1920 results about "Turn angle" patented technology

A hybrid of grid-based and graph-based search computations, together with provision of a sparse search technique effectively limited to high-probability candidate nodes provides accommodation of path constraints in an optimization search problem in substantially real-time with limited computational resources and memory. A grid of best cost (BC) values are computed from a grid of map cost (MC) values and used to evaluate nodes included in the search. Minimum segment / vector length, maximum turn angle, and maximum path length along a search path are used to limit the number of search vectors generated in the sparse search. A min-heap is preferably used as a comparison engine to compare cost values of a plurality of nodes to accumulate candidate nodes for expansion and determine which node at the terminus of a partial search path provides the greatest likelihood of being included in a near-optimal complete solution, allowing the search to effectively jump between branches to carry out further expansion of a node without retracing portions of the search path. Capacity of the comparison engine can be limited in the interest of expediting of processing and values may be excluded or discarded therefrom. Other constraints such as approach trajectory are accommodated by altering MC and BC values in a pattern or in accordance with a function of a parameter such as altitude or by testing of the search path previously traversed.

A game apparatus includes a touch panel on which at least two pointing positions are simultaneously detectable. In response to an operation of the touch panel by a player, coordinates values of the detected two points are detected, and at least one of a distance between the two points and an angle of the line connecting the two points is calculated. Furthermore, change amounts of the distance and angle between the two points are calculated. A movement parameter such as a travel speed and a turning angle is set on the basis of at least one of the calculated distance and angle, and the movement of the character such as travel and turning is controlled on the basis of the movement parameter. In addition, when a pointing state of the two points is changed, the movement parameter is changed on the basis of a change amount, and the movement of the character is controlled on the basis of the movement parameter.

An instrument for shaping a mouth part of a drilled tunnel provided in a bone. The instrument includes a shaft having a longitudinal axis and a first and a second end. The first end of the shaft is provided with a projection, which includes a blade for shaping the mouth part of the drilled tunnel when the instrument is turned around the longitudinal axis of the shaft. The instrument is asymmetric at an intersecting surface perpendicular to the longitudinal axis and intersecting with the blade, the instrument thus shaping the surfaces surrounding the first end only substantially within an area corresponding with a turning angle of such a turning movement.

A path planning unit plans a travel path to a destination based on an estimated current travel position and outputs a travel command to a travel control unit to perform travel control so as to follow the travel path. A travel position prediction unit accumulates a travel distance, which is detected by a wheel turning-angle sensor, to the estimated current travel position so as to predict the current travel position. A predictive image generating unit generates a plurality of predictive edge images which are composed of edge information and captured when a camera is virtually disposed at the predicted current travel position and candidate positions in the vicinity of it based on layout information of the environment, and an edge image generating unit generates an actual edge image from the actual image captured by the camera. A position estimation unit compares the edge image with the plurality of predictive edge images, estimates the candidate position of the predictive edge image at which the degree of similarity is the maximum, and updates the travel position of the path planning unit and the travel position prediction unit.

In a collision damage reduction system, a microcomputer obtains a first performance limit data of the own vehicle according to the detected speed thereof by a first detecting unit and a second performance limit data of the object according to the relative position data detected by a first detecting unit, the detected speed of the own vehicle and the detected turning angle thereof by a third detecting unit. The microcomputer calculates a total collision probability representing a probability that the own vehicle and the object will collide with each other on a runnable space according to the first performance limit data, the second performance limit data, the detected speed of the own vehicle and the relative position data. In addition, the microcomputer instructs the operation unit to operate at least one of the first operation and the second operation according to the total collision probability.

The auxiliary device includes vision sensor, microprocessor in use for carrying out aided decision making for parking, and display unit in use for displaying situation around vehicle. Being connected to microprocessor, the vision sensor is all-directional vision sensor. The microprocessor includes image display unit, scaling module for sensor, image expansion module, module for detecting edges of obstructers around vehicle, module for calculating minimum distance to edges of obstructers around vehicle, module for alarming obstructers, and back running knowledge base etc. The invention provides visual images around vehicle, gives hint of turning angle of steering wheel to driver so as to assistant procedure for driver to run back vehicle.

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

The invention discloses a pilotless automobile lateral control method based on turning curvature estimation. The pilotless automobile lateral control method based on the turning curvature estimation comprises setup of a preconceived track, collection of GPS-INS integrated positioning system data and steering wheel turning angle command signals send out by an autopilot, and especially is a method that a preview distance based on a road curvature is set firstly, and then a preview point A and a preview point B are reset according to the preview distance, later, longitudes and latitudes of the preview point A and the preview point B are converted into a vehicle coordinate system to work out an optimum turning curvature, and steering wheel turning angle controlled quantity is worked out according to the optimum turning curvature and is output to the autopilot to achieve lateral control of a pilotless automobile. According to the pilotless automobile lateral control method based on the turning curvature estimation, through actual measurement, the maximum tracking error is only 0.4m when the speed of the automobile is at 20km / h, the maximum tracking error is only 0.6m when the speed of direction change is 5km / h; both accurate tracking of various kinds of complex tracks is achieved, and steering wheel shaking caused by single-point preview feedback control is avoided, and the control quantity of the pilotless automobile is more smooth; the method can be widely used in pilotless driving control of the various kinds of vehicles.

The invention relates to an aerophotography gyrostabilized platform with three freedom degrees and large load, comprising a platform body, a driving system, an inertia measurement unit, a relative turn angle measuring unit of a ring rack of the platform body, a high-frequency line vibration isolating unit and a platform control system, wherein the inertia measurement unit and the relative turn angle measuring unit of the ring rack of the platform body monitor the information of the angular movement of the platform body caused by the angular movement of the body of an airplane; the platform control system works out a control instruction applied by a relatively determined coordinate system of the platform when being stabilized relative to the driving system at real time according to the monitored information of the angular movement of the platform body by a certain control algorithm; the driving system drives the platform body according to the control instruction to rotate so as to realize the isolation of the angular movement of the body of the airplane; and the high-frequency line vibration isolating unit realizes the isolation of the high-frequency line vibration of the body of the airplane. The aerophotography gyrostabilized platform with three freedom degrees and large load effectively isolates the angular movement and the high-frequency line vibration of the body of the airplane and enhances the stability of a visual axis of an aerial photography camera, and the cost is cheaper.

Training apparatus includes: a base stand which has slide shafts that are provided side by side and extend in the right-and-left directions; a slide base portion which can slide along this slide shaft; a foot stand which is provided over the slide base portion so as to be turned; a connection mechanism portion which is formed by a rod and its support portion that engages a substantially-middle proper part of the base stand in the right-and-left directions and the foot stand, so that the sliding position and the turning angle of the foot stand can be correlated; and a spring which gives the slide base portion the force by which the slide base portion moves toward a substantially-middle position of the base stand in the right-and-left directions. Thereby, a sliding exercise and a twisting exercise can be taken together, and the body trunk can be effectively trained.

The invention provides an automatic driving system. The system comprises a central processing module, a cloud platform, an environment information sensing module, a fault information collecting module and a bottom control module; the central processes module determines a decision for a next behavior of a vehicle and outputs a control signal; the cloud platform makes information interaction with the vehicle, processes fault information, matches data of the central processing module, and makes incremental update of the data of the central processing module; the environment information sensing module collects environment information, interacts the environment information with vehicle information, and uploads the collected environment information to the cloud platform via the central processing module; the fault information collection module detects performance of the vehicle itself and equipment state, collects data, emits an alarm when a fault occurs, and uploads alarming information to the cloud platform via the central processing module during alarming; and the bottom control module controls the vehicle to drive at the needed speed and expected turning angle in a planed path according to signals output by the central processing module. Thus, the workload of a driver can be reduced, and the safety risk of automatic driving is reduced.

The invention discloses a side anticollision device and a side anticollision method when a large-sized car turns a corner. The side anticollision device comprises a central processing unit, a car detection unit, an intersection barrier detection unit, an alarm display unit and a safety device trigger, wherein a car speed sensor and the intersection barrier detection unit are started according to a cornering signal of a steering wheel detected by the car detection unit, and a corresponding area of difference of radius between inner wheels is calculated according to the intersection information and the car speed detected by the intersection barrier detection unit; whether a barrier stays in the area of the difference of radius between inner wheels or not according to the detected barrier information, the car is controlled to start the safety device and issue an alarm when car and other vehicles or pedestrians stay in the area of the difference of radius between the inner wheels or other vehicles or pedestrians can reach the area of the difference of radius between the inner wheels when the car turns t corner according to the speed sensor, a prompted driver takes measures to avoid the accident or reduce the injury in collision between the car and other vehicles or between the car and pedestrians.

The invention discloses a revolving angle detection device for revolving tables of construction vehicles, which comprises an angle measuring unit, a control unit and a zero-point inspection unit; wherein the angle measuring unit is used to measure the revolving angle of a revolving table and send the measurement to the control unit; the zero-point inspection unit defines the zero-point induction signal for the zero point of the rotation angle of the counter-rotating table, and send the signal to the control unit; the control unit is provided with a calibrating program in which a zero-point displacement is obtained according to the zero-point induction signal generated by the zero-point inspection unit and the numerical value captured by the angle measuring unit at that time; based on the zero-point displacement, the control unit converts an output magnitude from the angle measuring unit to be a coordinate angle magnitude taking the specific location of the revolving table as the zero point, and handles the control according to the angle magnitude. The revolving angle detection device has the advantage that very intuitive angle signals can be obtained, and is convenient for applications in occasions such as control against overturning.

A gait generation system of a legged mobile robot, in particular a biped robot that has the dynamic model expressing the relationship between the motion of the body and leg and the floor reaction force, and provisionally determines the current time gait parameters including at least parameters that determine leg trajectory and the like in response to a demand, supposes the parameters of a periodic gait, corrects the current time gait parameters such that the body trajectory determined from the dynamic model and the parameters of the current time gait, etc., converges to a body trajectory determined from the parameters of the periodic gait, and determines instantaneous values of the current time gait based on the corrected current time gait parameter. With this, the system can generates a gait of any stride, turning angle and walking period, including the floor reaction force acting on the legged mobile robot, that satisfies the dynamic equilibrium condition. Further, the system can generates a gait in such a manner that the displacement and velocity of each robot part are continues at the boundary of the generated gait and that succeeding thereto, can generate a gait that is high in the margin of stability, can predict future behavior of the robot and generate a gait such that no disadvantages such as posture divergence occurs.

A method and a device for non-invasive blood pressure measurement wherein the angle between the hand and the wrist, and the turning angle of the wrist relative to the middle part of the forearm, are kept to the most suitable degree for measuring the blood pressure of the radial artery. At least one pressure bladder and one arterial pulse transducer array are placed on the skin over the radial artery of the wrist to apply the external pressure to the artery and to detect the change of the arterial pulse signals. This method and device can correctly measure the intermittent or continuous blood pressure of the radial artery or the ulnar artery based on the principles of oscillation method and volume compensation method, and effectively eliminate the influence on the measurement due to body movement and the influence on blood circulation and neural function of the hand caused by long-term blood pressure measurement.

The invention discloses a dual-redundancy actuator system and a control method. A redundant drive controller receives a control plane position given signal and drives a dual-redundancy brushless direct-current motor to work, and a turning angle of a control plane follows the control plane position given signal. Redundant technology is used for warm backup of mechanisms, which are easy to damage, in an actuator drive device, the position of the control plane can normally follow the given signal under the normal condition, when a redundancy of the drive device fails, a fault point can be detected in real time and is isolated, a control plane tracking function is finished in a single channel, and accordingly the reliability of the actuator system is improved.

A vehicular turning indicator is used for automatically showing a turning degree of a vehicle. The vehicular turning indicator includes a sensor sensing a turning angle of the vehicle; a control device asserting a control signal according to the turning direction, the turning angle and optionally the speed of the vehicle; and a plurality of lightening units in communication with the control device brightening to constitute a variable pattern in response to the control signal. The vehicular turning indicator can be implemented by currently existent vehicular lamps such as indicator light, brake light or head-up display, be incorporated into an existent vehicular accessory such as rearview mirror module or auxiliary brake light module, or independently mounted to the vehicle. Preferably, special flashing effects are performed to make the turning indication prominent.

There is provided a steering system allowing a comfortable steering operation even if a driver quickly turns a steering wheel when a transfer ratio is quickened in a low vehicle speed range. In the steering system that changes the transfer ratio of a steering angle of the steering wheel to a turning angle of a turning wheel by a variable transfer ratio mechanism and generates auxiliary power by an electric power steering unit, a variable transfer ratio mechanism controlling ECU has a switching section for switching a transfer ratio modulating mode of setting a rotational angle of a transfer ratio variable motor used in the variable transfer ratio mechanism so that the transfer ratio is set at a target transfer ratio corresponding to vehicle speed with a steering torque modulating mode of reducing an electric current for driving the motor so as to reduce steering power of the steering wheel.

The invention provides an urban intersection automatic identification method based on low precision space-time trajectory data, which reduces the cost for obtaining urban intersection and provides basic data and a reference method for future auto-drive and intelligent traffic. The method comprises following steps: first, performing pretreatment to the data according to the spatial density and time interval of the trajectory data; secondly, tracking and identifying turning processes of the trajectory and extracting turning point pairs where the change of course angle exceeds a turning angle threshold value and the time interval is less than a time threshold value in one turning process; then, obtaining clusters and cluster centers of the turning point pairs by means of growing cluster method based on distance and space; finally, classifying the turning point pair clusters based on a cluster method of local point connection and completing intersection automatic identification through analyzing the turning property and the number of center points of the cluster center points. The intersection identification accuracy by means of the method is 94.3%.

The invention provides a vehicle running state nonlinear robust estimation method based on a sliding mode observer. The method comprises the following steps of: determining an automotive nonlinear kinetic model closer to the actual situation aiming at high mobility running conditions and complex variable road environments, designing the corresponding sliding mode observer, establishing external input quantity and measurement information of the sliding mode observer system by using low-cost vehicle-mounted wheel speed and steering wheel turning angle sensors, and thus implementing estimation of multiple running states of an automobile by a sliding mode observer estimation recursion algorithm. The method has the characteristics of strong anti-interference capacity, high precision, low cost and the like, and is easy to implement.

The invention relates to a maneuverability improving and controlling method based on a distributively driven electric vehicle. The method includes steps: acquisition of an ideal differential power-assisted steering curve, namely acquiring the differential power-assisted steering curve according to a longitudinal vehicle speed and a steering wheel torque; calculation of a reference yaw velocity, namely calculating an ideal yaw velocity target value according to a steering wheel turn angle and vehicular running parameters, and taking the calculated ideal yaw velocity target value as the reference yaw velocity; calculation of an additional yaw torque, namely tracking the calculated reference yaw velocity in real time, calculating the additional yaw torque through feedforward control and feedback control; longitudinal force distribution, namely distributing driving torques of front-axle left and right wheels and rear-axle left and right wheels according to the ideal differential power-assisted steering curve and the additional yaw torque. Compared with the prior art, the method has the advantages that overall yaw velocity response is improved while operating burden is relieved for a driver, and accordingly maneuverability of the whole vehicle is effectively improved.

The invention discloses a four-wheeled independently-driven electric automobile stability control method and system. The technical problem that an ARS safety system and a DYC safety system of an electric automobile in the prior art work simultaneously and accordingly coupling and whole-automobile performance reduction are caused is solved. The four-wheeled independently-driven electric automobile stability control method comprises the steps of obtaining a turn angle of a steering wheel and the speed of an automobile when the automobile turns; obtaining the variable-transmission ratio of the steering wheel to the turn angles of rear wheels based on an automobile speed and automobile speed transmission ratio mathematical model; obtaining the turn angle of front wheels based on the turn angle of the steering wheel; obtaining an ideal state of the automobile based on an ideal variable-transmission ratio model of the automobile, the speed of the automobile and the turn angles of the front wheels; obtaining an actual state of the automobile based on an electric automobile non-linear eight-degree of freedom model, the speed of the automobile and the turn angles of the front wheels; obtaining errors of the actual state of the automobile compared with the ideal state of the automobile; controlling, eliminating or decreasing the errors of the state of the automobile through the ARS and DYC safety systems or the ARS safety system respectively in a nonlinear area or a linear area where the automobile works so as to achieve stable operation of the automobile.

The invention discloses a vehicle automatic-drive switching device and method based on distracted driving behavior distinguishing. The device comprises a detection unit and a control unit. The input end of the detection unit is connected with a speed sensor, a three-axis acceleration sensor, a steering wheel turning angle sensor, a steering wheel gripping force sensor, a touch sensor, a ranging sensor, a heart rate sensor, a vehicle data recorder and a GPS. The control unit receives significant variable data and time data of a timer, establishes the relation between vehicle automatic-drive probability dependent variables and distracted driving behavior index independent variables on the basis of a logistic regression model, and works out the vehicle automatic-drive probability. Whether given conditions are met or not is judged through a judging condition I and a judging condition II of a condition judging program, if the judging condition I is met, an automatic early-warning control switch is triggered, and if the judging condition II is met, a vehicle automatic-drive control switch is triggered.

The invention discloses a method for calculating a tight reservoir fracturing transformation volume area. The method comprises the following steps that multiple hydraulic fracture non-planar turning extension models, a formation stress field change model, a reservoir pressure file change model and a natural fracture failure criterion in the tight reservoir horizontal well fracturing process are established, geological parameters, horizontal well fracturing construction parameters and the total fracturing time are obtained, an initial fracture filter loss value, an initial fracture half-length value, an initial in-fracture pressure value, an initial fracture extension turning angle, initial permeability and an initial fracturing time value are endowed, all the models are calculated, and natural fracture failure point coordinate data is calculated; a spatial and numerical integration method is utilized to calculate tension failure transformation area volume and shear failure transformation area volume in a reservoir respectively, and the spaces of the two parts are united and regarded as a total transformation volume area. By adopting the method, accurate, economic and rapid tight reservoir horizontal well fracturing evaluation can be achieved, and the problem that effort, money and time are wasted in the existing tight reservoir horizontal well fracturing transformation volume area calculating process is solved.

The invention provides a lane changing control method and device of an autonomous vehicle and belongs to the technical field of automobile electronic control. According to the lane changing control method and device provided by an embodiment of the invention, in case of lane changing, an available region is determined first according a distance between an obstacle and the vehicle and current road condition; when an adjusted guide trajectory is within the available region, steering is available to be prepared, and the problem of steering wheel shaking due to repeated tries of lane changing is avoided; in addition, turn angle of a steering wheel is determined by means of a gradient descent method, the angle of the steering wheel is changed gently during lane changing, the problem that sudden increase in the transverse turn angle due to the traditional preview-follower algorithm leads to poor riding comfort is solved, and riding comfort of the autonomous vehicle is improved.

In steering system and method for an automotive vehicle, a reaction force actuator is configured to provide a steering reaction force for the operation inputting section on the basis of a reaction force command value which accords with a state of steerable wheels, a steering actuator is configured to drive the steering mechanism on the basis of a turning angle command value which accords with a steering angle of the operation inputting section, a turning angle correction value setting section sets a turning angle correction value on the basis of the reaction force command value, and a turning angle command value correcting section subtracts the turning angle correction value from the turning angle command value, the turning angle correction value being set in such a manner that, as the reaction force command value becomes larger, the turning angle correction value becomes larger.