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    • 3. 发明申请
    • METHOD AND APPARATUS FOR DETERMINING A NAVIGATIONAL STATE OF A VEHICLE
    • 用于确定车辆航行状态的方法和装置
    • US20090319186A1
    • 2009-12-24
    • US12145096
    • 2008-06-24
    • Anirudh KumarKailash KrishnaswamyShrikant P. RaoPeter LommelSubhabrata Ganguli
    • Anirudh KumarKailash KrishnaswamyShrikant P. RaoPeter LommelSubhabrata Ganguli
    • G01C21/16
    • G05D1/0278G05D1/027G05D1/0272
    • Methods and apparatus are provided for determining a navigational state of a vehicle, the vehicle having at least one pivotable wheel and a plurality of front wheels. The apparatus comprises a steering angle sensor coupled to the at least one pivotable wheel for determining a steering angle, a plurality of wheel speed sensors each coupled to a different one of the plurality of pivotable wheels for determining an angular velocity of each of the plurality of pivotable wheels, a GPS receiver coupled to the vehicle for receiving GPS positioning data, and a processor coupled to the steering angle sensor, the plurality of wheel speed sensors, and the GPS receiver. The processor is configured to determine a yaw rate for the vehicle based on the positioning data, the steering angle, and the longitudinal angular velocity of each of the plurality of front wheels, and integrate the yaw rate to determine a heading for the vehicle.
    • 提供了用于确定车辆的导航状态的方法和装置,所述车辆具有至少一个可枢转轮和多个前轮。 所述装置包括联接到所述至少一个可枢转轮的转向角传感器,用于确定转向角;多个车轮速度传感器,每个车轮速度传感器联接到所述多个可转动轮中的不同的一个,用于确定所述多个 可枢转的车轮,耦合到车辆以接收GPS定位数据的GPS接收器,以及耦合到转向角传感器,多个车轮速度传感器和GPS接收器的处理器。 处理器被配置为基于多个前轮中的每一个的定位数据,转向角和纵向角速度来确定车辆的偏航率,并且整合偏航率以确定车辆的航向。