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WO1993017392A2 - Procede pour la construction de dispositifs d"alignement de voies et de bandes de circulation pour vehicules ainsi que procede pour la construction d"objets - Google Patents

Procede pour la construction de dispositifs d"alignement de voies et de bandes de circulation pour vehicules ainsi que procede pour la construction d"objets Download PDF

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Publication number
WO1993017392A2
WO1993017392A2 PCT/DE1993/000159 DE9300159W WO9317392A2 WO 1993017392 A2 WO1993017392 A2 WO 1993017392A2 DE 9300159 W DE9300159 W DE 9300159W WO 9317392 A2 WO9317392 A2 WO 9317392A2
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WO
WIPO (PCT)
Prior art keywords
route
points
curvature
point
directional
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1993/000159
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German (de)
English (en)
Inventor
Hansjörg HECKMANN
Ingeborg Heckmann
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Individual
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Individual
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Application filed by Individual filed Critical Individual
Publication of WO1993017392A2 publication Critical patent/WO1993017392A2/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/17—Function evaluation by approximation methods, e.g. inter- or extrapolation, smoothing, least mean square method

Definitions

  • the invention relates to a method for the construction of lane guidance devices and traffic bands for vehicles, further to a method for the construction of objects using a CAD system and for CNC control.
  • the individual plans are carried out on the basis of graphic preliminary designs.
  • the compulsory points through which the route is to be taken must be taken into account.
  • EBSAT2BLATT te (with constant curvature) as well as additional independent elements or as transition arches clotoids (with linearly changing curvature).
  • transitional arches are intended to prevent or at least to minimize any jerky changes in the centrifugal force between the individual route sections or elements. If the curvature transitions between the individual route elements are not sufficiently smooth, such jerky jolts and unstable driving operation and an impairment of the driving experience as well as disadvantageous stresses, for example, of the rails, which occur at the relevant points as a result of the changing inertia forces are subject to increased wear.
  • Routing designs are currently being carried out with interactive computer support, the initial concepts usually being created as described above.
  • the optimization of the designs in accordance with the geometric and technical requirements is essentially empirical, in some cases. even through manual measures on site. Therefore, the experience of the respective processor is crucial in the progress of the routing work.
  • the equally spaced axis points can therefore be placed on mutually tangent sequences of straight lines, transition arcs and circles.
  • This algorithm can be used to move along the route axis and directly, at equal distances, the Land- or Gauß-Krüger coordinates or other right-angled Generate coordinates of the axis points.
  • the point spacing AN the constant step size of the directional difference algorithm, can be 20m, 10m, 5m, 2m or less.
  • AN 5 m at a few cm in the area intended for the practical use of the transition arch.
  • an arbitrary approximation to works of art can be achieved which contain the results of Taylor series calculations with seven-digit coordinate values (Kasper, Schürba, Lorenz, "The Clotoids as a Trassie ⁇ rungselement", Ferd. Dümmlers Verlag, Bonn, 1968).
  • the invention has for its object to provide a method for precise route determination, which enables easy production of high-speed routes with a minimal maximum curvature. Such a route results in minimal lateral acceleration and the lowest possible wear.
  • the course of the route is thus spatially determined by starting and ending points.
  • the course of the route is determined by means of a processing device using a directional difference method in such a way that the route curvature and curvature change do not exceed predetermined values for stable driving behavior of the vehicles.
  • the course of the route in the terrain is determined by Intermediate points successively determined.
  • the route intermediate points are connected by route sections. Certain distances between the route points and the first, second and third directional difference are determined in this method in such a way that they contain the predetermined compulsory points.
  • routes are thus laid through the constraint points.
  • Each has a point where its curvature is greatest.
  • This maximum curvature is the characteristic value for the quality of the route, i.e. the smaller the maural curvature, the better the route quality.
  • the route with the smallest maximum curvature is therefore desirable.
  • An equidistant sequence of points, which this route can represent, is achieved by the microsine polygon, which passes through all the constraint points and whose maximum change in direction is the smallest.
  • the alignment method according to the invention is characterized by an extremely high level of accuracy. It is e.g. possible to trace a circular path with a circumference of 400 km with an accuracy of approx. 5 ⁇ m at the start / end point of the trace.
  • the method according to the invention makes use of an interpolation between the constraint points, the curvature and change in curvature between the constraint points being controlled by law.
  • function-related deviations waviness, breaking out
  • the direction and curvature of the route or surface are determined in a constraint point by the circle which passes through the constraint point and its two constraint point neighbors.
  • the circle through the constraint point and its two constraint point neighbors is the line of smallest, maximum curvature that passes through these three constraint points, ie the line with the smallest, maximum steering wheel stop and thus the greatest driving stability and minimal wear.
  • the function of the method according to the invention is explained further below using the digitization of the curvature of the determined route by means of directional differences.
  • the measuring tape can be used to mark points that always have the same spatial distance AN of, for example, 5 m.
  • These spatial equidistance points could easily be used for the usual point-by-point setting out of the route axis. They are connected to one another by an equilateral chord polygon with the side length AN. Their mutual position in the plane is determined by the directional angle of the chords of the same length and the change in DRI of this directional angle from equidistance point to equidistance point. This direction remains unchanged on straight line sections (cf. FIG. 3). On circular route sections, the direction changes after each piece of tendon AN by the amount DRI (cf. FIG. 4).
  • the DRI which is the interim result, shows the curvature of the route when applied to the station on a suitable scale. Like the radius R, DRI can be positive and negative.
  • the second change in direction D2RI can be positive and negative.
  • the route in the straight and circular area can be determined mathematically precisely and with surprisingly high calculation accuracy.
  • the driving dynamics-sanctioned clotoid is achieved with at least the accuracy that practice wants, as more than seven-digit plates with which could be compared, do not exist.
  • the equidistant point sequence generated with the two-stage recursion is therefore at least as accurate as the clotoid used in practice.
  • the consideration directed at the application can stop at this point.
  • Integration variable 1 upper integration limit L.
  • the FORTRAN source program required for this is 14 lines long. It generates the control commands required for the plotter in Hewlett-Packard Graphics Language (HP-GL):
  • this program sends the following commands in HP-GL via the serial interface COM1 to the HP 7586 DIN AO plotter:
  • FIG. 7 illustrates the flexibility of applications with predefined directional differences of higher order using the example of a hyperclotoid for the third directional difference.
  • the method according to the invention is particularly suitable for the production of high-speed lines (high-speed and trams), including rails, switches and other track-guiding means of rail-bound means of transport, the axis and surface coordinates of which are calculated by means of the method of program-controlled coupled directional differences. This is especially true when third and higher constant, but also function-dependent directional differences are used.
  • Further applications are the production of road axes, the boundary boundaries of roads and other track-guided traffic bands, insofar as the directional difference method is used in the design and manufacture. There are special advantages in narrow buildings and many constraints.
  • nth difference in the direction is constant.
  • straight lines, circles, clotoids, hyperclotoids, etc. can be formed as route sections.
  • the directional differences can also be varied depending on the function.
  • the distances between the points can also be varied to determine the route.
  • the specification of values or parameters can be changed from section to section.
  • the invention also creates a method for constructing objects using a CAD system using the directional difference method been.
  • the surface and / or shape of an object to be produced is spatially defined using a directional difference method, with certain distances between the intermediate surface points and the first, second to nth directional difference being defined.
  • the construction method according to the invention is advantageously used in the production of flat and spatial industrial products such as body parts e.g. of motor vehicles and airplanes, the surfaces and boundaries of which consist of curved flat and spatial curves and surfaces, the lines and surfaces of which were calculated using the directional difference method during design or manufacture.
  • the method proves to be particularly expedient if the directional difference method is used to control automatic manufacturing machines.
  • the directional difference method during the design and the production step by step calculates x, y coordinates or polar coordinates of the lines to be produced in almost any density and almost any small point spacing and used to control the production process.
  • the inclusion of the third coordinate z enables the expansion to the description and production of spatial structures.
  • a very advantageous application of the invention consists in the use of the method according to the invention for CNC controls. As a result of the high accuracy that is made possible, new objects with a more complicated shape can be manufactured or the production costs can be reduced due to the lower computing effort and machine wear.
  • the method according to the invention can be used very advantageously for the computer-controlled production of prostheses.
  • Fig. 7 shows a 'realization of a Hyperklotoide
  • FIG. 2 illustrates the determination of the route according to the invention.
  • the dash-dotted polygon through the constraint points already shows the changes in direction that the route has to go through.
  • route elements are then determined whose maximum curvature is as small as possible in order to reduce the undesired changes in lateral acceleration and thus wear etc. to a minimum.
  • the route element sought between two compulsory points is shown with a solid line.
  • the route element is again divided into sections for the route construction, each with two intermediate route points A 1 , A 2 ; Connect A 2 , A 3 , ... and form a second, finer micros tendon polygon.
  • the side length of this micro-tendon polygon is, for example, I and allows the route to be set out directly in the terrain.
  • Fig. 8 illustrates the routing according to the invention in the event that Z ⁇ _ 1 , Z ⁇ , Z ⁇ +1 ; Z ⁇ , ⁇ +1 , Z ⁇ +2 each have an arc with center M lf M 2 and radius r ⁇ , ⁇ +1 .
  • the tangent T-T 2 in the central constraint Z j _, Z ⁇ +1 then supplies the direction of the route in this constraint point.
  • the curve element defined by the two constraint points Z, Z 2 with the same slope as the tangents - j _, T 2 and with a minimal change in curvature is the route element sought.
  • the transition arcs between the two circular sections are a clotoid.
  • the route element is finally in the micro-polygon already mentioned divided with the chord length required for the construction. This is not shown in Fig. 8.
  • the manufacturing method according to the invention is further illustrated with the aid of the source program for a route algorithm reproduced below, which has as its object the determination of a constant distance sequence with a constant nth directional difference.
  • the route algorithm has the following form:
  • DRIGO DRIGO + D2RIGO
  • RIGO RIGO + DRIGO C
  • This algorithm generates an equidistant sequence of points with a constant nth difference in the direction according to the n-stage recursion listed below.
  • considerations regarding the numerical stability of the method according to the invention are made using circular routes.
  • the equilateral polygon in the circular route is a polygon with many very short sides. However, this polyline is free of centering errors and therefore behaves differently than a polygon in the field.
  • the numerical stability is the result of the interaction of the computing algorithm and the computing system.
  • An IBM Personal System / 2 model 80X21 with 80387 math co-processor and IBM FORTRAN / 2 compiler was used. This compiler processes all calculations via the 80387 co-processor in the "temporary real" format, regardless of the data type of the argument or the result [IBM 1987 D-13.14].
  • the 8 registers of the 80387 for "temporary real" have 80 bits, 64 of are mantissa, 1 is sign, 15 are exponent. 64 bit means 19 decimal places [Sargent, M., Shoemaker, R.: The IBM Personal Computer from the inside out, page 162, Addison-Wesley 1988].
  • DY AN * sinr
  • DX AN * cos ⁇
  • each of the two coordinate differences has a maximum error of AN * e and the relative point position of A and N has an error of AN * e * - / 2.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Data Mining & Analysis (AREA)
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  • Theoretical Computer Science (AREA)
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Abstract

La présente invention a pour objet un procédé pour la construction de dispositifs d'alignement de voies et de bandes de circulation pour véhicules, un procédé pour la construction d'objets avec utilisation d'un système CAO, ainsi qu'un procédé pour la commande CNC. Selon cette invention, il est prévu de réaliser une approximation du tracé au moyen d'un procédé travaillant avec des différences de direction, ce qui donne une précision maximale du tracé définitif.
PCT/DE1993/000159 1992-02-24 1993-02-24 Procede pour la construction de dispositifs d"alignement de voies et de bandes de circulation pour vehicules ainsi que procede pour la construction d"objets Ceased WO1993017392A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4205603.9 1992-02-24
DE4205603 1992-02-24

Publications (1)

Publication Number Publication Date
WO1993017392A2 true WO1993017392A2 (fr) 1993-09-02

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PCT/DE1993/000159 Ceased WO1993017392A2 (fr) 1992-02-24 1993-02-24 Procede pour la construction de dispositifs d"alignement de voies et de bandes de circulation pour vehicules ainsi que procede pour la construction d"objets

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AU (1) AU3491493A (fr)
WO (1) WO1993017392A2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1092807A1 (fr) * 1999-10-12 2001-04-18 Sanei Co., Ltd. Méthode et appareil pour la conception de routes et support d'enregistrement
EP1174542A3 (fr) * 2000-07-19 2003-10-08 Sanei Co., Ltd. Système et méthode pour la conception de routes
CN108681788A (zh) * 2018-04-27 2018-10-19 东南大学 一种基于主动安全的城市离散交通网络设计方法
US11016100B2 (en) 2007-07-11 2021-05-25 X-Body, Inc. Methods for identifying modulators of ion channels

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1092807A1 (fr) * 1999-10-12 2001-04-18 Sanei Co., Ltd. Méthode et appareil pour la conception de routes et support d'enregistrement
US6438494B1 (en) 1999-10-12 2002-08-20 Sanei Co., Ltd. Method, apparatus and program products for designing roads
EP1174542A3 (fr) * 2000-07-19 2003-10-08 Sanei Co., Ltd. Système et méthode pour la conception de routes
US11016100B2 (en) 2007-07-11 2021-05-25 X-Body, Inc. Methods for identifying modulators of ion channels
CN108681788A (zh) * 2018-04-27 2018-10-19 东南大学 一种基于主动安全的城市离散交通网络设计方法
CN108681788B (zh) * 2018-04-27 2021-09-21 东南大学 一种基于主动安全的城市离散交通网络设计方法

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