Automatic guidance system for vehicles

• US 4,278,142 A
• Filed: 03/13/1979
• Issued: 07/14/1981
• Est. Priority Date: 05/08/1978
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Square Enix
• Original Assignee: Agency for Industrial Science and Technology, Ministry of International Trade & Industry (Government of Malaysia)
• Inventors: Kono, Hidehiko
• Primary Examiner(s): Mitchell, David M.
• Assistant Examiner(s): UNDERWOOD, DONALD W
• Application Number:
  US06/020,042
• Time in Patent Office: 854 Days
• Field of Search: 180/167, 180/168, 180/169, 180/141, 180/142, 364/424, 364/436, 354/81, 352/132, 358/101, 358/103, 358/106, 340/146.3 AH, 340/146.3 AC
• US Class Current: 180/168
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

A system for the automatic guidance of a vehicle along a scheduled road route, which comprises marks of varying shapes possessing respectively specific travel-function information and attached to the surface of roads in the route selected for the vehicle'"'"'s travel and an ITV camera mounted on the vehicle, whereby the automatic guidance of the vehicle'"'"'s travel is accomplished by causing the ITV camera to photograph successively the marks on the surface of the roads and recognize the shapes of the marks on the basis of the photographed images of the marks, conveying the travel-function information of these marks successively to the automatic steering unit of the vehicle and thereby allowing the vehicle to be accurately steered along the route.

Claims

1. An automatic guidance system for a vehicle provided with an automatic steering unit, comprising:

marks of various shape patterns respectively characteristic of specific travel-function information attached to the surface of a route selected for the travel of the vehicle;

an ITV camera mounted on the vehicle and adapted to photograph successively said marks;

means for recognizing the shapes, postural angles and positional deviations of the marks photographed by the ITV camera, comprising,

means for measuring the largest height Ay in the direction of the Y axis of the pattern of the mark photographed by the ITV camera and projected on the X axis in a cartesian coordinate system,

means for measuring the width Ap from the point of intersection between the X axis and a perpendicular line drawn from the point of the largest height of the projected pattern to the X axis to the point on the X axis at which the projected pattern has the smallest value,

means for measuring the largest width Ax of the projected pattern in the direction of the X axis, and

means for measuring the ratio between the width Ap and the largest width Ax; and

means for conveying a signal corresponding to the ratio obtained to the automatic steering unit for thereby adjusting the postural angle of the vehicle so as to have the vehicle steered accurately along said route.

2. The system according to claim 1, wherein said recognizing means, comprises:

means for measuring the point on the X axis of the center of the projected pattern, and

means for comparing the point obtained with the center of the mark photographed by the ITV camera,

wherein the signal obtained by the comparison is conveyed to the automatic steering unit thereby to adjust the positional deviation of the vehicle so as to have the vehicle steered accurately along said route.

3. The system according to claim 1, wherein said recognizing means comprises:

means for measuring the area of the projected pattern,

means for measuring the product of the largest height Ay multiplied by the largest width Ax, and

means for measuring the ratio between the area and the product, wherein the travel-function information characteristic of said mark is recognized on the basis of the ratio between said area and said product.

4. The system according to claim 2, wherein said recognizing means comprises:

means for measuring the area of the projected pattern,

means for measuring the product of the largest height Ay multiplied by the largest width Ax, and

means for measuring the ratio between the area and the product, wherein the travel-function information characteristic of said mark is recognized on the basis of the ratio between said area and said product.

5. The system according to claim 4, further comprising:

means for conveying the recognized travel-function information to the automatic steering unit such that the vehicle is steered on the basis of the signal for adjusting the postural angle, the signal for adjusting the positional deviation and the signal of the travel-function information.

6. The system according to claim 5, further comprising:

memory means for storing three modes of steering operation consisting of Mode 1 which causes the steering wheel to be turned by a required steering angle, to the left or right, for a fixed length of time for the correction of postural angle and also causes the steering wheel to be swung by a required steering angle, to the left and right alternately, for a fixed length of time, Mode 2 which causes the steering wheel to be swung by a required steering angle, to the left and right alternately, for a fixed length of time for the purpose of correcting only the positional deviation and Mode 3 which causes the steering wheel to be turned by the maximum steering angle, to the left or right, for a fixed length of time for the purpose of producing a left or right turn of the vehicle'"'"'s travel; and

means for selecting the optimum mode of steering on the basis of the conveyed signals for adjusting the postural angle, for adjusting the positional deviation and on the basis of the travel-function information, and for conveying the selected optimum mode of steering to the automatic steering unit.

7. The system according to claim 5, wherein the selecting means selects an optimum mode of steering stored in the memory means on the basis of the conveyed signal of travel-function information of the marks.