340 results about "Lateral deviation" patented technology

The invention relates to a lateral deviation full-bridge double-interdigital metal strain gauge capable of measuring surface strain lateral partial derivatives, which comprises a base and four sensitive grids, and is characterized in that both ends of each sensitive grid are respectively connected to an outgoing line, each sensitive grid comprises a sensitive section and a transition section, and axes of the sensitive sections are straight lines and parallelly arranged in the same plane; in the plane determined by the axes of the sensitive sections, the axis direction of the sensitive sections is an axial direction, and the direction perpendicular to the axial direction is a lateral direction; the four sensitive grids are consistent in resistance, the resistance variation amount is consistent under the same strain, the four sensitive grids are called as an upper-upper sensitive grid, an upper-lower sensitive grid, a lower-upper sensitive grid and a lower-lower sensitive grid from top to bottom along the lateral direction, the upper-upper sensitive grid and the upper-lower sensitive grid are arranged in an interdigital mode, and the lower-upper sensitive grid and the lower-lower sensitive grid are also arranged in the interdigital mode; and centers of the four sensitive grids have no deviation in the axial direction and have deviation in the lateral direction. The lateral deviation full-bridge double-interdigital metal strain gauge not only can measure the strain, but also can effectively detect a lateral first-order derivative and a lateral second-order derivative of the surface strain.

The present invention relates to the definition, in a flight plan, of the horizontal profile of an air route with vertical flight and speed profile prescribed on departure and / or on arrival, by a stringing together of check-points and / or turn points associated with local flight constraints and called “D-Fix” because they are not listed in a published navigation database like those called “Waypoints”. It consists in charting, on curvilinear distance maps, a direct curvilinear path joining the departure point to the destination point of the air route while complying with vertical flight and speed profiles prescribed on departure and / or on arrival and while guaranteeing a circumnavigation of the surrounding reliefs and compliance with regulated overfly zones, then in approximating the series of points of the direct curvilinear path by a sequence of straight segments complying with an arbitrary maximum deviation threshold relative to the points of the series and an arbitrary minimum lateral deviation threshold relative to the set of obstacles to be circumnavigated and in adopting as “D-Fix” points the points of the intermediate intersections of the rectilinear segments.

The invention provides a tractor automatic navigation control system. The system comprises a navigation control device, a steering control unit and an electro-hydraulic proportion steering executing device, wherein the navigation control device receives GPS positioning data in real time, calculates a lateral deviation between a current tractor position and an operation navigation target, calculates a target steering angle of a steering wheel in a current control period according to the lateral deviation and a tractor running speed value measured in real time, converts the target steering angle into a steering control command and then sends the steering control command to the steering control unit; the steering control unit judges whether a steering angle measured value of the steering wheel of the tractor is less than a preset limit value; if the steering angle measured value is less than the preset limit value, the steering control unit compares the target steering angle with the measured value, calculates a PWM duty cycle according to a steering angle difference value and outputs a control signal for driving the electro-hydraulic proportion steering executing device; and the electro-hydraulic proportion steering executing device responds to the PWM control signal and controls the flowing direction and the flowing speed of oil of a tractor steering system by the opening of a valve core of an electro-hydraulic proportion direction valve to make a piston of a steering hydraulic cylinder extend out or retract to deflect the steering wheel to the target steering angle.

A lane keeping assistant apparatus assists steering force when the vehicle is about to deviate from the lane to provide the driver with improved steering feeling. The lane keeping assistant apparatus includes traveling position detecting means for detecting a traveling position of a vehicle; lane center locating means for locating the width center of a lane on which the vehicle is traveling; lateral deviation amount calculating means for calculating a lateral deviation amount of the traveling position relative to the width center; a power source for providing a steering unit of the vehicle with an assist torque; assist torque determining means for determining the assist torque to be provided by the power source based on the lateral deviation amount, wherein the assist torque determining means gradually reduces the assist torque if the lateral deviation amount is being reduced by a driver's steering operation.

The invention provides a control method and device of vehicle lane changing and a computer storage medium. The method of one embodiment comprises the following steps of selecting a target lane and obtaining a lane center line of the target lane; determining a preview distance and a preview included angle according to current speed of a vehicle, and determining a current preview point according to the preview distance and the preview included angle; determining lateral deviation and heading angle deviation according to the current preview point and current vehicle heading; outputting a steering wheel rotating-angle request to a steering controller according to the lateral deviation and the heading angle deviation; and when an update condition of the preview point is met, returning to the step of determining the preview distance and the preview included angle according to the current speed of the vehicle and determining the current preview point according to the preview distance and the preview included angle until the determined current preview point is in the preset distance range of the lane center line of the target lane. According to the scheme of the embodiment, the safety of vehicles such as an automobile in the process of automatic lane changing is improved.

In a method for the flight control of a plurality of aircraft flying in formation with respect to one another, correction signals are generated for an autopilot system or a command display in order to allow one or more following aircraft within the formation to follow a lead aircraft in the formation in a predeterminable relative position. A nominal trajectory of the following aircraft, parallel to the trajectory (1) of the lead aircraft, is calculated at each instantaneous position P′act of the following aircraft, which trajectory runs through the instantaneous actual position P′act and a reference point P′RP. (The reference point P′RP is the projection of a point PRP, which is separated by the longitudinal nominal distance xnom between the lead aircraft and the following aircraft, on the trajectory of the lead aircraft, taking into account the lateral and vertical actual distances yact and zact between the trajectory of the lead aircraft and that of the following aircraft. The trajectory of the following aircraft is calculated taking into account the lateral actual distance yact from the trajectory of the lead aircraft by determining support points P′ on the trajectory of the following aircraft which have the same time coordinates as the corresponding support points on the trajectory of the lead aircraft. The correction signals are determined by i) measuring the longitudinal, lateral and vertical actual distances xact, vact and zact between the trajectory of the lead aircraft and that of the following aircraft at the instantaneous position P′act of the following aircraft, ii) calculating the longitudinal deviation Δx, the vertical deviation Δz and the lateral deviation Δy of the instantaneous actual position P′act and of the nominal position P′nom of the following aircraft from the respective nominal values xnom, znom, ynom and the measured actual values xact, zact, yact, iii) calculating the nominal speed and the nominal acceleration of the following aircraft at the point P′RP, and iv) calculating the nominal curvature, the nominal climbing rate and the nominal curvature angle Ψ of the trajectory of the following aircraft at the instantaneous position P′act of the following aircraft.

The invention discloses a strip self-centering detecting method based on infrared ray. The specific process includes: step 1 (collecting information), when the strip shifts with lateral deviations between infrared transmitting tubes and infrared receiving tubes, signals transmitted from relevant infrared transmitting tubes are blocked, and the changing messages are transmitted to a single chip in a communication manner through the infrared receiving tubes; step 2 (processing information), when the single chip receives the changing messages of state signals of the infrared receiving tubes, according to a rectangular coordinate system set up with all position parameters of the infrared transmitting tubes and the infrared receiving tubes, all transmitting ray equations of the infrared transmitting tubes and position equations of the strip are obtained, border position parameters of the strip are obtained through operations, whether the strip deviates from a preset central line or not can be judged by comparisons, and meanwhile position deviation-correcting values are sent to a deviation-correcting mechanism to realize centering. The strip self-centering detecting method is wide in detecting range, good in stability and high in anti-interference capability.

The invention belongs to the field of intelligent transportation, and provides an automatic driving lane change trajectory planning method based on quadratic form planning and a neural network. The method provided by the invention comprises the steps of: obtaining driving information of a lane change vehicle and surrounding vehicles by using an information sensing module; providing, by a lateral deviation recommendation module, a lateral deviation value based on the vehicle driving information so as to determine starting point and ending point position information of the lane change vehicle; calculating, by a path planning module, a static lane change path in a plane coordinate system of the lane change vehicle by using the vehicle driving information and the lateral deviation as input; and finally, providing, by a trajectory planning module, a time varying change law of the lane change vehicle and the surrounding vehicles to complete the target of lane change process planning. By adopting the automatic driving lane change trajectory planning method provided by the invention, under the premise of ensuring the safety of the lane change vehicle, the movement trajectories of the lanechange vehicle and the surrounding vehicles are comprehensively considered, and fast solution is achieved by using the quadratic form planning to improve the speed and comfort of the lane change process, thereby satisfying the requirements of automatic driving for the lane change sub-task optimization solution fastness.

It is provided a power supply device and a power acquisition device for an electromagnetic induction-powered electric vehicle that increase a power transfer efficiency by maximizing a lateral deviation tolerance and by minimizing a gap between the power acquisition device and the power supply device while preventing the power acquisition device from colliding with an obstacle present on a road and being damaged by the collision.

A method and system for determining the position of a sound source in relation to a reference position, comprising the steps of generating a sound signal emitted from the sound source, detecting the emitted sound signal, processing the sound signal by the use of a physiological model of the ear, deducing at least one of lateral deviation in relation to the reference position, time delay of the sound signal from the sound source to the reference position, and the sound level of the detected sound signal.

The invention discloses an identification method and system of lateral deviation of a vehicle driving route. According to the method and system, firstly, an image, which is shot by a camera mounted ona vehicle, of a road along a vehicle running direction is acquired; an internal-parameter matrix of the camera is utilized to carry out de-distortion processing on the video frame, and inverse perspective transformation is carried out on a selected to-be-transformed region src; then threshold segmentation is carried out on the video frame to separate lane lines from a background region; then locations where maximum values appear are derived by counting to use the same as intersection points of the lane lines and the bottom of the image; and whether correction of lateral deviation of the driving route needs to be carried out is judged according to separation distances between the locations of the intersection points and a preset lateral mounting location of the camera on the vehicle. In acase where the vehicle deviates from a road center too far, the method and system can know the case in time, and remind a driver or carry out correction; and the method and system can accurately detect all of sudden illumination changes, tree shade shading, road surface stains and many other conditions, and are high in applicability, low in costs, high in precision and better in real-time performance and stability.

An aircraft system includes a deviation module and a visual display. The deviation module is configured to receive a flight plan with a flight segment to a waypoint, the flight plan including a lateral profile, a vertical profile, and a time profile, the time profile including a predetermined time of arrival associated with the waypoint, receive a current lateral position and a current altitude, estimate an estimated time of arrival associated with the waypoint, compare the current lateral position to the lateral profile to generate lateral deviation, compare the current altitude to the vertical profile to generate vertical deviation, and compare the predetermined time of arrival to the estimated time of arrival to generate time deviation. The visual display is coupled to the deviation module and configured to display deviation symbology representing the lateral deviation, the vertical deviation, and the time deviation.

Systems and methods to accurately display lateral deviation symbology in offset approaches to runways is provided. A system for on-aircraft display of lateral deviation symbology for use in offset approaches comprises means for generating a conformal video display representation of an aircraft's current position, means for notifying a flight crew of the existence of an offset approach, means for displaying an extended runway center line, and means for displaying an approach line.

A lane keeping assistant apparatus alerts the driver when the vehicle deviates from the lane center, and aims at the driver's sure recognition of lateral deviation of the vehicle from the lane and concurrently at the avoidance of driver's overreliance on the apparatus. As a solution, the apparatus generates, on a steering wheel 1 of a vehicle, a pulse-like torque in a shape and, or frequency that does not affect the vehicle dynamics. Since such a frequency input can be haptically perceived by a human with ease, it is possible to make the driver notice the operation carried out by the apparatus without generating a yaw moment on the vehicle.

A magnetic apparatus for detecting a position of a vehicle, capable of detecting a lateral deviating distance of a vehicle over a lateral deviation width with a high accuracy and at a high speed, wherein a magnetic field component in the direction of advance of the vehicle is detected; or more preferably a three dimensional magnetic sensor (1), which comprises a magnetic sensor element for the direction of advance of the vehicle, and magnetic sensor elements for two directions crossing the first-mentioned direction and provided additionally, is used, whereby it becomes possible to heighten a center retaining capability of the vehicle, widen a lateral deviating distance detecting range around four times from around 25 cm to around 1 m, and detect a magnetic marker (3) reliably even when disturbance magnetic field exerts influence upon this detection operation to thereby start center side guidance reliably.

The invention provides a coordination control method for vehicle path tracking and stability. The method includes the following steps: step S1. performing vehicle modeling; step S2. performing estimation on a vehicle state and system interference based on Kalman filtering; and step S3. performing integrated control on the vehicle path tracking and stability. The method establishes a vehicle dynamics model and a path tracking model, and designs an estimation method of the vehicle state and steering system interference. An upper-layer controller is designed by using a sliding mode control method, which aims to ensure the stability of a vehicle itself while reducing course deviation and lateral deviation during a path tracking process. In a lower-layer controller, a method for optimal distribution of a wheel tire force is designed, and according to requirements of the upper-layer controller and combining yaw and roll stability conditions of the vehicle, directional control distribution ofthe wheel tire force is achieved. The coordination control method can ensure that a wheel independently drives the smart automobile to achieve a path tracking effect, and also ensures lateral and roll stability of the smart automobile itself.

The invention relates to a vehicle stability control method based on tire vertical loading distribution, and the method comprises the following steps: calculating status information and ideal status information of a vehicle by a whole vehicle model and a whole vehicle reference model; and then comparing vehicle information; and regulating and controlling the vehicle loading distribution by virtueof a driving force of a driving hanging bracket according to a complex nonlinear relationship between a vertical load and a tire lateral deviation force, thereby controlling the lateral force nonlinear distribution of a tire, providing a compensated yawing moment to control the yawing motion of the vehicle, and finally achieving the purposes of restraining the side slipping of the vehicle and promoting the vehicle stability. The invention provides a new solution for controlling the stability of the vehicle.

The invention, which belongs to the technical field of agricultural unmanned driving control, provides a field obstacle avoidance path planning and control method for an unmanned agricultural machine. The method for avoiding an obstacle by an agricultural machine automatically comprises: step one, a sensor is used for obtaining agricultural machine environmental information to make an obstacle-avoiding decision; step two, a theoretical obstacle avoidance path is calculated in an off-line manner by using an improved shortest tangent method; and step three, the theoretical obstacle avoidance path obtained at the step two is optimized by using a Berier-curve-based path optimization method to obtain a practical obstacle avoidance path, a real-time curve curvature and real-time agricultural machine heading deviation and lateral deviation are obtained by using a curve tracking method; and a current front wheel steering angle is calculated by combining a state feedback controller and an adaptive controller, so that the agricultural machine moves along the practical obstacle avoidance path to avoid the obstacle. Therefore, the planned obstacle avoidance path is easy to control; the moving travel is short; and the control precision is high.

A method and system for identifying a lateral deviation in the course of a road segment is described. Positional data is collected from a plurality of vehicles travelling along a road stretch. A map matching error associated with the position data is used to determine an average map matching error and average absolute map matching error for travel along the road stretch. A lateral deviation in course is identified when the average map matching error measures are both above a given threshold, and where the detected deviation is of a given minimum length. Other indicators of deviation can be considered including a direction of the possible deviation, and impact on travel in the opposite driving direction. Data relating to the determined deviation is generated, including a speed of travel through the deviated region, and used to enhance traffic information.

A vehicle guidance system for directing a vehicle along a predetermined path comprises an onboard computer, a number of distance sensors and a steering system controllable by the computer. The predetermined path is stored in a memory of the computer and, in operation, the steering system is controlled to follow the predetermined path. The sensors are adapted to measure the distance, laterally of the vehicle travel direction, between the sensors and curbs provided along the predetermined path, and the computer is adapted to control the steering system to correct any lateral deviation from the predetermined path as detected by the sensors.

The invention provides a trajectory tracking method and system for a site unmanned vehicle. The method comprises the following steps that spatial position information of a way point sequence Pi is acquired through a sensor arranged on the site unmanned vehicle, and high-order Bezier curve fitting is carried out on the way point sequence Pi to obtain a trajectory line; delay time is set, a currentposition of the unmanned vehicle is extended in a speed direction, extended distance is a product of speed at a current moment and delay time, an extension line endpoint O(xO, yO) is obtained, therebyfinding a point M (xM, yM) closest to the extension line endpoint O on the way point sequence; a lateral deviation ex(t) and tangent line included angle e(t) between the current site unmanned vehicleand point M are calculated; a current vehicle angle control amount delta(t) is calculated and applied to a lateral control strategy of the site unmanned vehicle. The trajectory tracking method and system for the site unmanned vehicle solves the problem of the dependence of the site unmanned vehicle on inertial navigation equipment, improves the trajectory tracking precision and reliability of thesite unmanned vehicle, and is suitable for the implement of the trajectory tracking of the site unmanned vehicle in different situations.

A method for determining a position deviation of an object with respect to a magnetic marker. The method senses at least two axial field strength components of the magnetic field emitted from the magnetic marker with each of at least two magnetic field sensors mounted on the object. For each axial direction, the method computes a difference in the axial field strength components sensed by the two sensors. The method then determines the position deviation of the object from the magnetic marker as a function of the two differences (i.e., one difference for each axial direction). The method can be used by an intelligent lateral control system to provide lateral deviation of a mobile object, such as a vehicle, from a desired path, and the intelligent lateral control determines and applies the desired steering control to the mobile object so as to guide it along a desired path automatically.

An adaptive vehicle control system that classifies a driver's driving style based on lane-change maneuvers. A maneuver identification classification process reads sensor signals for vehicle speed, vehicle yaw rate and vehicle heading angle. The process determines if the vehicle is turning based on whether the yaw rate signal is greater than a yaw rate threshold and whether the heading angle is greater than a heading angle threshold. The process then determines whether the maneuver is an ordinary curve-handling maneuver or a lane-change maneuver by determining whether the yaw rate signal is greater than another yaw rate threshold, the difference between the heading angle and an initial heading angle is greater than another heading angle threshold and the lateral deviation is greater than a lateral deviation threshold. If the curve-handling maneuver is a lane-change maneuver, a maneuver identifier signal is provided to a style characterization processor.

The invention relates to a multifunctional road detection device and a test method for tires. Two suspension systems and two tire steering mechanisms of the multifunctional road detection device are arranged on a frame and are respectively independently connected with the tested tires on two sides of the multifunctional road detection device, so that the tires can be independently steered and can be adjusted in internally gathered or externally scattered states, and lateral inclination angles of the tires can be adjusted. The multifunctional road detection device and the test method have the advantages that data of rotation angles, lateral force, longitudinal acceleration, lateral acceleration and the like of the tires can be acquired by various relevant sensors during driving, so that mechanical properties of the tires under on-site road conditions can be detected; the problem of difficulty in simulating actual service road surfaces by existing indoor detection devices for tires and problems of unbalanced force under lateral deviation and lateral rolling working conditions and single detection working conditions of existing outdoor detection devices for the tires can be solved; the multifunctional road detection device is simple in structure and easy to control and adjust.

The invention discloses a multi-point preview method and a multi-point preview device thereof. The multi-point preview method comprises the following steps: at least three measurement points are set,and the respective corresponding measurement distances of the at least three measurement points on the target path should satisfy the following requirements: x1=0, x3 & gt; x2 & gt; x1; the distance from the measurement point to the corresponding preview point is the preview point lateral deviation y1, y2, y3. The current actual working condition is decomposed and calculated, that is, the ideal yaw angular velocity omega so is calculated under the condition of considering only the distance deviation between the vehicle and the actual target path; the ideal yaw angular velocity omega ss is calculated only considering the angle deviation between the vehicle and the actual target path. The ideal yaw angular velocity omega _ sw is calculated only under the actual bending condition of the target path. The ideal steering wheel angle delta s of the vehicle is obtained by multiplying omega so, omega ss, omega sw by a predetermined coefficient. The invention can carry out path tracking for different complex paths, ensures path tracking accuracy, effectively improves robustness, and can effectively suppress the influence of time delay, uncertainty and tire force nonlinearity of the actuatorof the vehicle model.

The invention relates to a method for measuring the out-of-roundness degree of a tire, and measures and calibrates by aiming at the parameter of the outline of the tire, thereby visually and synthetically detecting the index of the out-of-roundness degree, and the invention also provides for the processing quality department to analyze the geometric distortion degree of the tire. During the process of the tire molding, for a tread bracing layer, the deforming of a tread of tire and the nonuniformity of the thickness of the tire wall leads the convex and the concave of the tread of tire are affected, the out-of-roundness degree of the tire which is formed by material and manufacturing process is set, and the necessarily detecting parameters which is embodied during the process of detecting of the out-of-roundness degree of the tire comprise a top lateral deviation, a top radial deviation, a central radial deviation, a bottom radial deviation, a bottom lateral deviation, a top bulge, a bottom bulge and a bottom concave value.

The invention discloses an optical fiber sensor based on Mach-Zehnder interference. The optical fiber sensor comprises a first single mode optical fiber, a second single mode optical fiber and a third single mode optical fiber, the first single mode optical fiber is connected with the second single mode optical fiber through a super-steep-cone melting point, the second single mode optical fiber is connected with the third single mode optical fiber through a lateral deviation melting point, fiber cores of the first single mode optical fiber and the second single mode optical fiber are coaxially connected in a melting mode at the position of the super-steep-cone melting point, covering layers of the first single mode optical fiber and the second single mode optical fiber are melted and connected in a super-steep-cone mode, fiber cores and covering layers of the second single mode optical fiber and the third single mode optical fiber are melted and connected in a lateral deviation mode at the position of the lateral deviation melting point, the lateral deviation amount is 4-6 micrometers, and the length of the second single mode optical fiber is 5mm-10mm. The optical fiber sensor can simultaneously measure curvature and temperature, and is simple in structure, easy to manufacture, low in cost and suitable for mass production.

That present invention relates to an advanced driver assistance system, in particular to a lane shift early warning control method based on a 360-DEG circumferential image system; according to the self-crossing time TTLC and the distance DLC between self and lane, whether the vehicle deviates from the lane or not is judged, and combined with the lane width, whether the vehicle crosses the lane ordeviates from the lane is judged comprehensively, and a lane deviation warning is issued after the vehicle crosses the lane or deviates from the lane to remind the driver to control the vehicle to runnormally. The self-crossing time refers to the time required for the wheel center of the front wheel to travel to the lane on the same side; overrun time TTLC=distance D between wheel center of frontwheel and lane boundary / lateral deviation velocity VD. The distance between the vehicle and lane refers to the physical distance between the wheel center of the front wheel and the lane on the same side, which is calculated by the lane information collected by the front camera. As that LDW function is developed based on the 360-DEG circumferential view image system, the hardware cost brought by the LDW function can be directly saved and the cost is low.

The present invention relates to the definition, in a flight plan, of the horizontal profile of an air route with vertical flight and speed profile prescribed on departure and / or on arrival, by a stringing together of check-points and / or turn points associated with local flight constraints and called “D-Fix” because they are not listed in a published navigation database like those called “Waypoints”. It consists in charting, on curvilinear distance maps, a direct curvilinear path joining the departure point to the destination point of the air route while complying with vertical flight and speed profiles prescribed on departure and / or on arrival and while guaranteeing a circumnavigation of the surrounding reliefs and compliance with regulated overfly zones, then in approximating the series of points of the direct curvilinear path by a sequence of straight segments complying with an arbitrary maximum deviation threshold relative to the points of the series and an arbitrary minimum lateral deviation threshold relative to the set of obstacles to be circumnavigated and in adopting as “D-Fix” points the points of the intermediate intersections of the rectilinear segments.