System and method for determining vehicle ground speed

• US 4,135,155 A
• Filed: 09/12/1977
• Issued: 01/16/1979
• Est. Priority Date: 09/28/1976
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Muller, Hans-Georg, Scharf, Friedrich, Kehl, Albin
• Primary Examiner(s): Krawczewicz, Stanley T.
• Application Number:
  US05/832,570
• Time in Patent Office: 491 Days
• Field of Search: 324/178, 73/167, 250/222 R, 250/209, 180/98, 180/105 E, 246/182 A, 246/187 B, 340/309.4, 346/38
• US Class Current: 324/178
• CPC Class Codes: G01P 3/64 Devices characterised by the determination of the time taken to traverse a fixed distance
• CPC Class Codes: G01P 3/806 in devices of the type to be classified in G01P3/68

Abstract

A plurality of sensors are located on one of the bodies, staggered by fixed distances from each other along the direction of relative movement. The sensors are responsive to a characteristic of the other body, for example to surface characteristics of a roadway. A sensed signal, picked up by a first, or leading sensor is time delayed for a predetermined time interval, and compared with signals received from all the other sensors. Upon optimum correlation, and with known time delay and distance between sensors, the relative speed can then be indicated by determining which one of the sensors picked up the signals which matched the time delay signal. The amplitudes of the signals can be dynamically equalized and the time delay itself changed to permit output over wide ranges, or with respect to different scaling units.

Claims

1. Method to determine the relative speed between a first body (A) and a second body (B) in which a plurality of sensing means (1, 2.1 . . . 2.n) are secured to one of said bodies (A) and located thereon, staggered by fixed distances in the direction of relative movement of said bodies, and responsive to a characteristic of said other body (B);

in which sensed characteristic signals are derived from each said sensing means, said sensed signals being time-shifted with respect to each other in accordance with the distance (L) of said sensing means from each other,

and comprising, in accordance with the invention, the steps of

generating a first sensed characteristic signal (s₁) from a sensing means located at the leading portion of said one body (A);

generating a plurality of second sensed characteristic signals (s₂.1 . . . 2₂.n) which are time shifted with respect to each other from said sensing means located at portions of said body trailing respect to said leading portion;

time-delaying said first sensed characteristic signal to obtain a delay signal (s₁);

simultaneously comparing said time delayed signal (s₁) with each of said generated characteristic signals (s₂.1 . . . s₂.n) and obtaining an output signal representative of optiimal correlation between said compaired signals;

and utilizing said correlation output signal to provide an indication representative of relative speed of said bodies (A, B).

2. Method according to claim 1, further comprising the steps of converting said sensed characteristic signals (s₁, s₂.1 . . . s₂.n) derived from said sensing means (1, 2.1 . . . 2.n) to single digit binary signals (s₁ ;

s₂.1 . . . s₂.n);

and wherein said comparison step comprises logically comparing said resulting single digit binary signals.

3. Method according to claim 2, further comprising the step of dynamically setting the level of association of a binary ZERO or a binary ONE value to said sensed signal characteristic by controlling the output level resulting in a binary ZERO or a binary ONE signal, as derived from said sensed characteristic signals in dependence on average signal amplitudes derived from the output of at least one of said sensing means.

4. System to determine the relative speed between the first body (A) and a second body (B),

carrying out the method of claim 1,

having a plurality of sensing means (1;

2.1, 2.2, 2.n-1, 2.n) secured to one of said bodies (A) and located thereon, staggered by fixed distances in the direction of relative movement, each said sensing means being responsive to a characteristic of said other body (B),

to derive the plurality of sensed characteristic signals from each said sensing means which are, respectively, time-shifted with respect to each other,

and comprising, in accordance with the invention,

a time delay means (9) connected to a first, or leading one of said sensing means (1) to obtain a delayed signal (s₁);

comparator means (13) comparing said time delayed signal (s₁) with each of the plurality of the time-shifted signals (s₂.1 . . . s₂.n) derived from sensing means located in trailing position with respect to said leading sensing means (1);

and output indicator means (14;

15, 16, 17,

     18) connected to the output of said comparator means and providing an output indicative of which one of the plurality of time-shifted signals derived from a specifically located sensor, has optimum correlation with said delayed signal (s₁) to thereby provide a relative speed indication.

5. System according to claim 4, wherein said comparator means comprises a plurality of logic gates (13).

6. System according to claim 5, wherein the logic gates comprise EXCLUSIVE-OR gates.

7. System according to claim 4, wherein the output indicator means includes an integrator (14) connected to the output of said comparator means.

8. System according to claim 4, further comprising a plurality of threshold circuits (3, 4), one threshold circuit being connected between the output of the leading sensing means (1) and the time delay means (9), and other respective threshold circuits (4) being connected between the output of the respective trailing sensing means (2.1 . . . 2.n) and the comparator means (13).

9. System according to claim 8, wherein the threshold levels of said threshold circuits (3, 4) are adjustable or controllable.

10. System according to claim 9, further comprising an averaging circuit (5, 6;

5a) connected to the output of at least one of said sensing means and providing a time averaged signal representative of average output level derived from said at least one sensing means;

said time averaged output signal being connected to said threshold circuits (3,

     4) to control the threshold level thereof.

11. System according to claim 10, wherein the time averaging circuit comprises an averaging circuit (6) and a threshold level control circuit (6) connected to control the threshold level of said threshold circuits (3, 4).

12. System according to claim 10, wherein said time averaging circuit comprises an integrator (5a) connected to the output of one (1) of said sensing means (1;

2.1 . . . 2.n) and having long time integrating characteristics, the output of said integrating circuit being connected to control the threshold level of said threshold circuits (3,

     4).

13. System according to claim 4, wherein the time delay means (9) is a variable time delay means, the time delay being externally controllable.

14. System according to claim 4, wherein said time delay means comprises a shift register (9).

15. System according to claim 14, further comprising means (25, 26;

22,

     24) connected to said shift register and controlling the shift rate of said shift register, to thereby provide relative speed indications in various settable ranges.

16. System according to claim 15, further comprising means (19, 20, 21, 22) connected to said shift register rate control means (25, 26, 22, 24) and automatically controlling the shift rate of said shift register in dependence on output speed indication with respect to actual relative speed.

20. System according to claim 4, wherein said output indicator means includes an integrator (14), said integrator comprising a R/C circuit.

21. Method to determine relative ground speed of a moving vehicle or aircraft,

comprising the method of claim 1,

wherein the sensing means is responsive to surface characteristics of the ground over which said vehicle, or aircraft moves.

22. Ground speed measuring system for vehicles or aircraft

comprising the apparatus of claim 4,

said sensing means being located on said vehicle or longitudinally with respect to the direction of movement of said vehicle or aircraft and being responsive to surface characteristics over the ground, said ground forming said other body (B).

17. System according to claim 17, wherein said automatic rate controlling means comprises a bi-directional shift register (21) having two inputs, one of said inputs being connected to the output indicator means (14, 15, 16) representative of lowest speed, and the other input (20) to said bi-directional shift register being representative of highest speed, shifting of signals in said shift register being controlled by one or the other of said outputs to shift towards the opposite direction;

the means controlling the shift rate of the time delay shift register (9) including means (25,

     26) providing a plurality of different clock rates (fo;

fo/2;

fo/4;

fo/8) to said time delay shift register, the output of said bi-directional shift register controlling which one of said clock rates being connected to said time delay shift register (9).

18. System according to claim 17, including overflow buffers (27) connected to the overflow output terminals of said bi-directional shift register to hold a predetermined signal value in said overflow buffer in case of overflow of said bi-directional shift register, and for startup of the system.

19. System according to claim 17, further comprising a converter stage (30a, 31a) connected to the output indicator means (14;

15-18) and to the output of said bi-directional shift register (21) to derive an output signal representative of relative speed.