METHOD OF CONTROL OVER EQUIDISTANT TRAFFIC OF VEHICLES AND METHOD OF DETERMINATION OF ANGULAR AND LINEAR-SIDE DEVIATION OF VEHICLE FROM REFERENCE PATH Russian patent published in 1995 - IPC

FIELD: traffic control systems. SUBSTANCE: method of determination of linear-side and angular β deviation of vehicle from reference path consists in measurement of course angles of two not matching "present navigation points" of reference path with the aid of two optico-electron, magnetic or other pickups. and b are found from expressions: ; where ϕ₁, ϕ₂ are measured course angles; r₁, r₂ are distances to navigation points, r₁≠ r₂. Presence of separate information on coordinates of β makes it possible to realize control proportionally-integral by angular and proportionally-differential by linear deviation of vehicle from specified path with decreased static and dynamic errors and time of transition process. For this purpose signal proportional to distance between reference and specified paths is formed and kept constant or changeable by preset law. This signal is subtracted from signal of linear-side deviation, signal of translational motion of vehicle is obtained. Signals of angular deviation and speed are multiplied, difference signal and signal of multiplication product are summed and action corresponding by value and sign to summary signal is sent to controlling wheels of vehicle. Use of not matching "present navigation points" also allows occasional bends of reference path to be smoothed under conditions of shuttle traffic. EFFECT: increased efficiency of traffic control. 5 cl, 7 dwg