To develop a system which enables arrayed travel by recognizing the position of the own vehicle without using a GPS.SOLUTION: A system comprises wheel pulsers which detect the rotation of wheels on steering wheels (front wheels) and non-steering wheels (rear wheels), detects the steering wheel speed (distance) and the non-steering wheel speed (distance), calculates the actual steering angle of the steering wheels from a ratio of the detected steering wheel speed (distance) to the non-steering wheel speed (distance), obtains the revolution center position (namely, the intersection point of the steering wheel rotation center line and the non-steering wheel rotation center line) by calculating the rotation radius of the actual steering angle by dividing the wheel base by sine (sin) of the calculated actual steering angle, includes a yaw sensor which detects the yawing speed (yaw rate) of the vehicle body, calculates the gravity center rotation radius from the yaw rate detected by the yaw sensor and above-mentioned non-steering wheel speed, and obtains the intersection point of the gravity center rotation radius arc and the vehicle axial line, namely the gravity center position from the revolution center position.SELECTED DRAWING: Figure 3
【課題】GPSを用いずとも自車位置認識して隊列走行するシステムを開発する。【解決手段】操舵輪(前輪)と非操舵輪(後輪)に車輪の回転を検出する車輪パルサーを備え、操舵輪速度(距離)及び非操舵輪速度(距離)を検出する。次に、検出した操舵輪速度(距離)と非操舵輪速度(距離)の比から操舵輪の実舵角を算出する。次いで、算出した実舵角の正弦(sin)で、ホィールベースを除して実舵角の回転半径を算出して旋回中心位置(即ち、操舵輪回転中心線と非操舵輪回転中心線との交点)を求める。更に、車体の遍揺速度(ヨーレイト)を検出するヨーセンサを備え、ヨーセンサによって検出したヨーレイトと上述の非操舵輪速度から重心回転半径を算出する。更に、その次に、旋回中心位置から重心回転半径円弧と車軸線との交点、即ち重心位置を求める。【選択図】図3
ARRAYED TRAVEL METHOD BASED ON WHEEL PULSE SIGNAL
車輪パルス信号に基づく隊列走行方法
2021-06-03
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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