System and device with vertical and rotary wheel-velocity-measuring for determining vehicle displacement
First Claim
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1. A device for determining distance traveled by a vehicle comprising a body and wheels connected to said body by a suspension means, said device including:
- a. means for measuring a first quantity representative of rotary wheel velocity during an instant of time Δ
t;
b. means for measuring a second quantity representative of substantially vertical wheel velocity relative to the vehicle body during the instant of time Δ
t; and
c. processing means for processing a plurality of said first and second quantities to determine the distance travelled by the vehicle.
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Abstract
A device for determining the displacement of a vehicle on wheels which are connected to a body via a wheel suspension. The device includes apparatus for measuring a quantity which is indicative of the instantaneous vertical velocity of a wheel relative to the body. Using this quantity, the vertical component of the wheel displacement is eliminated so that in the event of a bumpy road surface a higher accuracy is obtained for determining the displacement of the vehicle body.
36 Citations
17 Claims
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1. A device for determining distance traveled by a vehicle comprising a body and wheels connected to said body by a suspension means, said device including:
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a. means for measuring a first quantity representative of rotary wheel velocity during an instant of time Δ
t;b. means for measuring a second quantity representative of substantially vertical wheel velocity relative to the vehicle body during the instant of time Δ
t; andc. processing means for processing a plurality of said first and second quantities to determine the distance travelled by the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 17)
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8. A navigation system for a vehicle comprising a body and wheels connected to said body by a suspension means, said system comprising a device for determining distance traveled by the vehicle, said device including:
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a. means for measuring a first quantity representative of rotary wheel velocity during an instant of time Δ
t;b. means for measuring a second quantity representative of linear wheel velocity relative to the vehicle body during the instant of time Δ
t; andc. processing means for processing a plurality of said first and second quantities to determine the distance travelled by the vehicle.
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9. A device for determining the distance travelled by a vehicle having wheels connected to a body of the vehicle via a suspension means, said device comprising:
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first means for measuring a first quantity representative of angular wheel velocity, second means for measuring a second quantity representative of an instantaneous vertical wheel velocity relative to the vehicle body, and means for processing a plurality of said first and second quantities and a quantity indicative of the wheel radius by calculating an integral of said quantities so as to determine the distance travelled by the vehicle. - View Dependent Claims (10, 11, 12, 13)
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14. A device for determining the distance traveled along a surface by a vehicle that is mounted on suspended wheels by wheel suspension means, said device comprising:
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at least one first sensor for measuring a first quantity that is indicative of a rotary velocity of a wheel of the vehicle, at least one second wheel-mounted sensor for measuring a further quantity that is indicative of instantaneous irregularities of the surface and which is arranged to measure an instantaneous vertical velocity of the associated wheel relative to the body via connection to a shock absorber or to a spring of said suspension means, and processing means for processing the first and second quantities so as to determining the distance traveled, wherein said processing means comprise a correction filter with filter parameters that are non-uniformly dependent upon one or more static or dynamic parameters pertaining to the vehicle. - View Dependent Claims (15, 16)
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Specification