Tzn Forschungs- Und Entwicklungszentrum Unterluss Gmbh

Helmut Kriz

A method of determining vehicle rotation rates while suppressing interferences caused by sensor principles. In particular, the time-dependent drift of prior art gyro systems is to be avoided in the navigation of driverless transportation systems, and faulty reactions of wheel sensors with respect to the direction information of the vehicle, for example when passing through potholes, are to be avoided. This is accomplished by a method according to which a rotation rate signal (18) generated in a gyro arrangement (12) passes through a highpass filter (20) and a rotation rate signal (22) generated by wheel sensors passes through a lowpass filter (24), and the two then occurring individual signals (18', 22') are combined for a determination of the actual vehicle rotation rate. The blocking effect of the lowpass filter eliminates the sensor caused high frequency rotation rate signals from the wheel sensors which are generated, for example, during the passage through a pothole so that they cannot have an interfering influence on the determination of the vehicle rotation rate. Moreover, the highpass filter eliminates low frequency interferences caused, for example, by the drift of a gyro. By linking the filtered measured rotation rate signals it is possible to easily and quickly determine the position angle of a driverless vehicle.

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Lachendorf, Germany

Helmut Kriz