METHOD AND APPARATUS FOR DETERMINING A NAVIGATIONAL STATE OF A VEHICLE
First Claim
1. An apparatus for determining a navigational state of a vehicle, the vehicle having at least one pivotable wheel and a plurality of front wheels, the apparatus comprising:
- a steering angle sensor coupled to the at least one pivotable wheel for determining a steering angle;
a plurality of wheel speed sensors each coupled to a different one of the plurality of front wheels for determining the longitudinal angular velocity of each of the plurality of front wheelsa GPS receiver coupled to the vehicle for receiving GPS positioning data; and
a processor, coupled to the steering angle sensor, the plurality of wheel speed sensors, and the GPS receiver, the processor configured to;
determine a yaw rate for the vehicle based on the GPS positioning data, the steering angle, and the longitudinal angular velocity of each of the plurality of front wheels; and
integrate the yaw rate to determine a heading for the vehicle.
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Accused Products
Abstract
Methods and apparatus are provided for determining a navigational state of a vehicle, the vehicle having at least one pivotable wheel and a plurality of front wheels. The apparatus comprises a steering angle sensor coupled to the at least one pivotable wheel for determining a steering angle, a plurality of wheel speed sensors each coupled to a different one of the plurality of pivotable wheels for determining an angular velocity of each of the plurality of pivotable wheels, a GPS receiver coupled to the vehicle for receiving GPS positioning data, and a processor coupled to the steering angle sensor, the plurality of wheel speed sensors, and the GPS receiver. The processor is configured to determine a yaw rate for the vehicle based on the positioning data, the steering angle, and the longitudinal angular velocity of each of the plurality of front wheels, and integrate the yaw rate to determine a heading for the vehicle.
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Citations
20 Claims
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1. An apparatus for determining a navigational state of a vehicle, the vehicle having at least one pivotable wheel and a plurality of front wheels, the apparatus comprising:
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a steering angle sensor coupled to the at least one pivotable wheel for determining a steering angle; a plurality of wheel speed sensors each coupled to a different one of the plurality of front wheels for determining the longitudinal angular velocity of each of the plurality of front wheels a GPS receiver coupled to the vehicle for receiving GPS positioning data; and a processor, coupled to the steering angle sensor, the plurality of wheel speed sensors, and the GPS receiver, the processor configured to; determine a yaw rate for the vehicle based on the GPS positioning data, the steering angle, and the longitudinal angular velocity of each of the plurality of front wheels; and integrate the yaw rate to determine a heading for the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for determining a navigational state of a vehicle, the vehicle comprising at least one pivotable wheel, a front left wheel, and a front right wheel, the method comprising:
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receiving a steering angle from a steering angle sensor coupled to the at least one pivotable wheel; receiving a longitudinal angular velocity of the front left wheel from a front left wheel speed sensor coupled to the front left wheel; receiving a longitudinal angular velocity of the front right wheel from a front right wheel speed sensor coupled to the front right wheel; receiving GPS positioning data from a GPS receiver; determining a yaw rate for the vehicle based on the longitudinal angular velocity of the front left wheel, the longitudinal angular velocity of the front right wheel, the steering angle, and the GPS positioning data; integrating the yaw rate to determine a heading of the vehicle; and setting an appropriate steering angle and velocity for the vehicle based on data including the heading. - View Dependent Claims (14, 15, 16)
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17. A vehicle control system for determining an appropriate steering angle and velocity for a vehicle, the vehicle comprising a pivotable front left wheel and a pivotable front right wheel, the vehicle control system comprising:
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a steering angle sensor coupled to the pivotable front left wheel and the pivotable front right wheel for detecting a steering angle; a front left wheel speed sensor coupled to the pivotable front left wheel for determining the longitudinal angular velocity for the pivotable front left wheel; a front right wheel speed sensor coupled to the pivotable front right wheel for determining the longitudinal angular velocity for the pivotable front right wheel; a GPS receiver coupled to the vehicle for receiving GPS positioning data; a navigation unit coupled to the vehicle, the steering angle sensor, the front left wheel speed sensor, the front right wheel speed sensor, and the GPS receiver, the navigation unit configured to; determine a yaw rate for the vehicle based on the GPS positioning data, the steering angle, and the longitudinal angular velocities of the pivotable front left wheel and front right wheel; and integrate the yaw rate to determine a heading for the vehicle; and a waypoint follower coupled to the navigation unit and configured to determine the appropriate steering angle and velocity for the vehicle based on data including the heading. - View Dependent Claims (18, 19, 20)
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Specification