Methods for positioning vehicles using electric road systems and vehicles operated using these methods
A vehicle and a method for controlling a vehicle including a current collector transmitting electric power from a current conductor located in a predetermined position in the surface of a road a distance from one side of the road; a first detecting means generating a signal indicative of the position of the current collector relative to a current conductor reference point; where the current collector is displaceable to track the current conductor in response to the signal; and a second detecting means detecting the position of the current collector are provided. The method involves determining a first distance representing the position of the current collector relative to the current conductor reference point; determining a second distance representing the position of the current collector relative to a vehicle reference point; and determining a distance between the vehicle reference point and the current conductor reference point using the first and second distances to determine a current vehicle position on the road.
1. Method for controlling a vehicle, the vehicle comprising;
a current collector arranged to transmit electric power from a current conductor located in a predetermined position (C) in the surface of a road, a lateral distance (D 1 ) from one side edge of the road;
at least one antenna located adjacent the current collector and arranged to monitor the presence or absence of a signal from a signal cable located in the road at a predetermined location relative to the current conductor and to generate a signal indicative of the position of the current collector relative to the predetermined location of the signal cable, wherein the current collector is arranged displaceable relative to the vehicle to track the current conductor in response to the generated signal; and
at least one second detecting means for detecting the position of the current collector relative to the vehicle;
means for setting the lateral distance (D 1 ) from the one side edge of the road to the predetermined position in the surface of the road,
wherein the method comprising continuously performing the steps of:
determining a first distance (X 1 ) representing a position (P 1 ) of the current collector relative to the predetermined location of the signal cable in the transverse direction of the vehicle;
determining a second distance (X 2 ) representing a position (P 2 ) of the current collector relative to a vehicle reference point (R) in the transverse direction of the vehicle; and
determining a distance between the vehicle reference point (R) and the predetermined location of the signal cable in the transverse direction of the vehicle using the first and second distances (X 1 , X 2 ), in order to determine a current vehicle position on the road relative to the one side edge of the road.
2. Method according to claim 1 , comprising controlling a vehicle steering assist system in response to the determined distance, in order to maintain the vehicle in a desired position on the road.
3. Method according to claim 2 , comprising controlling the steering assist system in response to the determined distance if the determined distance exceeds a predetermined limit.
4. Method according to claim 2 , comprising controlling the steering assist system response to the determined distance, in order to guide the vehicle into a desired position during a parking, reversing, or marshalling operation.
5. Method according to claim 1 , comprising generating a driver notification signal in response to the determined distance if the determined distance exceeds a predetermined limit.
6. Method according to claim 1 , comprising comparing the determined current vehicle position with input signals from at least one additional in-vehicle forward looking data collection system to verify the vehicle position.
7. Method according to claim 1 , comparing the determined current vehicle position with input signals from at least one additional in-vehicle forward looking data collection system to validate the function of additional system.
8. Method according to claim 7 , comprising using the determined current vehicle position instead of input signals from at least one additional in-vehicle forward looking data collection system if the validation fails.
9. A vehicle comprising;
a current collector arranged to transmit electric power from a current conductor located in a predetermined lateral position (C) in the surface of a road, a lateral distance (D 1 ) from one side edge of the road;
at least one antenna located adjacent the current collector and arranged to monitor the presence or absence of a signal from a signal cable located in the road at a predetermined location relative to the current conductor and to generate a signal indicative of the position of the current collector relative to the predetermined location of the signal cable, wherein the current collector is arranged displaceable relative to the vehicle to track the current conductor in response to the generated signal;
at least one second detecting means ( 38 ; 39 a , 39 b ) for detecting the position of the current collector;
wherein
an electronic control unit is arranged to set the lateral distance (D 1 ) from the one side edge of the road to the predetermined position (C) in the surface of the road;
the electronic control unit is arranged to monitor signals from the at least one antenna, representing the position (P 1 ) of the current collector relative to the predetermined location of the signal cable in the transverse direction of the vehicle;
the electronic control unit is arranged to monitor signals from the second detecting means ( 38 ; 39 a , 39 b ), representing the position (P 1 ) of the current collector relative to a vehicle reference point (R) in the transverse direction of the vehicle; and
the electronic control unit is arranged to determine a distance between the vehicle reference point (R) and the predetermined location of the signal cable in the transverse direction of the vehicle based on the signals from the at least one antenna and the second detecting means, in order to determine a current vehicle position on the road relative to the one side edge of the road.
10. A vehicle according to claim 9 , wherein the electronic control unit is arranged to control a steering assist system ( 43 ) in response to the determined distance, in order to maintain the vehicle in a desired position on the road.
11. A vehicle according to claim 9 , wherein the second detecting means is a linear sensor arranged to detect the position of a transversely displaceable current collector.
12. A vehicle according to claim 9 , wherein the second detecting means is an angle sensor arranged to detect the angular position of a pivotable arm supporting the current collector.
13. A computer comprising a computer program for performing the steps of claim 1 for determining the position of a vehicle on a road when program is run on the computer.
14. A non-transitory computer readable medium carrying a computer program for performing the steps of claim 1 for determining the position of a vehicle on a road when program product is run on a computer.
15. A control unit for determining the position of a vehicle on a road, the control unit being configured to perform the steps of the method according to claim 1 .