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US5487009A
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US
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Method for determining the course of a land vehicle by comparing signals from wheel sensors with signals of a magnetic sensor
Assignee: Robert Bosch GmbH
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Filing: 1991-11-05
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Granted: 1996-01-23
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Expires: 2011-11-05
Abstract
Abstract In a method for determining the location of a land vehicle wherein the driving distance and course changes are derived from wheel pulses generated by sensors in the course of the revolution of the wheels of a vehicle axle by respectively a preset angle, the course changes derived from the wheel pulses are compared with comparison course changes which are obtained independently of the wheel pulses. Correction values are derived from the result of the comparison. The comparison course changes are preferably detected with the aid of a magnetic sensor (compass).
Inventors
- 👤 Heidebrecht Hill
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 08:42
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G01C21/28; G01C22/00; G01C22/02; G01C22/025
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
199 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: observing the course changes and the comparison course changes over the course of an observation course driven by the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes.
Claim 2
Independent Claim
199 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: observing the course changes and the comparison course changes over the course of an observation course driven by the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes.
Claim 3
Dependent Claim
54 words
A method in accordance with claim 1, wherein the changed, stored correction factors for different driving operations are determined by at least one of a speed range and a course change range and further comprising the step of weighting a derived course change during a respective driving operation with the changed, stored correction factors.
Claim 4
Dependent Claim
54 words
A method in accordance with claim 2, further comprising the steps of: determining limits of the course change ranges as fractions of a dynamic maximum value for the course change, and changing the dynamic maximum value by means of a learning process to maximum course changes occurring during the operation of the respective vehicle.
Claim 5
Dependent Claim
29 words
A method in accordance with claim 1, further comprising the step of separately deriving and storing the correction factors for both positive and negative signs of the course change.
Claim 6
Dependent Claim
80 words
A method in accordance with claim 1, further comprising the step of deriving a directional signal when the number of pulses of one of the wheels exceeds the number of pulses of the other wheel by at least 2 at the end of an observation course, in order to detect the direction of a course change of wheel pulses which have been corrected by increasing or decreasing the number of wheel pulses by 1, after a number of wheel pulses.
Claim 7
Dependent Claim
84 words
A method in accordance with claim 5, further comprising the step of adding differences between wheel pulses corresponding to the direction determined up to that time over an observation course, such that: differences with opposite signs and an amount of one pulse are added at a first occurrence thereof the added differences are erased and a new observation course is started: at a second occurrence of differences with opposite signs and an amount of one pulse or with differences of greater than one pulse.
Claim 8
Dependent Claim
55 words
A method in accordance with claim 1, further comprising the steps of: deriving a correction value from a difference in a number of wheel pulses of both wheels during straight-ahead driving, storing the correction value and using the correction value for correction of the number of wheel pulses of at least one of the wheels.
Claim 9
Independent Claim
254 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, and the derivation of the correction factors takes place only with course changes which are located by at least a safety distance below a maximum course change determined by lateral guide forces of the wheels as a result of skidding of the vehicle.
Claim 10
Independent Claim
254 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, and the derivation of the correction factors takes place only with course changes which are located by at least a safety distance below a maximum course change determined by lateral guide forces of the wheels as a result of skidding of the vehicle.
Claim 11
Independent Claim
244 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, the observation course having a length that is dependent on the vehicle speed and that in a range of approximately 40 to 70 km/h, the length of the observation course is made constant, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes.
Claim 12
Independent Claim
244 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, the observation course having a length that is dependent on the vehicle speed and that in a range of approximately 40 to 70 km/h, the length of the observation course is made constant, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes.
Claim 13
Independent Claim
284 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, dividing the observation course into a preset number of observation windows, adding changes of course parameters detected during passage through the observation window in respectively one observation window, and terminating observation over an observation course started for one of the following: (i) recognition of straight-ahead driving, (ii) recognition of a sign of a course change, and (iii) evaluation of cornering, and starting a new observation course if a sensor error has been detected.
Claim 14
Independent Claim
284 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, dividing the observation course into a preset number of observation windows, adding changes of course parameters detected during passage through the observation window in respectively one observation window, and terminating observation over an observation course started for one of the following: (i) recognition of straight-ahead driving, (ii) recognition of a sign of a course change, and (iii) evaluation of cornering, and starting a new observation course if a sensor error has been detected.
Claim 15
Independent Claim
240 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, Wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, checking measurement values of the comparison course changes for plausibility, and starting a new observation course in case of comparison course changes which have been recognized as being defective.
Claim 16
Independent Claim
240 words
A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, Wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of: determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle, calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value, changing said stored correction factors to provide changed, stored correction factors, as follows: increasing said stored correction factors if the course changes are less than the comparison course changes, and reducing the stored correction factors if the course changes are greater than the comparison course changes, checking measurement values of the comparison course changes for plausibility, and starting a new observation course in case of comparison course changes which have been recognized as being defective.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-01-22 | 1999-07-24 | 2000-01-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-01-22 | 2003-07-24 | 2004-01-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-01-22 | 2007-07-24 | 2008-01-23 | $7700.00 | Window Closed / Lapsed |