Data processing: measuring – calibrating – or testing – Measurement system – Speed
Patent
1997-12-29
1999-07-27
Assouad, Patrick
Data processing: measuring, calibrating, or testing
Measurement system
Speed
702143, 702147, G01P 344
Patent
active
059307390
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention concerns measurement of the loop speed of a vehicle, notably with a view to predicting its path.
2. Discussion of the Background
The loop speed of a vehicle can be estimated most simply by means of a gyrometer or from its longitudinal speed and its steering angle.
Through patent FR 2,702,570, in the applicant's name, one learns of a process of detection and selection of obstacles presenting the risk of collision with a vehicle, called following vehicle. The process described in that patent uses a horizontal scanning telemeter for determining the radius of curvature and angular speed of the following vehicle, as well as an odometer for measuring its longitudinal speed. On the basis of those measurements, the system used estimates the danger of a collision between the following vehicle and a selected obstacle, by comparing their respective paths.
The measurement of angular speed made according to patent FR 2,702,570 from measurements taken with a horizontal scanning telemeter is precise. However, it is not permanent, since it assumes that an obstacle has been detected and selected. Furthermore, that measurement is marred by inaccuracies, linked to the presence of other selectable obstacles in the field of the telemeter.
This invention is aimed at permanently obtaining a measurement of the angular speed of a vehicle as precise as possible.
SUMMARY OF THE INVENTION
It concerns a process of measurement of the loop speed of a vehicle. That process is characterized in that the course of said speed permanently measured by an installed instrument is selectively readjusted by means of indications corresponding respectively to the longitudinal speed of the vehicle, to its longitudinal distance from a fixed obstacle present on its path and to the relative transverse speed of the same fixed obstacle in relation to the vehicle.
According to one preferred embodiment of the invention, Dl and Vt are indicated by a horizontal scanning telemeter, in case of detection of a fixed obstacle on the path of the vehicle.
In accordance with the invention, the loop speed of the vehicle can be estimated by a steering wheel sensor.
The invention also proposes that this estimate be made directly by means of an installed gyrometer indicating the instantaneous loop speed of the vehicle.
To carry out readjustment of the angular speed, it is provided in particular that the measurement of Dl, Vl and Vt by the telemeter should be used to deduce the path curve .chi. of the vehicle.
In that case, the value of the curve .chi. so determined can be used advantageously to readjust the value of the deviation from origin b of the steering angle.
Other characteristics and advantages of the invention will be clearly apparent on reading of the following description of one particular embodiment of the invention, in connection with the attached drawings, on which:
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 schematically represents a motor vehicle equipped with detection and measuring instruments making it possible to use the invention, and
FIG. 2 specifies the nature of the measurements taking place in its use.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
FIG. 1 indicates the presence on the vehicle 1 of an obstacle detection apparatus 2, such as an infrared laser telemeter of L.I.D.A.R. (Light Detecting and Ranging) type placed in the center part of the front unit 3. Of course, the center L.I.D.A.R. is not exclusively used, and one can just as well envisage using other types of obstacle detectors or integrating the detector in one of the two optical units 4 of the vehicle, without departing from the scope of the invention. A computer 5 receives the return information from the telemeter 2, notably when the latter has detected an obstacle on the path of the vehicle, as well as the signals emitted by a longitudinal speed sensor of the vehicle 6, such as a wheel sensor of the A.B.S. system (Anti-Blokieuring-System) or any other speed sensor of the vehicle, by a steering angle senso
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Assouad Patrick
Regie Nationale des Usines Renault
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