Boots – shoes – and leggings
Patent
1993-05-05
1996-01-23
Teska, Kevin J.
Boots, shoes, and leggings
364450, 364457, 36457101, 342357, 342451, 318587, G06F 1550, G01C 2120
Patent
active
054870097
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention is based on a method with the species of the dead-reckoning navigation, corrected by magnetic sensor and odometer signals.
In known location determination systems for vehicles, information regarding the respectively driven distance is derived from the revolution of the wheels, while in some systems a magnetic sensor detects the course and in other systems a measurement of the difference of the wheel revolutions detects the change of the course. Both methods have disadvantages. The magnetic sensor often experiences interference--for example because of steel structures close to the path of the vehicle or because of changes of the magnetic properties of the vehicle. Since errors in detecting path changes with the aid of wheel pulses accumulate in the course of driving the vehicle, large inaccuracies result with increasing length of the drive. But deviations of the course changes determined with the aid of the wheel pulses from the actual values occur for many reasons. For example, the diameters of the two wheels do not agree, or the effective axle width changes with the degree of turning and the load on the vehicle. Accordingly, differences in the wheel pulses already occur with straight-ahead driving, and the deviations during cornering are added.
A further difficulty in connection with the known systems lies in that the wheel sensors employed deliver a limited number of pulses per wheel revolution for reasons of cost and because of the severe operating conditions in the vehicle. It is therefore advantageous to use the sensors of an anti-locking system, for example, which only supply 96 pulses per wheel revolution.
SUMMARY OF THE INVENTION
It is the object of the invention to recite a method for determining the location of a land vehicle, wherein the evaluation of the wheel pulses generated by the revolution of the wheels on a vehicle axle is improved over the known systems. It is intended in particular to correct the deviations on account of the tires, the design of the axle and the operational status of the vehicle. This object is to be attained with as small as possible an effort of time and calculations.
The method has the advantage that the inaccuracies present during evaluation of the wheel pulses are corrected. In this case correction takes place adaptively. Changes occurring during the life of the vehicle or the tires are taken into consideration without readjustments needing to be made by the user or in the shop.
A further development of the invention consists in that the course changes and the comparison course changes are observed over an observation course over which the vehicle is driven, which is divided into a number of observation windows and the length of which is a function of speed, and that over an observation course started for a defined purpose (recognition of straight-ahead driving, recognition of the sign of a course change, evaluation of cornering) observation is terminated and a new observation course is started if it becomes apparent after summation within an observation window that the purpose is no longer served. This further development allows extensive use of straight and curved paths for the respective observation.
By means of another further development it is provided that during comparison course changes over one observation course which is small in respect to a preset value, a correction value is derived from the difference in the number of wheel pulses of both wheels, and that the correction value is stored and is used for the correction of the number of wheel pulses of at least one of the wheels.
This further improvement makes an effective correction of the wheel pulses during straight-ahead driving possible. In particular, errors are being corrected which are caused by different sizes of the circumference of the wheels. This correction is particularly important, because deviations from the straight-ahead driving in respect to actual straight-ahead driving add up to considerable distance and position errors over extended drivi
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Nguyen Tan
Robert & Bosch GmbH
Teska Kevin J.
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