Method and apparatus for steering movable object by using control algorithm that takes into account the difference between the nominal and optimum positions of navigation antenna
First Claim
1. A method of steering a vehicle along a predetermined 2-D path on a 2-D plane by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;
- said method comprising the steps of;
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position;
(B) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adjusted set of positioning data into said steering control algorithm;
(C) measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane;
(D) calculating a correction to said measured steering angle on said 2-D plane; and
(E) performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said predetermined 2-D path on said 2-D plane.
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Accused Products
Abstract
A method of steering a vehicle along a predetermined, or real time path by using a steering control algorithm. The vehicle includes a navigation system and a navigation antenna. The navigation antenna is mounted on the vehicle at an optimum antenna position, whereas the steering control algorithm assumes a nominal antenna position at a predetermined reference point. The method comprises the following steps: (A) obtaining a set of positioning data of the vehicle by using the navigation system and by using the navigation antenna mounted at the optimum antenna position; (B) modifying the set of positioning data of the vehicle; (C) measuring a steering angle(s) of the front wheels of the vehicle relative to a predetermined reference direction(s); (D) calculating a correction(s) to the measured steering angle(s); and (E) performing a steering action by using the correction(s) to the measured steering angle(s) to move the vehicle along the predetermined, or real time path.
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Citations
52 Claims
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1. A method of steering a vehicle along a predetermined 2-D path on a 2-D plane by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;
- said method comprising the steps of;
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position; (B) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adjusted set of positioning data into said steering control algorithm; (C) measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane; (D) calculating a correction to said measured steering angle on said 2-D plane; and (E) performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said predetermined 2-D path on said 2-D plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
- said method comprising the steps of;
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9. A method of steering a vehicle along a predetermined 3-D path on a 3-D surface by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;
- said method comprising the steps of;
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position; (B) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adiusted set of positioning data into said steering control algorithm; (C) measuring a set of steering angles on said 3-D surface; (D) calculating a set of corrections to said set of measured steering angles on said 3-D surface; and (E) performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said predetermined 3-D path on said 3-D surface. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
- said method comprising the steps of;
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17. A method of steering a vehicle along a 2-D path on a 2-D plane by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;
- said method comprising the steps of;
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position; (B) obtaining a set of positioning data that defines said 2-D path on said 2-D plane; (C) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adjusted set positioning data into said steering control algorithm; (D) measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane; (E) calculating a correction to said measured steering angle on said 2-D plane; and (F) performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said 2-D path on said 2-D plane. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
- said method comprising the steps of;
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27. A method of steering a vehicle along a 3-D path on a 3-D surface by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;
- said method comprising the steps of;
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position; (B) obtaining a set of positioning data that defines said 3-D path on said 3-D surface; (C) pre-adjusting said set of positioning data obtained in said step (A) and feeding said set of pre-adjusted positioning data into said steering control algorithm; (D) measuring a set of steering angles of the front wheels of said vehicle on said 3-D surface; (E) calculating a set of corrections to said set of measured steering angles on said 3-D surface; and (F) performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said 3-D path on said 3-D surface. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36)
- said method comprising the steps of;
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37. An apparatus for steering a vehicle along a predetermined 2-D path on a 2-D plane comprising:
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(A) a single positioning means for obtaining a set of positioning data of said vehicle; (B) a means for pre-adjusting said set of positioning data of said vehicle; (C) a means for measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane; (D) a means for calculating a correction to said measured steering angle on said 2-D plane; and (E) a means for performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said predetermined 2-D path on said 2-D plane. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44)
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45. An apparatus for steering a vehicle along a predetermined 3-D path on a 3-D surface comprising:
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(A) a single positioning means for obtaining a set of positioning data of said vehicle; (B) a means for pre-adjusting said set of positioning data of said vehicle; (C) a 3-D means for measuring a set of steering angles of the front wheels of said vehicle relative to a predetermined reference direction on said 3-D surface; (D) a means for calculating a set of corrections to said set of measured steering angles on said 3-D surface; and (E) a means for performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said predetermined 3-D path on said 3-D surface. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52)
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Specification