Guidance Control in Detail
English, Revision 07, Date: 07.03.2018
11
cle has to go through segments 10, 1, 7, 6 and 3. Since the vehi-
cle drives backwards along segments 6 and 3, the velocity of the
segments is negative (see also Figure 7 on page 12).
Figure 6
Example: Segments
2.1.1.1
The segment file
All segments and the associated support points are stored in the segment file. This
segment file is created with a CAD software (
Malz ++ Kassner CAD6
). The typically
large CSV file, created by the CAD software, must be compiled into a binary format
using
BRTool
. The
BRTool
software is available from us on request. BRTool also allows
you to directly edit individual support points and their critical attributes such as veloc-
ity without having access to
CAD6
.
Each row of the segment file represents one support point. It contains the support
point's coordinates, two velocities and an attribute field.
3;304;8920;2164;10;10;0x00000000
3;305;8920;1914;5;10;0x00000000
3;306;8920;1665;1;10;0x00000002
4;1;8920;1665;10;10;0x00000001
4;2;8920;1416;10;10;0x00000000
4;3;8920;1167;10;10;0x00000000
Segment
number
Point number
X Position
Y Position
Velocity
end
Velocity
next
Attribute
3
304
8920
2164
10
10
0x00000000
3
305
8920
1914
5
10
0x00000000
3
306
8920
1665
1
10
0x00000002
4
1
8920
1665
10
10
0x00000001
4
2
8920
1416
10
10
0x00000000
4
3
8920
1167
10
10
0x00000000
Table 1
Explanation of a segment list with support points
