Guidance system for a self-driving vehicle with a separate mobile transmission equipment and method of steering such vehicle

The subject of the invention is a control method and steering system for a self-propelled vehicle with a separate mobile transmission device, in particular a golf cart.

From DE-PS 43 26 016 a self-propelled vehicle is known, in particular a golf cart having a high frequency bearing device and an ultrasonic bearing device. This solution consists in the fact that the golf cart calculates the direction of the hand-held transmitter by high-frequency tracking, approaches it along a straight track at a relatively high speed until it is within the reach of the bearing by ultrasound, where it automatically switches to it and reduces the speed. When the pre-determined minimum distance from the golfer is reached, the cart stops. The golf cart mentioned above has already proven itself well in practice. The disadvantage of the combined high frequency and ultrasonic tracking system is that

180 337 that the golf cart does not move exactly on the track, which was given by the player by means of the transmitter, but approaches this track along a polygon, which may be, depending on the nature of the track, unfavorable. A self-propelled vehicle cannot follow a mobile transmission device along a narrow, winding road, but approaches it, depending on the course of the track, only from the side. In addition, the abovementioned system does not provide the possibility of blocking certain areas of terrain in front of a self-propelled vehicle so that it cannot enter, for example, a pond when a hand-held transmitter, located on its other bank, would send a drive signal.

From JP 3-134715 A, a golf cart is known which, in order to determine the exact position, is equipped with a satellite-controlled positioning system (GPSSystem). The GPS system is used to display the position of various golf carts on the screen in the headquarters.

From the abbreviation JP 5-04079 A, ​​a golf cart is also known, having a GPS system, which is used to store in a computer, using a periodic timer, the path traveled by the cart and to be displayed on the monitor using the coordinates of the golf course positions on the CD-Rom, all positions and episodes traveled by the golf cart.

From US-A-5 331 561 is known a system characterized in that a vehicle without a driver moves along the road behind the driving vehicle at a short, predetermined distance. Both vehicles are equipped with a GPS receiver. The lead vehicle calculates side area data using side sensors, and obtains the distance between the vehicle and objects on the sides. In addition, the driving lanes are measured in relation to the side areas concerned that have been covered so far. The lead vehicle transmits this data to the next vehicle, which also calculates side area profiles. If deviations occur, the course of the next vehicle will be adjusted so that the side areas concerned again match.

US-A-5 043 903 describes a system supporting acrobatics and flight of helicopters and aircraft flying in formations, in which the position of each aircraft in the formation is determined and the mutual distances between the aircraft are maintained.

The object of the present invention is to achieve accurate steering of a self-propelled vehicle by finding a suitable system.

The method of controlling a self-propelled vehicle according to the invention consists in that the vehicle follows a moving transmitting device. The vehicle and the mobile transmitting device receive signals sent at set intervals from the satellite system, from which they calculate their position each time, whereby the mobile transmitting device sends signals indicating the position to the vehicle each time, and the vehicle remembers these positions and moves according to the stored positional data. The essence of the invention is that the signals received by the mobile transmitting device and / or vehicle from the stationary reference transmitter are used to calculate the corrected precise position data.

Preferably, the vehicle approaches the mobile transmission device only at a predetermined distance.

In addition, it is advantageous if the vehicle remembers the coordinates of the excluded areas, and if the coordinates to travel are contained in the excluded area, it travels around it.

The steering system for the self-propelled vehicle according to the invention operates in that the separate mobile transmitting device sends signals defining the vehicle's travel path, the self-propelled vehicle having a drive device, control device and signal receiving device and the mobile transmitting device and self-propelled vehicle having into a computer, a receiving analyzing device coupled with a satellite controlled

180 337 positioning system. The essence of the invention lies in the fact that the stationary receiving-analyzing device, coupled with the satellite-controlled positioning system, transmits correction signals to the mobile transmitting device and / or the vehicle.

Preferably, the mobile transmitting device is equipped with a high frequency transmitter.

In addition, it is advantageous if the vehicle is equipped with an obstacle detection sensor in its path, these sensors being microwave and / or ultrasonic and / or infrared transmitters.

The advantage of the system is that a self-propelled vehicle, especially a golf cart and mobile transmitting device, which the golfer has with him, maintains continuous communication with the satellites of the satellite navigation system, therefore there is a continuous exchange of player data with the golf cart via a radio link. In this way, the vehicle can calculate and save the position data, i.e. the direction and distance to the mobile transmitting device.

When the player sends to the golf cart drive up, then the cart drives through all the saved coordinates, while driving exactly on the track, which also moved the player. Thanks to this solution, it is possible for the golf cart to go across the narrow bridge behind the player ahead of it, because the course on which the golf cart is riding and the player's track are essentially identical. The use of the reference transmitter described above allows the golf cart to be prevented from entering danger zones, such as ponds and other water reservoirs, and the vehicle's equipment with obstacle detection sensors enables them to be driven around the path previously given, which is beyond the range of the obstacle. The invention also has the advantage of a stationary analyzing receiving device that can be installed, for example, in a golf clubhouse. Because the coordinates of this device are fixed, the error rate of the satellite navigation system can be practically lowered to zero, because using so-called the differential procedure, the position data of the mobile transmission device and the vehicle can be calculated as far as possible.

In addition, it should be noted that the American GBS (Global Positional System) may be used as the satellite navigation system, while other satellite navigation systems, e.g. Russian, may be used to increase positioning accuracy.

The present invention is illustrated in the working examples in the drawing, in which fig. 1 shows the basic system in schematic view, and fig. 2 shows the system with increased positional accuracy in schematic view.

Self-propelled vehicle steering system applies when the golf cart 1 follows the player 2. Golf cart receiving and analyzing device 1 not shown and player 2's mobile transmitting device (also not shown) maintain communication with at least four satellites of the existing satellite system 3 and from there they receive signals that the computer of the receiving-analyzing devices converts into position data and coordinates. Player 2's high frequency transmitter also sends the calculated position data to the golf cart 1, whose computer compares the position data received from the player with its own position data to calculate the distance and direction of each player position and store that data. At the start signal of the player, the trolley 1 begins to move according to the stored position data.

The system shown in Fig. 2 further includes a stationary reference transmitter 4, which also receives position data from the satellite system 3, so that the reference transmitter 4 can calculate the correction position data by comparing the positional data obtained with its established, known and accurate positional data. The correction data is further forwarded to the vehicle 1 and mobile device computers

180 337 sender 2 that calculate your exact positional data. The vehicle receiving device 1 receives the corrected position data of the player 2, so that the vehicle computer 1 can calculate the direction and distance from the player. These values ​​are stored in seconds.

When vehicle 1 receives a start signal from player 2, it follows the track until it approaches the predetermined distance from the player. At this distance the vehicle stops automatically.

The system according to the invention allows the vehicle 1 to move behind the player 2, also without receiving a start signal if the distance between the vehicle and the player exceeds a certain and adjustable maximum distance.

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UP Department of Publications. Circulation of 60 copies

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