| 摘要 |
An ultrasonic measuring system for a vehicle is composed of first and second ultrasonic transducing assemblies TR1 and TR2. Each transducing assembly TR1, TR2 has three ultrasonic transducers TR11, TR12, TR13, TR21, TR22, TR23 which are separated from each other at an angle of 120 degrees in a horizontal plane about axis disposed at a front and a rear of the vehicle, respectively. Each transducer transmits ultrasonic waves to a road surface at a predefined down-angle relative to the road surface and receives reflected waves from the road surface. Each of the transducers TR21, TR22, TR23 transmits ultrasonic waves to the road surface and receiving reflected waves from the road surface in an opposite direction to a corresponding one of the transducers TR11, TR12, TR13. A two dimensional speed, a yaw rate and a yawing center are obtained by differences of first three speed vectors in three directions obtained by the first ultrasonic transducing assembly TR1 and second three speed vectors in second three directions, corresponding to the first three directions, obtained by the second ultrasonic transducing assembly TR2.
|
