical patent/IE55783B1/en

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)

Abstract

A vehicle control and guidance system in which a desired route for the vehicle is stored in the vehicle in the form of co-ordinates in a ground reference frame. The "vectors" between these junction points are divided by successive reference points into incremental vectors, the reference points being generated ahead of the vehicle at regular intervals. A dead reckoning system predicts the position of the vehicle at the end of each interval and this estimate is corrected, using a Kalman filter, by an independant fixed-target detection system using a scanning laser. The error between the estimated vehicle position and the local incremental vector provides a steering angle correction for the vehicle and the vehicle speed is dependent upon the lag of the vehicle behind the generation of reference points. [GB2158965A]
IE2728/84A 1984-05-16 1984-10-23 Vehicle control and guidance system IE55783B1 (en)

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
IE842728L true IE842728L (en) 1985-11-16
IE55783B1 IE55783B1 (en) 1991-01-16

Family

ID=10561015

Family Applications (1)

Application Number Title Priority Date Filing Date
IE2728/84A IE55783B1 (en) 1984-05-16 1984-10-23 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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DE3519277A1 (en) * 1985-05-30 1986-12-04 Robert Bosch Gmbh, 7000 Stuttgart NAVIGATION PROCEDURE FOR VEHICLES
US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
DE3709627A1 (en) * 1987-03-24 1988-10-13 Fraunhofer Ges Forschung SELF-DRIVING VEHICLE
JP2707546B2 (en) * 1987-05-06 1998-01-28 日産自動車株式会社 Vehicle steering control device
JP2676737B2 (en) * 1987-06-26 1997-11-17 日産自動車株式会社 Vehicle steering control device
JPS647110A (en) * 1987-06-29 1989-01-11 Nissan Motor Steering controller for vehicle
US5663879A (en) * 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
FR2648581A1 (en) * 1989-06-16 1990-12-21 Commissariat Energie Atomique METHOD FOR CREATING AND TRACKING A TRACK FOR A VEHICLE SUCH AS A ROBOT
JP3002206B2 (en) * 1989-06-22 2000-01-24 神鋼電機株式会社 Travel control method for mobile robot
AU642638B2 (en) * 1989-12-11 1993-10-28 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
EP0457064A1 (en) * 1990-05-14 1991-11-21 Siemens Aktiengesellschaft Method for driving a mobile system
US5281901A (en) 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5187664A (en) 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5127486A (en) * 1990-11-23 1992-07-07 Eaton-Kenway, Inc. System for sensing arrival of an automatic guided vehicle at a wire
US5175415A (en) 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
JP2802560B2 (en) * 1992-02-24 1998-09-24 本田技研工業株式会社 Mobile steering control device
JP3485336B2 (en) * 1992-09-08 2004-01-13 キャタピラー インコーポレイテッド Method and apparatus for determining the position of a vehicle
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
ZA957639B (en) * 1994-10-24 1996-05-24 Caterpillar Inc System and method for precisely determining an operating point for an autonomous vehicle
US5916285A (en) * 1995-10-18 1999-06-29 Jervis B. Webb Company Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle
US6092010A (en) * 1997-09-03 2000-07-18 Jervis B. Webb Company Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles
KR19990049291A (en) * 1997-12-12 1999-07-05 정몽규 Vehicle induction signal supply
DE19938345C1 (en) * 1999-08-13 2001-02-15 Isocom Automationssysteme Gmbh Method and device for detecting the position of a vehicle in a predetermined area, in particular a storage facility, and warehouse management method and system
GB2353909B (en) * 1999-08-28 2004-03-17 John Alfred Cawkwell Robot positioning and motion mechanism
US6721638B2 (en) * 2001-05-07 2004-04-13 Rapistan Systems Advertising Corp. AGV position and heading controller
DE10148976A1 (en) * 2001-10-04 2003-04-30 Overmeyer Ludger Transponder control of an unmanned vehicle, involves using elements embedded in road surface
DE10344528A1 (en) * 2003-09-25 2005-04-28 Volkswagen Ag Assembled vehicle testing method e.g. for testing if vehicle is operational, involves manipulating transport of vehicle to respective test and or manipulation of individual functions of vehicle within test
US8210791B2 (en) 2004-05-03 2012-07-03 Jervis B. Webb Company Automatic transport loading system and method
US8192137B2 (en) 2004-05-03 2012-06-05 Jervis B. Webb Company Automatic transport loading system and method
WO2005108246A2 (en) 2004-05-03 2005-11-17 Jervis B. Webb Company Automatic transport loading system and method
US8075243B2 (en) 2004-05-03 2011-12-13 Jervis B. Webb Company Automatic transport loading system and method
US7980808B2 (en) 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
KR100883520B1 (en) * 2007-07-23 2009-02-13 한국전자통신연구원 Method and apparatus for providing indoor eco-map
AU2012201565B2 (en) * 2011-03-18 2015-11-12 The Raymond Corporation Mast and integral display mount for a material handling vehicle
US20140176714A1 (en) * 2012-12-26 2014-06-26 Automotive Research & Test Center Collision prevention warning method and device capable of tracking moving object
DE102014204983A1 (en) * 2014-03-18 2015-09-24 Robert Bosch Gmbh Control device and method for determining the position of a vehicle
DE102014007794A1 (en) 2014-05-24 2014-10-23 Daimler Ag Method for operating a vehicle control system
PL3253692T3 (en) * 2015-02-05 2021-05-17 Grey Orange Pte. Ltd. Apparatus and method for handling goods
CN105573321B (en) * 2016-01-05 2018-05-01 国家电网公司 A kind of Intelligent Mobile Robot air navigation aid based on laser rail
JP6973393B2 (en) * 2016-07-29 2021-11-24 日本電産株式会社 Mobile guidance systems, mobiles, guidance devices and computer programs
GB2574448A (en) * 2018-06-07 2019-12-11 Jaguar Land Rover Ltd Apparatus and method controlling a process
AU2020202307A1 (en) 2019-04-02 2020-10-22 The Raymond Corporation Mast and supplementary object detection system for a material handling device
CN111026125B (en) * 2019-12-26 2023-10-10 上海信耀电子有限公司 Automatic correction method for automatic navigation trolley

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US4108269A (en) * 1976-08-31 1978-08-22 Kabushiki Kaisha Komatsu Seisakusho No-man control system for working vehicles
US4347573A (en) * 1978-10-30 1982-08-31 The Singer Company Land-vehicle navigation system
GB2042217B (en) * 1979-02-05 1983-08-17 Volvo Ab Self-piloting vehicle
DE2925656A1 (en) * 1979-06-26 1981-01-15 Blaupunkt Werke Gmbh METHOD AND DEVICE FOR TARGETING AGRICULTURAL VEHICLES
JPS57182209A (en) * 1981-04-30 1982-11-10 Mitsubishi Electric Corp Traveling error correcting device of unattended carrying vehicle
JPS58144214A (en) * 1982-02-19 1983-08-27 Kubota Ltd Automatic traveling vehicle of teaching playback system
FR2526181A1 (en) * 1982-04-30 1983-11-04 Traitement Information Tech Nl Control system for autonomous transportation carriages - uses microprocessor to calculate position from beacons reflecting acoustic signals from on-board emitter

Also Published As

Publication number Publication date
DE3490712C2 (en) 1996-09-19
WO1985005474A1 (en) 1985-12-05
KR920008053B1 (en) 1992-09-21
GB8412425D0 (en) 1984-06-20
GB2158965B (en) 1988-05-18
FR2564614A1 (en) 1985-11-22
JPS61502149A (en) 1986-09-25
IE55783B1 (en) 1991-01-16
DE3490712T1 (en) 1986-09-18
CA1230399A (en) 1987-12-15
FR2564614B1 (en) 1988-12-09
CH667930A5 (en) 1988-11-15
SE457023B (en) 1988-11-21
KR860700161A (en) 1986-03-31
SE8600169D0 (en) 1986-01-15
SE8600169L (en) 1986-01-15
GB2158965A (en) 1985-11-20

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Legal Events

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