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Method of recording trajectory data and sensor data for a manually-driven vehicle

  • US 6,314,341 B1
  • Filed: 11/26/1999
  • Issued: 11/06/2001
  • Est. Priority Date: 11/26/1999
  • Status: Expired due to Term
First Claim
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1. A method of recording trajectory data for a manually-driven vehicle that moves on a plane, comprising:

  • providing means for periodical motion function execution with a motion-execution interval Δ

    T;

    defining a global frame on said plane to describe a vehicle position p=(x, y) and a vehicle orientation θ

    of said manually-driven vehicle;

    denoting a pair (p, θ

    )=((x, y), θ

    ) of said vehicle position and said vehicle orientation as a vehicle frame Q;

    denoting s as a trajectory length measured along a trajectory from a start position of said manually-driven vehicle;

    providing means for detecting an incremental trajectory length Δ

    s during each motion-execution-interval Δ

    T;

    providing means for detecting a vehicle orientation change Δ

    θ

    during each motion-execution interval Δ

    T;

    initializing said trajectory length s and said vehicle frame Q at an initial state; and

    executing a sequence of motion functions at every motion-execution interval Δ

    T, comprising;

    detecting said incremental trajectory length Δ

    s;

    detecting said vehicle orientation change Δ

    θ

    , computing an incremental transformation Δ

    Q using said incremental trajectory length Δ

    s and said vehicle orientation change Δ

    θ

    , updating said vehicle frame Q by composing said incremental transformation Δ

    Q to said vehicle frame Q;

    updating said trajectory length s by adding Δ

    s;

    assembling a trajectory record A which comprises of said trajectory length s and said vehicle frame Q;

    providing a memory which is able to store said trajectory record A; and

    storing said trajectory record A to said memory.

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