PL444196A1 - Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles - Google Patents

Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles

Info

Publication number
PL444196A1
PL444196A1 PL444196A PL44419623A PL444196A1 PL 444196 A1 PL444196 A1 PL 444196A1 PL 444196 A PL444196 A PL 444196A PL 44419623 A PL44419623 A PL 44419623A PL 444196 A1 PL444196 A1 PL 444196A1
Authority
PL
Poland
Prior art keywords
vehicle speed
vehicles
data
inertial
satellite navigation
Prior art date
Application number
PL444196A
Other languages
Polish (pl)
Inventor
Jakub Kuryło
Marek Nowakowski
Krystian Jasiński
Original Assignee
Stekop Spółka Akcyjna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stekop Spółka Akcyjna filed Critical Stekop Spółka Akcyjna
Priority to PL444196A priority Critical patent/PL444196A1/en
Publication of PL444196A1 publication Critical patent/PL444196A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

System wspomagania sterowania pojazdów, szczególnie zdalnie sterowanych, zawierający moduł nawigacji satelitarnej i nawigacji inercyjnej oraz czujnik prędkości pojazdu, charakteryzuje się tym, że zawiera kontroler zdalnego sterowania, który łączy się bezprzewodowo z komputerem pokładowym (KP), do którego przyłączone są moduł nawigacji inercyjno-satelitarnej (INS-GNSS), czujnik prędkości pojazdu (CP) oraz elementy wykonawcze sterujące prędkością pojazdu (EP), kątem skrętu kół osi jezdnej kierowanej (ES) oraz działaniem układu hamulcowego (EH). Sposób wspomagania sterowania pojazdów, szczególnie zdalnie sterowanych wykorzystujący system nawigacji satelitarnej i system nawigacji inercyjnej, charakteryzuje się tym, że operator za pomocą kontrolera zdalnego sterowania określa żądaną prędkość pojazdu oraz zadany kurs pojazdu, a komputer pokładowy (KP) porównuje te dane z danymi o aktualnej prędkości pojazdu pochodzącymi z czujnika prędkości pojazdu (CP) oraz z danymi o aktualnym kursie pojazdu, wyznaczonymi przez moduł nawigacji inercyjno-satelitarnej (INS-GNSS), po czym określa wartość kąta skrętu kół kierowanych, kąt położenia przepustnicy oraz ciśnienie w układzie hamulcowym i przesyła te dane do sterowników elementów wykonawczych sterujących prędkością pojazdu (SP), kątem skrętu kół osi jezdnej kierowanej (SS) oraz działaniem układu hamulcowego (SH), które przetwarzają je na sygnały sterujące elementami wykonawczymi: siłownikiem przepustnicy (AP), silnikiem elektrycznym układu kierowniczego (AS), siłownikiem układu hamulcowego (SH). Komputer pokładowy utrzymuje zadany kurs i zadaną prędkość do czasu wprowadzenia nowych danych przez operatora.A vehicle control assistance system, particularly for remotely controlled vehicles, comprising a satellite navigation and inertial navigation module and a vehicle speed sensor, is characterized in that it comprises a remote control controller that connects wirelessly to an on-board computer (KP) to which an inertial-satellite navigation module (INS-GNSS), a vehicle speed sensor (CP) and actuators controlling the vehicle speed (EP), the steering angle of the wheels of the steered axle (ES) and the operation of the braking system (EH) are connected. A method of supporting the control of vehicles, particularly remotely controlled vehicles, using a satellite navigation system and an inertial navigation system, is characterized in that the operator, using a remote control controller, determines the desired vehicle speed and a set vehicle course, and the on-board computer (KP) compares this data with data on the current vehicle speed from a vehicle speed sensor (CP) and with data on the current vehicle course determined by the inertial-satellite navigation module (INS-GNSS), and then determines the value of the steering angle of the steered wheels, the throttle position angle and the pressure in the brake system and sends this data to the controllers of the actuators controlling the vehicle speed (SP), the steering angle of the wheels of the steered axle (SS) and the operation of the brake system (SH), which convert them into signals controlling the actuators: the throttle actuator (AP), the electric motor of the steering system (AS), the brake system actuator (SH). The on-board computer maintains the set course and the set speed until new data is entered by the operator.

PL444196A 2023-03-22 2023-03-22 Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles PL444196A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL444196A PL444196A1 (en) 2023-03-22 2023-03-22 Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL444196A PL444196A1 (en) 2023-03-22 2023-03-22 Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles

Publications (1)

Publication Number Publication Date
PL444196A1 true PL444196A1 (en) 2024-09-23

Family

ID=92843902

Family Applications (1)

Application Number Title Priority Date Filing Date
PL444196A PL444196A1 (en) 2023-03-22 2023-03-22 Steering support system and method for supporting the control of vehicles, especially remotely controlled vehicles

Country Status (1)

Country Link
PL (1) PL444196A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080269988A1 (en) * 2003-03-20 2008-10-30 Feller Walter J Combined gnss gyroscope control system and method
US20140168009A1 (en) * 2012-12-17 2014-06-19 Trimble Navigation Ltd. Multi-IMU INS for vehicle control
US20140324291A1 (en) * 2003-03-20 2014-10-30 Agjunction Llc Gnss and optical guidance and machine control
WO2020031711A1 (en) * 2018-08-07 2020-02-13 日立オートモティブシステムズ株式会社 Vehicle control device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080269988A1 (en) * 2003-03-20 2008-10-30 Feller Walter J Combined gnss gyroscope control system and method
US20140324291A1 (en) * 2003-03-20 2014-10-30 Agjunction Llc Gnss and optical guidance and machine control
US20140168009A1 (en) * 2012-12-17 2014-06-19 Trimble Navigation Ltd. Multi-IMU INS for vehicle control
WO2020031711A1 (en) * 2018-08-07 2020-02-13 日立オートモティブシステムズ株式会社 Vehicle control device

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