Vehicle control device and method of helping vehicle driver at parking
SUBSTANCE: invention relates to automotive parking helps. Control device comprises computer to determine the distance to parking point in parking lot for vehicle to overcome, camera to register situation nearby the vehicle, interface for connection to device to output instructions on manoeuvring at motion to parking point, interface for connection with device for manual input of parking space boundaries and interface for connection to means intended for setting relationship between parking space boundaries and vehicle position. Camera is set to view the space ahead of vehicle. Portable computer comprises above described control device. Proposed method comprises registration of situation nearby vehicle by said camera, calculation of distance to parking point in parking lot for vehicle to overcome, outputting of instructions on manoeuvring at motion to parking point Picture produced by camera is used for manual input of parking space boundary to be compared with current position of vehicle.
EFFECT: efficient parking help for driver.
11 cl, 4 dwg
The technical field to which the invention relates.
The present invention relates to a control device for a vehicle and to a method of assisting a driver of a vehicle when Parking in accordance with the independent claims.
The level of technology
From the publication DE 102005023177 A1 known way driver assistance, providing registered by sensors of the environment around the vehicle. This situation near the vehicle cause the specified end position of the vehicle. Then in the resulting image conditions specified end position of the vehicle can be moved or rotated by the input device.
Disclosure of inventions
Proposed in the invention, the control device described in the corresponding independent claim of the invention has, compared with the known solution, the advantage that help the driver to automate Parking is provided and without measuring sensors Parking space. With the ability to manually enter at least one border of a Parking space the establishment of the position of the Parking space is possible without gathering information about it using the sensors. Further, due to the fact that manually entered the boundaries of the Parking space is correlated with the appropriate tools with the current position of the vehicle, can be calculated path of movement of the vehicle from its current (actual) position to a Parking space within a Parking space. This allows you to develop a way to help the driver of the vehicle when Parking, do not involve the use of distance measuring devices for measuring a Parking space. Further, for example, by entering the observed ahead of the boundaries of the Parking space using the appropriate tools help the driver when Parking can be provided for Parking spaces by which the vehicle has not yet passed for measuring a Parking space.
Corresponding advantages are achieved in the implementation proposed in the invention of a way to help the driver of the vehicle when Parking.
The activities outlined in the dependent claims describe private and preferred embodiments of the control device and method of assistance when Parking. So, it is advisable to register the beginning of a Parking space when exposed to the instrument input. This allows very easy to enter the boundaries of the Parking space, allowing to enter the boundaries of the Parking space just a single exposure to the instrument input, for example the EP pressed the button.
It is also advisable to provide a measuring device for collecting information about the movement of the vehicle after determining the beginning of a Parking space. This allows measuring the movement of the vehicle along the Parking space, to measure the length of Parking spaces. If the vehicle has reached the next place, in which, for example, you enter a different boundary of the Parking space based on the stored distance you can judge the length of a Parking space without during such movement of the vehicle to direct the "feeling" of Parking space sensors for measuring dimensions of a Parking space.
Further, proposed in the invention, the control unit it is advisable to combine with the input device having means for establishing a ratio between the boundary of the Parking space and the position of the vehicle. This allows you to get a portable computing device that you can carry in the vehicle and which can serve as a Parking assistant, used for Parking assistance also on vehicles not equipped with sensors distance.
Furthermore, such portable computing device, it is expedient to equip si is the subject of positioning to collect information about the movement of the vehicle. Thanks to the determination of the motion of the vehicle may be, for example, and in the absence of connection with the electronic equipment of the vehicle, for example with speed sensor wheel to measure distance traveled.
It is also advisable to provide portable computing device display to show the position of the vehicle relative to the beginning of the Parking space. This enables a user to control the display the correct input in the beginning of the Parking space, for example by controlling the alignment mark with the beginning of the Parking space. It is also appropriate to provide for the possibility of correction entered the Parking space, for example, by moving the marker on the image of the Parking space.
In addition, the portable computing device, it is expedient to equip the navigation device to calculate the route to the entered destination. This allows, in particular, to calculate the route to the Parking lot (Parking). In this case, the portable computing device can not only throw a route to a Parking lot, but to help the driver of the vehicle in the Parking lot.
It is also advisable option which will display aema on the display mark is first combined with the boundary of the Parking space, then by the influence of the input tool introduces the beginning of a Parking space. This allows a simple way to determine the length of a Parking space by entering the start and end of a Parking space. Next, at a known ratio obtained by computing the projection of the mark on the environment around the vehicle and the position of the vehicle can also directly correlate the beginning of the Parking space with the current position of the vehicle. The fact that the position of the markers is known, and if it is at a certain position of the vehicle is combined with a mark, which the driver sees on the display, then on the known relationship between the position of the mark and the position of the vehicle is possible by calculation to determine where the position relative to the vehicle is the beginning of a Parking space, introduced by the influence of the input tool.
Brief description of drawings
Below is a detailed description of the embodiments of the invention, illustrated in the drawings, showing:
figure 1 - schematic view of the vehicle with the proposed invention the control device
figure 2 - vehicle in the implementation proposed in the invention method,
the piano is D.3 - an example of an image displayed on the display proposed in the invention of the portable computing device,
figure 4 - block diagram of the proposed in the invention method.
The implementation of the invention
1 schematically in the top view depicts the vehicle 1 in the form of a car. In this embodiment of the invention in the vehicle 1 is a portable computing device 2, marked by a dotted line. In another embodiment of the invention the components of computing device 2 may be integrated into the electronic equipment of the vehicle and is provided in the form of block, inline, for example, in the dashboard or center console of the vehicle.
In this embodiment of the invention a portable computing device 2 includes a control device 3 (the controller). The control device 3 includes, in turn, the computing unit 4, which serves to calculate the length of a Parking space and calculating the motion path at the entrance to a Parking space. To the control device 3 is connected to the controller 5 controls with controls such as buttons 6. In the storage device 7 recorded data, in particular the size of the vehicle, to the which are used to calculate the motion path to the Parking space, are detected and measured in a Parking space. In addition, the stored data of the vehicle are used to determine the suitability of a particular Parking space for Parking. In yet another embodiment of the invention for the application of the portable computing device on a range of vehicles in the storage device 7 to store the sizes of various types of vehicles.
The measurement of the movement of the vehicle, or gathering information about this movement may be effected in any way. In the first embodiment of the invention, the control device 3 has an inertial sensor 8, in which the acceleration sensor measures the acceleration of the portable computing device 2, and thus the vehicle 1. On the basis of the received signal acceleration by integration it is possible to determine the movement of the vehicle in the direction of the corresponding coordinate axis. In yet another embodiment of the invention, in addition to the inertial sensor, or instead, it is also possible to provide a device 9 for determining a location using radio signals, such as GPS locator (device positioning system the global positioning system (GPS)to determine the current Polo is placed the vehicle on the basis of the difference between the recorded positions of the vehicle to determine the movement of the vehicle. In yet another embodiment, the invention also may provide an interface 10 mates with the sensor 11 of the speed of rotation of the wheel, determining, for example, the rotation of the wheels 12 of the vehicle 12. In yet another embodiment, the invention also may provide an interface 14 mates with the sensor 13 of the rotation angle of the steering wheel, providing the definition of the current rotation angle of the steering wheel.
Instructions for maneuvering may be issued to the driver, for example, by acoustic means (in the form of audio information) and/or optical means (in the form of visual information). To this end, in the vehicle provided by, for example, a speaker 15 and a display 16. Thus, the driver can be submitted commands to turn the steering wheel to the left, turn the wheel to the right, move forward or move back. In yet another embodiment, the invention may provide an interface 17 for the automatic execution of the control operation of the vehicle. Through the interface 17, for example, can operate the steering device 18 of the vehicle with which the automation affects the angle of rotation of the guide wheels of the vehicle and thereby enables automatic movement of the vehicle with taxiing on the calculated phase the path to the Parking space in a Parking space.
For a visual representation of the environment around the vehicle can be provided by the camera 19, the recording environment around the vehicle. Images of the environment around the vehicle, if necessary, can be transmitted directly from the camera 19 on the display 16. In yet another embodiment of the invention, the computing unit 4 unit 3 control may be applied to captured by the camera 19, the image of the mark to display on the display 16.
In yet another embodiment of the invention a portable computing device 2 may be performed so that the computing unit 4, accessing data stored in the storage device 7 in the form of digital maps, and using the device 9 location, defined the route from the current position of the vehicle to the destination, for example to the Parking lot.
An example implementation of Parking in a Parking space, stretched along the edge 20 of the roadway, are presented in figure 2. In yet another embodiment of the invention, not shown, Parking can accordingly be carried out in Parking space, located towards the edge 20 of the roadway in any other way, for example across the roadway.
On firgt tool 21 shown in the initial position. The path of movement of the vehicle 21 from its original position 23 Parking in the Parking space 24 is depicted with reference to the center of the rear axle of the vehicle. In figure 1 the position number 25 marked the appropriate place on the rear axle 26 of the vehicle 1.
Shown in figure 2 situation, the driver of the vehicle 21 has detected a potential Parking space 24, which is located in front of the vehicle 21 along the edge 20 of the roadway and passes between the first barrier 27 and another obstacle 28 arranged in front of it along the edge of the roadway, in the form of a so-called Parking niches. The driver selects on its assessment of the distance 31 from your vehicle 21 to the first element 27 and moves about straight forward about keeping this lateral distance to the first obstacle. This is the first distance 31 is selected by the driver, based on its own estimates, and is, for example, about one meter. The driver takes the vehicle from the initial position 30 forward until until in position 32 of the alignment he would not see that the vehicle 21 that right exterior mirror 33 rear view caught up with the front corner of the first obstacle, and thus with the beginning of the Parking space 24. This position is in the advanced alignment presented in figure 2 with a dashed line 34. Enter the beginning of the Parking space and the end of the Parking space can be aligned with the boundary of the Parking space outside rearview mirrors, but after appropriate fixation of the alignment - any other part of the vehicle such as the front bumper.
Now, the driver creates a control on the remote control 5 control, for example, by pressing the set button 6. Computing unit 4 captures the impact on the appropriate tool input as the registration of the beginning of the Parking space 24. Because the driver was set to approximately withstand distance 31 computing unit 4 on the basis of this approximate distances and enter the boundaries of the Parking space when the alignment of the external rear view mirrors with the front edge of the first element 27 can establish a relation between the current position 32 of the vehicle 21 and the beginning of the Parking space 24, marked by a dotted line 34. Then the driver takes the vehicle straight ahead, along the shown in the drawing section 22 of the road until you reach the second position 35 of the alignment. In this second position defining a Parking space the vehicle is aligned with its outer mirror 33 rear view beginning on the natives obstacles 28, i.e. the opposite of the beginning of the Parking space 24 or - when viewed from the first element 27 with the end of this Parking space. Here the driver again affects the tool 5 control. Computing unit 4, requesting means for determining the segment of the path relevant information, determines the distance between the first position 32 and the second alignment regulation 35 of the alignment. This process can be carried out, for example, by querying the sensor 11 speed wheels, inertial sensor 8 or GPS locator 9. In yet another embodiment of the invention involving sensor 13 of the rotation angle of the steering wheel or by tracking the movement of a vehicle along a curved path by querying the GPS locator 9 or inertial sensor 8 can also be determined deviation of the vehicle from a straight-line section of the route, so when determining the length of the Parking space 24, if necessary, can be taken into account by appropriate calculations, the angularity of the path of the vehicle 21 between the first position 32 and the second alignment regulation 35 of the alignment.
Further, the distance between positions 32, 35 alignment compared to the one stored in the storage device 7, the size of the mi of the vehicle, in particular its length. If the computing unit 4 determines that the length of the Parking space 24 is sufficient for Parking, he calculates, starting from the second position determining Parking space (alignment position) or if the driver drove a little forward from the current position of the vehicle, the path of movement to a designated 23 Parking in the Parking space 24 with regard to the front and rear boundaries of the Parking space. A possible path of movement shown in figure 2 and includes a first area of supply of the vehicle forward to a point 36 changing the direction of movement of the switch point for reversing), the first portion 37 of the movement on the arc of a circle or clothoid with turned to the right the wheel to the point 38 of the rudder and the second section 39 of the movement on the arc of a circle or clothoid with turned in the opposite direction the wheel.
Now, in the first variant of the invention, the computing unit 4 initiates the issuance of the driver instructions on maneuvering, such as issuing instructions first to reach the vehicle forward until the point 36 changing the direction of motion, and then move back in, turning the steering wheel, respectively, until the vehicle reaches the end position 40 on the 23 Parking spaces within the Parking issue is space 24. Issuing instructions on maneuvering can be done using audio information through the speaker 15 or by using optical command signals on the display 16.
In another embodiment of the invention, the driver may be issued specifying only with regard to the supply of the vehicle forward and backward, and turning the steering wheel automatically. For this purpose, the control device 3 via the interface 17 actuates the steering device 18 of the vehicle, providing automatic taxiing from point 36 changing the direction of movement to the end position 40.
In yet another embodiment of the invention the determination of the beginning and end of a Parking space can also be accessed by using the camera 19 and the display 16 of the vehicle. The example displayed on the display 16 of the image 50 shown in figure 3. The camera 19 is directed to a region located on the right front of the vehicle 21, and on the displayed image 50 shows the first obstacle 27 and the second barrier 28. The camera 19 is oriented in this way, to visualize, in particular, the surface 51 of the edge 20 of the roadway. Further, in the display image 50 is displayed mark 52. Mark 52 is made, for example, in the form of crosshairs. When the driver takes the vehicle fixing the arrow 53, mark 52 is moved along the first obstacle 27 to putting on the displayed image 50 with the front border of the first obstacle 27. In this embodiment, the invention marked by a dotted line 54 position of the middle line 55 mark 52 is combined at the base 56 of the first obstacles with a visible border on the first obstacle. The user can now specify the impact on the tool 6 input that mark 52 is aligned with the beginning of the Parking space, located between the first barrier 27 and the second barrier 28. When this mark is focused on a point basis, in which the front left edge of the obstacles encountered with the surface of the roadway. If the vehicle has reached a position in which fixed-mounted camera is directed at this point, and if visible to the observer mark is aligned with this point, when the known dimensions of the vehicle and the known position of the camera on the vehicle, the position of the specified point relative to the camera, and hence relative to the vehicle, is uniquely defined. Now, after the user enters a control computing unit 4 can relate this point to the current position of the vehicle. For example, you may be inside the mausoleum is on the map of the environment around the vehicle, on this first point will mark the beginning of the coordinate system.
If now the vehicle will travel further in the direction of the arrow 53, when the alignment mark with the back edge of the second obstacle 28 can be made the input of another control. Tracking the movement of a vehicle from the beginning to the end of the Parking space can be calculated by appropriate calculations, as the length of the Parking space, and its position relative to the current position of the vehicle. In principle, through the appropriate calculations built a kind of map of the environment, which is applied to the position of the beginning of the Parking space and the position of the end of the Parking space, as well as the current position of the vehicle. Next, the calculated accordingly map the environment, using appropriate calculations to display depicting this situation, for example, according to the image of the vehicle 21 and barriers 27 and 28. It is reasonable that the driver was given the opportunity, if necessary, to correct the position of the vehicle 21 in accordance with their vision of the situation by entering the relevant managing impacts.
In another in which the version of the invention the marker 52, displayed on the displayed image can be moved, in particular in the horizontal direction to lock the stamp is really at the base of the first obstacle 27. This allows, for example, to compensate for the inaccuracies associated with the arrival of the driver past the first obstacle 27 on the distance to the last, other than that specified. In yet another embodiment of the invention, the marker may be performed, as shown in figure 3, with the side markers in the form of additional crosshairs. If the basis of the first element 27 is aligned, for example, is not an average or left cross, right cross, then the user can respectively enter information about the compliance of this crossing with the base of the obstacles. Then, based on the position of the mark or select one of the crosshairs, you can judge the distance from the vehicle 21 to obstacles, and hence to the border of the Parking space, the designated roadway.
Instead of the point base to uniquely determine the position can also be used, for example, the relative positioning of the bumper because the bumper in most cases are about the same height, which also allows you to set unambiguous spatial relationship.
The camera 19 in one embodiment, about what westline of the invention can be installed with the orientation angle of 90º to the direction of movement of the vehicle directly. However, in the embodiment of the invention shown in figure 3, the camera is oriented in such a way that it looks almost ahead of the vehicle. This allows you to enter the beginning and end of a Parking space, even if the vehicle has not yet reached a Parking space or incompletely passed him.
If there is only one obstacle, which is necessary to Park the vehicle, the control device can help the driver and in the case of Parking before that the only obstacle. In this case, simply enter the boundary, for example, the first obstacle 27, if the barrier 28 is missing. Then, the user accordingly enters the control, indicating his desire to Park in front of the obstacle.
In yet another embodiment of the invention the process of Parking along the path of movement according to the image in figure 2 may be displayed in an animated view.
Further, if the movement of the vehicle from the first point 32 enter the vehicle before it reached the second point 35 input passed part of the path, the length of which would be enough for Parking, the driver may be issued indicating that it has a sufficiently large Parking space. After e the CSOs, the driver can proceed to the Parking lot before measuring just a Parking space.
When using a portable computing device user when first using this device in your vehicle must provide the computing device with the data necessary to calculate the trajectory of caroliana vehicle to the desired Parking space and to calculate the suitability of the Parking space. To enter you must, for example, the length of the vehicle width of the vehicle, its wheelbase and turning radius. If the control unit is already built into the vehicle, this data is typically entered by the manufacturer.
The implementation proposed in the invention of the method begins in step 60 initialization, in which the driver by using the remote control 5 control reports its desire to Park at all. At step 60 the initialization can also be asked about whether the user wants to Park parallel to the direction of movement of the vehicle or transversely of the direction of movement of the vehicle. The intention of the driver is used for subsequent calculation of the Parking lot and considering the length of the Parking space. In this case, the user will have to decide for yourself only then, will there be enough Parking depth of the Parking space.
By following the initialization of p is ditch the validation step checks in was whether the impact on the governing body, for example, was pressed if the button 6, to indicate the start of a Parking space. If this hasn't happened, then back to the first test step 61. If there is control on the remote control 5 control, then on the first installation step 62 is the beginning of a Parking space. Triggers the calculation of the path traveled by the vehicle from its current position, so that, starting from a fixed start position of the Parking space, gathers information on the traversed path. Then it moves to the second verification step 63. On the second testing step 63 is performed to check was whether the controller 5 controls repeated exposure to specify the end of a Parking space, for example, by pressing button 6. If not, then back to the second verification step 63. If Yes, then on the first computing step 64 calculates the length of a Parking space between the set start and set end of the Parking space. This is used, for example, the difference of the provisions of the encoder or the difference between the positions defined by the locator (the device location. Then you go to the third test is the step 65, which clarified the length of the Parking space is compared with the length of the vehicle. If the length of the vehicle plus an additional distance for maneuvering exceeds clarified the length of the Parking space, for example, one meter, this Parking space is considered as unsuitable for Parking, and the process ends in the next step 66 the end. The user is presented with relevant information. If a Parking space is large, and therefore, suitable for Parking, the driver can be acoustic and/or optical means. Automatically or at the command of the driver is the transition from the third test step 65 on computational step 67. This computational step 67 is calculated path of movement of the vehicle from its current position to a suitable Parking space within a Parking space. Then at step 68 the issuance of instructions are issued to the driver of a vehicle instructions on maneuvering to caroliana in a Parking space or Parking lot is performed at least partially automatically. When reaching the end position 40 within the Parking space, the process ends at step 69 the end.
1. At trojstvo (3) control for the vehicle, contains a computing unit (4) to calculate the path of the vehicle to the Parking space in a Parking space, the chamber (19) to register the environment around the vehicle, oriented in such a way that it looks almost ahead of the vehicle, the interface device (15, 16) output for issuing instructions on maneuvering while moving towards the Parking lot, the interface device (5) input for manual input of at least one boundary of the Parking space and the interface is at least one means (9, 11, 13) to relate between the edge of the Parking space and the position of the vehicle.
2. The control device according to claim 1, characterized in that when determining the impact on the tool (5, 6) input registers the beginning of a Parking space.
3. The control device according to claim 1 or 2, containing the measuring device (11) to collect information about the movement of the vehicle after determining the beginning of a Parking space.
4. Portable computing device (2)that contains the device (3) management in one of the preceding paragraphs and the device (5, 6) input for manual input of at least one boundary of the Parking space.
5. Portable vychislitel the e device according to claim 4, containing the system (9) location to gather information about the vehicle.
6. Portable computing device according to claim 4 or 5, containing at least one interface (10) interfacing with the means for establishing the ratio between the boundary of the Parking space and the position of the vehicle.
7. Portable computing device according to claim 4 or 5, containing the display (16) to show the position of the vehicle relative to introduced the beginning of a Parking space.
8. Portable computing device according to claim 7, characterized in that the possibility of correcting the orientation of the vehicle relative to the displayed beginning of a Parking space by acting on the means of entry.
9. Portable computing device according to claim 4 or 5, containing the navigation device to calculate the route to the entered destination.
10. A way to help the driver of the vehicle when Parking, including the registration of an environment around the vehicle by means of the camera (19), oriented in such a way that it looks almost ahead of the vehicle, calculating the path of the vehicle to the place (23) Parking in a Parking space (24) and the issuance and the instructions on maneuvering when driving to the place (23) Parking, moreover, using the obtained camera (19) image manually enter at least one boundary of the Parking space (24) and correlate it with the current position (21) of the vehicle.
11. The method according to claim 10, characterized in that the display (16) output image (50) of the environment around the vehicle, this image (50) situation put a check mark (52) and when exposed to the appropriate input tool defining an appropriate mark (52) position as the beginning of a Parking space.
SUBSTANCE: set of inventions relates to device and method for parking assistance. Device contains available parking space recorder, final target parking position setting facility, contact determination facility, final target parking position calculation facility, the first, the second and the third path calculation facility, the first path, the second path and the third path display facility. The contact determination facility provides determination whether there is the first path for vehicle to reach final target parking position without contacting with the edge of available parking space. The method consists in the following: available parking space is recorded, final target parking position is set, existence of the first path for vehicle to reach final target parking position without contacting with the edge of available parking space is determined. The first path is displayed if it exists. Angle of approach and not final target parking position is calculated if the first path does not exist. Not final target parking position is position that should be reached when vehicle is entering available parking space at approach angle. The second and the third paths are calculated and displayed.
EFFECT: higher efficiency of parking assistance.
10 cl, 15 dwg
SUBSTANCE: device according to the first version includes a steering angle detection unit, an operation detection unit in which the steering wheel returns to a neutral position after turning right or left, and a parking mode selection unit. The device according to the second version includes a steering angle detection unit, an operation detection means in which the steering wheel returns to a neutral position after turning right or left, and a parking mode selection means. The method includes detecting the steering angle of the steering wheel, detecting an operation in which the steering wheel returns to a neutral position after turning right or left, selecting one parking mode on the right side of the vehicle or left side of the vehicle from a plurality of parking modes.
EFFECT: easy establishment of the desired parking position.
21 cl, 29 dwg
SUBSTANCE: invention relates to aviation, in particular to methods of navigation assistance for aircraft path determination. Navigation assistance method consists in determination of future approach path using evaluation of forecasted safe radiuses on future path based on calculation of limit moment starting from which a forecasted safe radius exceeds or is equal to alarm signal generation limit and calculation of limit departure moment which corresponds to maximum moment when an aircraft should leave its predetermined path along which it has been moving, to be able to go to safe altitude.
EFFECT: limitation of departure procedures utilisation during loss of satellite navigational information thus reducing airspace saturation and limiting costs and duration of flights.
15 cl, 5 dwg
SUBSTANCE: invention relates to vehicle driving control device. The device contains side object detector, control device to actuate lateral movement inhibition control, start of entering adjacent lane detector, actuation suppressor to suppress actuation of lateral movement inhibition control. Lateral movement is followed by changing vehicle transversal position relative to lane. Suppression of actuation of lateral movement inhibition control is performed when a vehicle has started to enter adjacent traffic lane, and side object is detected in the adjacent traffic lane.
EFFECT: prevention of improper interference in control for vehicle lateral movement inhibition during changing traffic lane.
22 cl, 11 dwg
FIELD: physics, optics.
SUBSTANCE: invention relates to optoelectronic devices to be used at carries as extra detector of objects in areas invisible for driver. Proposed optical sensor comprises transceiving channels, each including electronic unit, pulse source of optical radiation and photoreceiver, all being connected with electronic unit. Said electronic unit comprises reflected signal processor to execute control algorithm on the basis of measurement of time interval between radiation and registration of signal reflected from the object. Optical radiation source and photoreceiver are arranged, preferably, nearby so that their optical axes are parallel. The number of radiators in said sensor is defined by the relationship n ≥ β/α, where n is the number of radiators, β is central angle of controlled sector, α is beam angle.
EFFECT: higher precision and reliability of detection.
SUBSTANCE: set of inventions relates to driver helps. Proposed device comprises module to determine beginning of the control, vehicle controller and control suppression module. Method of rendering help comprises defining the control beginning, vehicle control step and control suppression step whereat control over turning force application to the vehicle is suppressed for preset time interval after vehicle transverse position relative to road lane approaches said lane.
EFFECT: in situ help for drive in motion.
11 cl, 14 dwg
SUBSTANCE: set of inventions relates to driver helps. Proposed driver's help comprises lateral hindrance detector, hindrance approach inhibit controller, overtaking detector, control suppression module and predicted position estimation module. Note here that hindrance approach inhibit controller defines the beginning of hindrance approach control on the basis of predicted position estimated by predicted position estimation module. Hindrance approach inhibit controller defines the beginning of hindrance approach control on the basis of predicted position estimated by predicted position estimation module. When overtaking is detected by overtaking detector hindrance approach inhibit module inhibits the control over beginning of hindrance approach by aforesaid controller as opposed to conditions when overtaking is detected but not executed so that control over hindrance approach prevention is suppressed.
EFFECT: development of hindrance approach prevention controller.
14 cl, 15 dwg
SUBSTANCE: method includes synchronisation of reference transmitters clocks, measuring time of radio signal run from antennas of three and more reference transmitters located at distance from transport facilities (TF) and pedestrian to antenna of radio navigation device located on TF or pedestrian, calculation of TF and pedestrian coordinates using computing device, transmission of TF and pedestrian coordinates data and their identification numbers to information computer centre via radio channel, and transmission of alert signals to road users. Radio masts with reference transmitters are installed along roadway in fixed points with known three-dimensional coordinates of antennas. Reference transmitters clock synchronisation with the clock of information computer centre is performed via existing between them optical carrier. Digital road map is created by means of splitting roadway into pixels with known three-dimensional coordinates, with indication of coordinates and meanings of road signs and traffic lights. On TF, two radio navigation devices mutually spaced along TF longitudinal axis are installed, and from their continuously measured three-dimensional coordinates and digital road map the TF position relative to axial line of roadway is determined at any moment.
EFFECT: invention provides higher traffic safety.
8 cl, 2 dwg
SUBSTANCE: optical radiation from vehicles moving on the same and opposite lanes is simultaneously received at a car; said optical radiation is converted to electric signals; the distance to vehicles on the same and opposite lanes is calculated; the approach speed of said vehicles is calculated; geometric dimensions of the vehicle moving in the same direction are determined. Based on said information, light signalling is issued to keep a safe distance from the vehicle in front and on possibility of overtaking in conditions when there is a vehicle in the oncoming lane. Also the maximum acceleration of the car given its current load and technical condition is determined; the longitudinal slope of the road is determined; the possibility of safe overtaking the vehicle in front is determined based on the distance travelled over the overtaking time. During overtaking, conformity of the current values of acceleration, speed of the overtaking car and distance to an oncoming vehicle with calculated is monitored and a light and audio signal is emitted to prevent overtaking if there is risk of collision, and also on a dangerous distance to the vehicle in front, based on the slope of the road.
EFFECT: group of inventions increase reliability of evaluating safety of overtaking and selecting a safe distance to the vehicle in front by taking into account such additional factors as slope of the road surface, the current and maximum possible acceleration of the car given the current load.
2 cl, 2 dwg
SUBSTANCE: apparatus has a first image input device (IID) and a system controller (SC). The apparatus further includes five electro-optical sensors (EOS), second, third and fourth IID, two blur compensating devices (BCD), a liquid-crystal display and an audio signalling device. The first and second EOS are installed with possibility of obtaining images of the scene in front of the vehicle, while the third and fourth EOS are installed with possibility of obtaining images of the scene behind the vehicle, and the fifth EOS - with possibility of obtaining images of the eyes of the driver. The IID are connected to outputs of the corresponding EOS and are configured to perform intermediate storage of the obtained image data. The first and second BCD are connected to outputs of the first and second IID, respectively, and are configured to increase clearness of the obtained image and detect moving objects. The SC is connected to outputs of the first and second BCD, the third and fourth IID, the fifth EOS and the speed sensor of the vehicle. The SC enables to select contours on the images, detect fixed objects thereon, determining their three-dimensional coordinates on pairs of stereo-images and the motion path from the change in three-dimensional coordinates of objects and detecting obstacles. The audio signalling unit and the liquid-crystal display are connected to corresponding outputs of the SC.
EFFECT: apparatus provides automatic notification of the driver on possible collision of the vehicle with an obstacle, possibility of analysing the condition of the driver in order to prevent sleeping behind the wheel.
FIELD: machine building.
SUBSTANCE: controlled wheels are set in direction of motion "direct" in procedure for diagnosis of steering control. At turning a steering wheel first into one side, than to another there is controlled a beginning moment of controlled wheels starting; simultaneously, there is determined summary play of a steering wheel. A mark in form of a point is made on the steering wheel in centre of its rim rotation and on a dashboard so, that its centre is in vertical plane parallel to lengthwise axis of symmetry of a vehicle and passing through the rotation centre of the rim of the steering wheel. When the steering wheel is turned first to one side, position of its rim is fixed at the moment of beginning of controlled wheels starting by means of making a mark on the rim of the steering wheel relative to marks on the dashboard and on the steering wheel in the said centre. When the steering wheel is turned to another side the mark is also made on the rim relative to the same marks at the moment of beginning of controlled wheels starting. Each mark is made on the rim so, that its centre is in the same vertical plane parallel to lengthwise axis of symmetry of a vehicle and passing through centre of the mark on a dashboard. There is measured length of chord formed between marks on the rim of the steering wheel and diametre of the rim of the steering wheel. Summary play of the steering wheel is calculated on base of obtained data.
EFFECT: reduced labour input and upgraded accuracy for determination of summary play in steering control.
SUBSTANCE: set of invention relates to systems intended for warning drivers about running out of traffic lane. Proposed inventions use car braking system to create tangible feedback for driver. To warn drive, first, car running out of traffic lane is determined and one of controlled wheels if decelerated to transmit force to steering wheel. This allows driver to take up tangible feedback via steering wheel.
EFFECT: simple and reliable warning means.
18 cl, 3 dwg
SUBSTANCE: invention relates to system that aids driving in parking. Semiautomatic system comprises appliances to register activating signal, appliances 47 to determine turn direction and control unit 40. With system activated, control unit controls one actuating element 38 so that wheels 15 move in turn direction set by the drive in forward position, and move against aforesaid direction with the drive set in back direction. Said control unit 40 receives signals from one or several transducers 68, 70 that register car state or events, process signals and influence the functions of proposed system in response to processed signals. Signals comprise data on car speed, while influence of system functions in parking consists in system deactivation in case preset speed is exceeded. In compliance with proposed method, activation signal is registered, turn direction is determined and, with system activated, one actuating element 38 is controlled.
EFFECT: better support for driver in parking.
18 cl, 5 dwg
SUBSTANCE: proposed turn angle indicator comprises driving element representing a half nut and driven element fixed in the steering shaft housing cover. Aforesaid half nut is fitted on the said steering shaft to move and revolve thereon. Aforesaid driven element represents the indicator point and is articulated with the said driving element. The concave section of aforesaid half nut outer surface features helical groove to interact with one end of the said indicator point end.
EFFECT: higher accuracy and reliability.
2 cl, 4 dwg
SUBSTANCE: device incorporates a variable resistor fastened at the steering shaft drop arm, and ammeter. The device comprises additionally the following units, i.e. power supply, sound amplification, steering wheel turn angular speed determination, steering wheel turn low speed comparators, first voltage divider defining the steering wheel turn low speed threshold value, second voltage divider defining the threshold value and required sign of the derivative at the input of the LH driving wheel turn determination comparator, AND circuit, generator, contact pickup arranged on gearshift lever.
EFFECT: expanded performances and higher accuracy of measuring driving wheel turn angle.
SUBSTANCE: invention relates to motor industry, particularly to instruments indicating the vehicle driving wheel turn angle and controlling the vehicle motion path. The device incorporates an indicator-ammeter and varistor (1). The device additionally comprises circuits I1 (9), I2 (11), I3 (12), driver-to-steering wheel pickup (14), resistor (19), flip-flop (10), driving wheel turn angle and angular speed determination comparators (5, 6), first switch (7) controlled by the signal generated by the driving wheel turn angle comparator (5), second switch (8) controlled by driving wheel angular speed determination comparator (6), first time-setting resistor (17) connected in the controlled circuit of first switch (7) and second time-setting resistor (18) connected in the controlled circuit of second switch (8). The device comprises also signal amplification and power supply units (15, 16), units (3, 4) of determining the driving wheel turn angle and derivative magnitudes, units (2, 13) of the amplifier measuring the driving wheel turn angle and amplifying sound.
EFFECT: expanded device potentialities, higher accuracy of determining the driving wheel turn angle.
SUBSTANCE: invention relates to electrical engineering and can be used in a shaft generator system. The technical result is providing dynamic prevention of short circuiting. The shaft generator system comprises a shaft generator (18), having an inverter (42) with an intermediate voltage loop, with network-side inductance, wherein the inverter (42) with an intermediate voltage loop has at the generator side and the network side a corresponding alternating current rectifier (44, 46), connected to each other at the dc voltage side. The network-side alternating current rectifier (46) has at least two phase modulators, which respectively have an upper and a lower rectifier branches (P1, N1, P2, N2, P3, N3), which respectively have a plurality of electrically series-connected two-pole subsystems (SM1, SM2, …, SMn), which respectively have a unipolar storage capacitor (CSM), which is electrically parallel-connected to a circuit of series-connected two semiconductor switches (S1, S2) with a corresponding anti-parallel connected diode (D1, D2).
EFFECT: providing a shaft generator system having, as a static frequency converter, an inverter (42) with an intermediate voltage loop, which can be used to maintain the required network reactions and suppress transient operating states.
7 cl, 5 dwg
SUBSTANCE: group of inventions relates to the field of drilling. The drilling rig used for drilling at the drilling sites and movable between the drilling sites, comprises a movable vehicle, the equipment of drive without the internal combustion engine to perform movement of the drill rig, comprising at least one electric motor and at least one electrical control device for actuating the transport mechanism, at least one energy accumulator, keeping at least the electricity required for the transport mechanism of the drill rig, at least one manipulator movable relative to the vehicle, at least one drilling machine mounted on at least one manipulator, and at least one control unit, at least one liquid cooling system connected to at least one electrical component affecting the movement of the drill rig, the control unit is able to regulate the cooling of the electric component connected to the liquid cooling system, which is preliminary cooled prior to the next movement of the transport mechanism.
EFFECT: preliminary preparation for the next rise in temperature when movement of the rig is provided.
27 cl, 6 dwg
FIELD: motor vehicle industry.
SUBSTANCE: electric vehicle having an electric motor (1) as its power source comprises a module (91) of F/F-calculation or operation, a module (92) of F/B-calculation or operation, an adder (97), modules (93, 95) of the model definition and modules (94, 96) of switching the values of the target torque. The module (91) of F/F-calculating calculates the value (Tm*1) of the first target torque by F/F-operation. The module (92) F/B-calculating calculates the value (Tm*2) of the second target torque by F/B-operation using the model (GP(s)). The adder (97) adds the value (Tm*1) of the first target torque and the value (Tm*2) of the second target torque to obtain a value (Tm) of the torque command of the motor. The modules (93, 95) of the model definition evaluate whether the interruption in the transmission of torque to the drive shafts (4) occurs or not. The modules (94, 96) of switching the values of the target torque stop F/F- and F/B-operations, when the interruption of transmission of the torque is confirmed.
EFFECT: suppression or damping of unexpected vibrations or impact shocks during the interruption in the transmission of torque.
10 cl, 9 dwg
SUBSTANCE: control system comprises engine, motor, mode selector, automatic transmission, integrated controller and automatic transmission controller. Control method comprises the steps whereat selection is made between electric drive and hybrid drive whereat hybrid carrier is driven by both engine and motor. Engine starting/outage is initiated and automatic transmission gears are shifted. First control is activated including one either engine starting or outage and control over gear shifting and request for second control is received. Occurrence of knocks at gear shifting is defined with respect to tolerable level. In case knocks exceed tolerable level during said first control second control is inhibited at receipt of request for second control. Multiple times occurrence of said conditions is defined after inhibition of second control beginning and during the first control. Second control is initiated is case said knocks do not occur during the first control.
EFFECT: minimised knocks at gearshift.
11 cl, 16 dwg