Control system for autonomous automotive vehicle or the like

• US 5,081,585 A
• Filed: 06/15/1988
• Issued: 01/14/1992
• Est. Priority Date: 06/17/1987
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Hattori, Akira, Kurami, Kunihiko, Kishi, Norimasa, Noso, Kazunori
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): TRANS, VINCENT N
• Application Number:
  US07/208,313
• Time in Patent Office: 1,308 Days
• Field of Search: 364/424.02, 364/426.01, 364/443, 364/449, 364/456, 364/571.01, 358/103, 180/167, 180/168, 318/587
• US Class Current: 701/28
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An image processing section receives data from cameras mounted on the vehicle and produces an image or images from which a first set of so called "local" data is derived and compiled. A sensor section senses the rotational characteristics of two vehicle wheels and the conditions prevailing on either side of the vehicle and complies a second set of so called "global" data. The local and global data are compared and data is only accepted in the event that the differences between the two sets of data fall within predetermined limits and data which falls outside of the ranges deemed erroneous and rejected.

Claims

1. In a method of automatically controlling a vehicle the steps comprising:

producing an image of the road on which the vehicle is running and from which image distance and road curvature data can be measured;

deriving a first set of vehicle positional data from the distance and road curvature data measured from said image;

sensing the rotational characteristics of a vehicle wheel;

deriving a second set of vehicle positional data from the wheel rotational characteristics;

comparing the first and second sets of data and determining if the difference between the two sets fall within a predetermined range; and

rejecting the first and second sets of data if the difference therebetween falls outside the predetermined range.

2. A method of automatically controlling a vehicle as claimed in claim 1 wherein said steps of producing an image of the road on which the vehicle is running and deriving said first set of positional data comprise:

observing the road using first and second cameras;

producing a stere image using the inputs from said first and second cameras;

producing said image of the road form which said distance and road curvature data can be measured;

identifying the side limits of the portion of the road on which the vehicle is running from said image;

establishing the distance of said vehicle from each side limit of the portion of the road on which the vehicle is running and degree of curvature of the road; and

using the distances derived in said step of establishing to compile said first set of vehicle position data.

3. A method as claimed in claim 2 further comprising the step of determining the degree of curvature of the road from the image of the road.

4. A method of automatically controlling a vehicle as claimed in claim 1 wherein said vehicle wheel rotational characteristic sensing step and said step of deriving said second set of vehicle positional data comprise:

measuring the rotational speed of first and second wheels of said vehicle;

determining the vehicle speed, distance traversed and the rate of turning of the vehicle using the rotational speeds of said first and second wheels; and

using the vehicle speed, distance traversed and rate of turning of the vehicle to compile said second set of positional data.

5. A method of automatically controlling a vehicle as claimed in claim 4 further comprising the steps of:

sensing conditions on either side of the vehicle;

determining the distance of the vehicle from the side of the road using the data derived in said condition sensing step;

using this data to compile said second set of positional data.

6. In an automatically controlled vehicle, the arrangement comprising:

means for producing an image of the road on which the vehicle is running and from which distance and road curvature data can be measured;

means for deriving a first set of vehicle positional data from the distance and road curvature data measured from the image;

means for sensing the rotational charcteristics of a vehicle wheel;

means for deriving a second set of positional data from the wheel rotational characteristics; and

means for

(a) comparing the first and second sets of data and determining if the difference between the two sets falls within a predetermined range, and

(b) rejecting the first and second sets of data if the difference therebetween falls outside the predetermined range.

7. An automatically controlled vehicle as claimed in claim 6 wherein said image producing means and said first st of positional data deriving means comprise:

first and second cameras; and

means for

(a) producing a stereo image using the inputs from said first and second cameras;

(b) producing said image of the road on which the vehicle is running and from which distance and road curvature data can be measured;

(c) identifying the side limits of the portion of the road on which the vehicle is running from said image;

(d) establishing the distance of said vehicle from each side limit of the portion of the road on which the vehicle is running and the curvature of the road; and

(e) using the distance and road curvature data derived in said step of establishing, to compile said first set of vehicle position data.

8. An automatically controlled vehicle as claimed in claim 7 wherein said means includes circuitry for determining the degree of curvature of the road from the image of the road.

9. An automatically controlled vehicle as claimed in claim 6 wherein said vehicle wheel rotational characteristic sensing means and said second set of vehicle positional data deriving means comprise:

means for measuring the rotational speed of first and second wheels of said vehicle; and

means for

(a) determining the vehicle speed, distance traversed and the rate of turning of the vehicle using the rotational speeds of said first and second wheels; and

(b) using the vehicle speed, distance traversed and rate of turning of the vehicle to compile said second set of positional data.

10. An automatically controlled vehicle as claimed in claim 9 further comprising:

means for sensing conditions on either side of the vehicle; and

means for

(a) determining the distance of the vehicle from the side of the road using the data derived in said condition sensing means; and

(b) using this data to compile said second set of positional data.

11. In a vehicle

a system for automatically controlling said vehicle, said system comprising:

image proceeding means for observing the road, producing an image of said road, and deriving distance related data from the image;

first positional data determining means for compiling a first set of vehicle positional data;

sensor means for sensing the rotational speed of the first and second road wheels and conditions prevailing on either side of the vehicle, said sensor means including second positional data determining means for compiling a second set of vehicle positional data;

actuator means including a plurality of actuators and a control unit for selectively controlling said actuators for controlling the steering, power generation and braking operations of said vehicle;

man-machine interface means for receiving external commands; and

a control means responsive to the first and second data compilations of said first and second positional data determining means, said sensor means, and said man-machine interface means, for selectively controlling said actuator means, said control means including means for

(a) comparing the first and second sets of data and determining if the difference between the two sets fall within a predetermined range; and

(b) rejecting the first and second sets of data if the difference therebetween falls outside the predetermined range.

12. A vehicle as claimed in claim 11 further comprising:

navigation means including a memory in which map data is stored and excess means for selectively accessing the memory;

said control means being operatively connected with said navigation means to enable a requisite course to be plotted and for the instant position of the vehicle to be identified.

13. A vehicle as claimed in claim 11 wherein said sensor means further comprises a plurality of sensors for examining the areas located on either side and to the rear of the vehicle, and a secondary position detection means for compiling a third set of positional data, said secondary position detection means being connected to said control means to provide data input which can be used in lieu of the data compiled in said first positional data determining means as a failsafe.

14. A vehicle as claimed in claim 13 further comprising a forward direction sensor, said forward direction sensor sensing the presence of an obstacle in the path of said vehicle, said forward direction sensor being operatively connected with said control section through said secondary position detection means.

15. A vehicle as claimed in claim 11 further comprising data recording means for receiving data from said control means and to store the same in a memory, said data recording means further including an accelerometer for determining the G force to which the vehicle is subject.

16. A vehicle as claimed in claim 11 further comprising vehicle speed limiting means comprising:

an emergency brake actuator;

control unit for selectively actuating said emergency brake actuator;

a vehicle speed sensor;

an upper vehicle speed limiting circuit operatively connected between said vehicle speed sensor and said emergency brake actuator;

manually adjustable means for setting the upper speed in said upper speed limiting circuit;

an antenna;

a receiver operatively connected with said antenna, said receiver being connected with said control unit for transferring a command to stop the vehicle received by said antenna to said control circuit.

17. A vehicle as claimed in claim 11 wherein said man-machine interface comprises means responsive to external commands for converting said external commands into a suitable signal for using in said control means.

18. A vehicle as claimed in claim 17, wherein said external command responsive means comprises a keyboard.

19. A vehicle as claimed in claim 17, wherein said external command responsive means comprises a digitizer for converting said external command into a digital signal.

20. A vehicle as claimed in claim 17, wherein said external command responsive means comprises a microphone and a speech recognition system which enables verbal commands to be received and converted into a signal which is applied to said control section.