Method for generating connecting paths which can be used for guiding a vehicle to a predetermined target path

• US 6,289,270 B1
• Filed: 01/18/2000
• Issued: 09/11/2001
• Est. Priority Date: 05/19/1998
• Status: Expired due to Term

• Current Assignee: EADS Deutschland GmbH (Airbus SE)
• Original Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Inventors: Baumgarten, Goetz
• Primary Examiner(s): Cuchlinski, Jr., William A
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/463,049
• Time in Patent Office: 602 Days
• Field of Search: 701/23, 701/26, 701/28, 701/42, 701/60, 701/201, 701/206, 701/209, 701/210, 701/223, 180/167, 180/168, 180/169, 318/568.12, 340/933, 340/942
• US Class Current: 701/26
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A method and system generate multi-dimensional coupling paths for guiding vehicles to a destination path with a path dynamic unit (13), with a feedback control (11) for a closed loop control of at least one closed loop for sending feedback data (16, 17; 105, 106, 107) to the feedback control (11). A conversion module (15) is provided at the output of the path dynamic unit (13) for calculating destination path values (5) which are fed into the feedback control (11) as input values.

Claims

1. A method for generating at least one coupling path for guiding a vehicle to a specified destination path, said method comprising the following steps:

(a) mapping, by a path dynamic unit (13), geometric relationships of said at least one coupling path (25),

(b) controlling said path dynamic unit (13) through a path dynamic feedback control (11),

(c) supplying feedback data as signals to said path dynamic feedback control (11) for said controlling of said path dynamic unit (13),

(d) calculating, in a conversion module (15) connected to an output of said path dynamic unit (13), destination path values as signals (5), and

(e) feeding at least a portion of said destination path signals (5) as an input value or values to an input of said path dynamic feedback control (11).

2. The method of claim 1, further comprising providing said destination path values as at least one value selected from the group of a destination path position value and a distance value of a distance between said specified destination path (20) and said at least one coupling path (25).

3. The method of claim 1, further comprising providing said destination path values as at least one value selected from the group of a destination path angular value, a destination path velocity value, and a destination path direction value, taken respectively in a direction of said at least one coupling path (25).

4. The method of claim 1, further comprising providing said destination path values as at least one value selected from the group of a destination path acceleration value, a destination path curvature value, a portion of said acceleration value taken in a direction of said at least one coupling path (25) and a portion of said destination path curvature value taken in said direction of said at least one coupling path (25).

5. The method of claim 1, further comprising providing said destination path values as at least one value selected from the group of a modification of a destination path acceleration value and a modification of a destination path curvature value.

6. The method of claim 1, further comprising providing said at least one coupling path (25) in the form of position data or values and supplying said position data or values to a path feedback control (7).

7. The method of claim 1, comprising generating said at least one coupling path as a multi-dimensional coupling path.

8. A system for generating at least one coupling path (25) for guiding a vehicle to a specified destination path (20), said system comprising a path dynamic unit (13), a feedback control (11) connected to said path dynamic unit for a closed loop control of said path dynamic unit (13), at least one feedback conductor for sending feedback data to said feedback control (11), a conversion module (15) connected to an output of said path dynamic unit (13) for calculating destination path values (5), said conversion module (15) comprising an output connected to an input of said feedback control (11) for feeding said destination path values (5) as input values to said feedback control (11).

9. The system of claim 8, comprising at least two systems as defined in claim 16, and coupling means interconnecting said at least two systems for forming a multi-dimensional system.

10. The system of claim 8, wherein said at least one coupling path is a multi-dimensional coupling path.