Vehicle guidance system

• US 6,289,269 B1
• Filed: 11/09/2000
• Issued: 09/11/2001
• Est. Priority Date: 11/09/2000
• Status: Expired due to Fees

• Current Assignee: Lindsay Transporation Solutions, Inc. (Lindsay Corporation)
• Original Assignee: Barrier1 Systems Incorporated
• Inventors: Seiferling, James Edward
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/710,355
• Time in Patent Office: 306 Days
• Field of Search: 701/23, 701/24, 701/200, 318/587, 180/167, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0263 using magnetic strips

Abstract

A system for use in guiding a vehicle on a roadway along an elongated guide member emitting a magnetic field includes an upper sensor and a lower sensor connected to the vehicle. The lower sensor detects a magnetic field emitted by the elongated guide member and an ambient magnetic field. The upper sensor detects only the ambient magnetic field. The signals produced by the detectors are processed to subtract the signal from the upper sensor of that of the lower sensor to produce a steering signal for transmission to an automatic steering system on the vehicle.

Claims

1. Apparatus for use in guiding a vehicle on a roadway along an elongated guide member emitting a magnetic field, said apparatus comprising, in combination:

a first sensor attached to the vehicle for detecting both the magnetic field emitted by the elongated guide member and an ambient magnetic field not emitted by the elongated guide member, said first sensor producing a primary signal representative of the detected magnetic field emitted by the elongated guide member and the ambient magnetic field;

a second sensor attached to the vehicle for detecting the ambient magnetic field but not a substantial portion of the magnetic field emitted by the elongated guide member, said second sensor producing a reference signal representative of the ambient magnetic field; and

a signal processor for processing the primary and reference signals to subtract the reference signal from the primary signal and produce a steering signal for transmission to an automatic steering system on said vehicle.

2. The apparatus according to claim 1 wherein said first sensor and said second sensor are elevated relative to said elongated guide member, said second sensor being elevated relative to said first sensor.

3. The apparatus according to claim 2 wherein said sensors are aligned along a substantially vertical axis.

4. The apparatus according to claim 1 wherein said first and second sensors comprise fluxgate magnetometers.

5. The apparatus according to claim 1 wherein said first and second sensors respectively produce primary and reference signals having a plurality of signal components and wherein said signal processor includes a plurality of signal converters for receiving separate signal components.

6. The apparatus according to claim 5 wherein said first and second sensors respectively produce primary and reference signals having magnetic axis X, Y and Z signal components, one of said signal converters receiving the X signal components of said primary and secondary signals and producing an output that is the difference between the received X signal components, one of said signal converters receiving the Y signal components of said primary and secondary signals and producing an output that is the difference between the received Y signal components and one of said signal converters receiving the Z signal components of said primary and secondary signals and producing an output that is the difference between the received Z signal components.

7. The apparatus according to claim 1 wherein said signal processor includes at least one signal converter having a positive input for receiving at least a portion of the primary signal from said first sensor and a negative input receiving at least a portion of the reference signal from said second sensor and producing an output that is the difference between the inputted signals.

8. The apparatus according to claim 7 wherein said at least one signal converter comprises an amplifier.

9. The apparatus according to claim 6 wherein each of said signal converters comprises an amplifier.

10. The apparatus according to claim 1 including mounting means affixed to said first and second sensors to maintain a predetermined fixed distance between said first and second sensors and maintain said first and second sensors in alignment.

11. A method employed when guiding a vehicle on a roadway along an elongated guide member emitting a magnetic field, said method comprising the steps of:

attaching a first sensor to the vehicle;

attaching a second sensor to the vehicle;

maintaining said first sensor and said second sensor spaced from one another;

during movement of said vehicle on the roadway detecting at said first sensor both the magnetic field emitted by the elongated guide member and an ambient magnetic field not emitted by said elongated guide member;

producing at said first sensor a primary signal representative of the detected magnetic field emitted by the elongated guide member and the ambient magnetic field;

during movement of said vehicle on the roadway, detecting at said second sensor the ambient magnetic field but not a substantial portion of the magnetic field emitted by the elongated guide member;

producing at said second sensor a reference signal representative of the ambient magnetic field;

processing the primary and reference signals to subtract the reference signal from the primary signal; and

subsequent to said processing step, producing a steering signal for transmission to an automatic steering system on said vehicle.

12. The method according to claim 11 wherein said first sensor and said second sensor are maintained in an elevated condition relative to said elongated guide member during movement of said vehicle.

13. The method according to claim 12 wherein said second sensor is maintained elevated relative to said first sensor and maintain a fixed distance from said first sensor during movement of said vehicle.

14. The method according to claim 13 wherein said first and second sensors are maintained in alignment along a substantially vertical axis during movement of said vehicle.

15. The method according to claim 11 wherein the step of producing a primary signal includes producing a plurality of primary signal components and wherein the step of producing a reference signal includes producing a plurality of reference signal components.

16. The method according to claim 11 wherein the step of producing a primary signal includes producing magnetic axis X, Y and Z primary signal components and wherein the step of producing a reference signal includes producing magnetic axis X, Y and Z reference signal components.

17. The method according to claim 11 wherein said processing step includes inputting at least a portion of the primary signal from the first sensor into a first input of a signal converter, inputting at least a portion of the reference signal from the second sensor into a second input of a signal converter and producing an output at said signal converter that is the difference between the inputted signals.

18. The method according to claim 16 wherein said processing step includes introducing the X primary signal component and the X reference signal component into inputs of a first signal converter and producing an output that is the difference between the X primary signal component and X reference signal component, introducing the Y primary signal component and the Y reference signal component into the inputs of a second signal converter and producing an output that is the difference between the Y primary signal component and the Y reference signal component, and introducing the Z primary signal component and Z reference signal component into the inputs of a third signal converter and producing an output that is the difference between the Z primary signal component and the Z reference signal component.