Vehicle guidance system

• US 8,433,467 B2
• Filed: 04/10/2008
• Issued: 04/30/2013
• Est. Priority Date: 04/20/2007
• Status: Active Grant

• Current Assignee: Ultra Global Limited
• Original Assignee: Ultra Global Limited
• Inventors: Ross-Martin, Torquil
• Primary Examiner(s): ROCCA, JOSEPH M
• Application Number:
  US12/596,590
• Publication Number:
  US 20100145550A1
• Time in Patent Office: 1,846 Days
• Field of Search: 701/23, 701/24, 701/26, 318/587, 180/647, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A vehicle guidance system for directing a vehicle along a predetermined path comprises an onboard computer, a number of distance sensors and a steering system controllable by the computer. The predetermined path is stored in a memory of the computer and, in operation, the steering system is controlled to follow the predetermined path. The sensors are adapted to measure the distance, laterally of the vehicle travel direction, between the sensors and curbs provided along the predetermined path, and the computer is adapted to control the steering system to correct any lateral deviation from the predetermined path as detected by the sensors.

Claims

1. A vehicle guidance system for directing a vehicle having a steering system along a plurality of predetermined paths, the system comprising:

an elevated structure which extends along the plurality of predetermined paths;

a reference surface provided on the elevated structure and extending along the plurality of predetermined paths;

an on-board vehicle controller comprising a memory for storing the plurality of predetermined paths; and

a sensor which is adapted to measure the distance, laterally of the vehicle travel direction, between the sensor and the reference surface, the controller being adapted to control the steering system of the vehicle to correct any lateral deviation of the vehicle from a chosen predetermined path selected from the plurality of predetermined paths stored in the memory in response to an output from the sensor.

2. A vehicle guidance system as claimed in claim 1, in which the sensor is one of a plurality of sensors which are adapted to measure the distance directed laterally of the vehicle travel direction.

3. A vehicle guidance system as claimed in claim 1, in which the or each sensor is a non-contact sensor.

4. A vehicle guidance system as claimed in claim 1, in which the reference surface is provided by a curb or curbs.

5. A vehicle guidance system as claimed in claim 1, in which at least one reference marker is provided at a known position in the predetermined path, the or each reference marker being identifiable by the or each sensor.

6. A vehicle guidance system as claimed in claim 1, in which at least one transponder is disposed in a known position along the predetermined path.

7. A vehicle guidance system as claimed in claim 6, in which the or each transponder is passive.

8. A vehicle guidance system as claimed in claim 6, in which a reader is provided for identifying the position of the or each transponder.

9. A vehicle guidance system as claimed in claim 1, in which a second controller is provided, remote from the vehicle, and in aerial communication with the first controller, the second controller being adapted to over-ride or partially over-ride the input to the first controller.

10. A personal rapid transport system comprising:

a trackway comprising a plurality of predetermined paths;

elevated structures extending along each side of the trackway;

a vehicle for travelling along the trackway, the vehicle having a steering system;

reference surfaces provided on the elevated structures and extending along the plurality of predetermined paths;

an on-board vehicle controller comprising a memory for storing the plurality of predetermined paths; and

a sensor which is adapted to measure the distance, laterally of the vehicle travel direction, between the sensor and the reference surface, the controller being adapted to control the steering system of the vehicle to correct any lateral deviation of the vehicle from a chosen predetermined path selected from the plurality of predetermined paths stored in the memory in response to an output from the sensor.

11. A vehicle comprising:

a steering system;

an on-board vehicle controller comprising a memory for storing a plurality of predetermined paths; and

a sensor which is adapted to measure the distance, laterally of the vehicle travel direction, between the sensor and a reference surface provided on an elevated structure and extending along the predetermined path,

wherein the controller is adapted to control the steering system of the vehicle to correct any lateral deviation of the vehicle from a chosen predetermined path selected from the plurality of predetermined paths stored in the memory in response to an output from the sensor.

12. A vehicle as claimed in claim 11, in which the sensor is one of a plurality of sensors provided respectively substantially at or near each outer corner of the vehicle.

13. A method of guiding a vehicle along a predetermined path along which extends an elevated structure having a reference surface, comprising the steps of:

(a) selecting one of a plurality of predetermined paths stored in a memory of an on-board vehicle controller of the vehicle;

(b) sensing a distance laterally of the vehicle between the vehicle and the reference surface,

(c) comparing the sensed distance with a stored distance value, and

(d) controlling a steering system of the vehicle to correct any lateral deviation of the vehicle from the chosen predetermined path in response to an output from the sensor.

14. A method as claimed in claim 13, in which step (b) includes sensing a plurality of distances simultaneously, and in which the method further comprises:

(e) calculating a trackway width from two sensed distances including one from each side of the vehicle, and

(f) comparing the trackway width calculated from the sensed distances with a stored trackway width in order to verify that the sensor distance measurements are within a first tolerance.

15. A method as claimed in claim 14, in which sensed distances from each sensor are individually compared with stored estimated measurements in order to verify that the sensor distance measurements are within a second tolerance.