Vehicle control and guidance system

Details Vehicle control and guidance system Vehicle control and guidance system

G - Physics

05

D

341/84

G05D 1/02 (2006.01)

Patent

CA 1230399

ABSTRACT A vehicle control and guidance system in which a desired route for the vehicle is stored in the vehicle in the form of co-ordinates in a ground reference frame. The 'vectors' between these junction points are divided by successive reference points into incremental vectors, the reference points being generated ahead of the vehicle at regular intervals. A dead reckoning system predicts the position of the vehicle at the end of each interval and this estimate is corrected a using a Kalman filter, by an independent fixed-target detection system using a scanning laser. The error between the estimated vehicle position and the local incremental vector provides a steering angle correction for the vehicle and the vehicle speed is dependent upon the lag of the vehicle behind the generation of reference points.

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