Autonomous vehicle using fuzzy control

• US 5,101,351 A
• Filed: 04/11/1990
• Issued: 03/31/1992
• Est. Priority Date: 04/12/1989
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Hattori, Akira
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/507,572
• Time in Patent Office: 720 Days
• Field of Search: 364/424.01, 364/424.02, 364/513, 358/103, 180/167-169
• US Class Current: 701/27
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 706/90 Fuzzy logic

Abstract

An autonomous vehicle controls the steering of the vehicle on a road by fuzzy control. A camera forms an image of the road, and an image processor processes the image to calculate the deviation dx between a plurality of reference points on a road and the direction in which the vehicle is traveling. Each reference point is associated with a visual point on the road ahead of the vehicle. The product of the deviation dx for each visual point and a membership function μ indicating the degree of importance attached to the visual point is calculated, and a total deviation equal to the sum of the products is calculated. The steering of the vehicle is controlled on the basis of the total deviation. The membership functions μ are varied in accordance with the time rate of change of the deviations dx.

Claims

1. An autonomous vehicle comprising:

a) first means for forming an image of guide lines on a road on which the vehicle is to run and generating an imaging signal representative of the image;

b) second means for receiving said imaging signal and setting a plurality of visual points in the image, and for each visual point calculating the deviation between a reference point on the road between the guide lines and the direction toward which said vehicle is running, each reference point being associated with one of the visual points;

c) third means for storing a membership function on a degree of importance for each visual point with respect to vehicle speed;

d) fourth means for calculating the product of the deviation for each visual point calculated by the second means and the degree of importance for each visual point stored in the third means and calculating a total deviation for all the visual points equal to the total of the products; and

e) fifth means for carrying out steering control of said vehicle on the basis of the total deviation calculated by said fourth means.

2. An autonomous vehicle as set forth in claim 1 wherein said fourth means includes sixth means for deriving the rate of change of each deviation on the basis of updated deviations.

3. An autonomous vehicle as set forth in claim 2 wherein said fourth means includes seventh means for varying the membership function for one of the visual points according to the rate of change of the corresponding deviation derived by said sixth means.

4. An autonomous vehicle as set forth in claim 3 wherein the second means calculates the deviation of each reference point on the road from a line indicating the direction toward which the vehicle is running based on imaging data representing the line.

5. An autonomous vehicle as set forth in claim 3 wherein the second means calculates the deviation of each reference point on the road based on a steering angle of the vehicle.

6. An autonomous vehicle as set forth in claim 1 wherein the position of each reference point on the road relative to the guide lines is constant for each reference point.

7. An autonomonous vehicle as set forth in claim 1 wherein each reference point on the road is located substantially midway between the guide lines.

8. An autonomous vehicle as set forth in claim 1 wherein each of the reference points lies on a line in the image which passes through one of the visual points and which is perpendicular to the direction toward which said vehicle is running.

9. An autonomous vehicle as set forth in claim 1 wherein each of the reference points is located on the road ahead of the vehicle.

10. An autonomous vehicle comprising:

a) an imaging portion having a camera for forming an image of guide lines on a road on which the vehicle is running and generating an imaging signal representing the image;

b) an image processing portion for processing the imaging signal from said camera;

c) a map information storing portion storing map information for a route of travel on which said vehicle is to run;

d) a general running control portion referring to map information derived from said map information portion and setting a basic controlled variable as a basic steering displacement instruction Δ

S_T on the basis of route data derived from map information;

e) a membership function storing portion storing a single visual point membership function for fuzzy control and multi-visual point membership functions for fuzzy control;

f) a steering control portion using membership functions stored in said membership function storing portion, deriving a steering displacement instruction Δ

S_g via a fuzzy control program, and outputting a steering displacement instruction Δ

S equal to the sum of the steering displacement instructions Δ

S_T +Δ

S_g ; and

g) a steering drive portion for driving a steering wheel of said vehicle to a position determined using the steering displacement instruction output by said steering control portion.

11. An autonomous vehicle as set forth in claim 10 wherein the steering control portion calculates the steering displacement instruction Δ

S_g for a single visual point by applying a positional deviation Δ

X and angular deviation Δ

θ

in a lateral direction at a distance L ahead of the vehicle to a plurality of control rules for all deviations Δ

X, Δ

θ

indicated by "if Δ

X is X and Δ

θ

is θ

then Δ

S=A (X, θ

)", deriving a degree of importance for each rule with respect to magnitudes of actual deviations Δ

X and Δ

θ

by a membership value μ

_i of the membership function for each deviation, and taking a weighted mean of all rules to derive the steering displacement instruction Δ

S_g.

12. An autonomous vehicle as set forth in claim 11 wherein the steering control portion comprises means for calculating the steering displacement instruction Δ

S_g for a plurality of visual points by receiving imaging data from the image processing portion on left and right guide lines on the road on which the vehicle is to run, setting a plurality of visual points at constant intervals in a forward direction with respect to a present position of the vehicle, deriving a positional deviation dx_i (i=θ

, 1, 2, 3, . . . ) between a reference line STD indicating a straight ahead direction in which the vehicle is running and a center point P_i (i=0, 1, 2, 3, . . . ) of the road at each visual point, deriving the rate of change for each deviation dx_i with respect to time, varying the membership function according to the rate of change dx_i for each deviation dx_i so that the degree of importance for each visual point is given by a membership value μ

_i corresponding to the current vehicle speed, calculating a total Dx of each deviation dx_i using the equation Dx=Σ

(μ

_i ·

dx_i), calculating the product of the total Dx and a constant K, and setting the steering displacement instruction S_g equal to the product.

13. An autonomous vehicle as set forth in claim 11 wherein the steering control portion comprises means for calculating the steering displacement instruction Δ

S_g by receiving imaging data on left and right guide lines on the road on which the vehicle is running from the image processing portion, setting a plurality of visual points at constant intervals in a forward direction with respect to a present position of the vehicle, deriving a steering deviation dθ

_i (i=0, 1, 2, 3, . . . ) between a reference line STD indicating a straight ahead direction in which the vehicle is running and a center point P_i (i=0, 1, 2, 3, . . . ) of the road at each of said visual points, deriving the rate of change of each deviation dθ

_i with respect to time, varying the membership function according to the rate of change dθ

_i for each deviation dθ

_i so that the degree of importance for each visual point is given by a membership value μ

_i corresponding to the current vehicle speed, calculating a total Dθ

of each deviation dθ

_i using the equation Dθ

=Σ

(μ

_i ·

dθ

_i), calculating the product of the total Dθ and

a constant K, and setting the steering displacement instruction S_g equal to the product.

14. A method for autonomously running a vehicle comprising the steps of:

a) forming an image of guide lines on a road on which the vehicle is running using a camera installed on the vehicle and generating an imaging signal representative of the image;

b) receiving said imaging signal and setting a plurality of visual points in the image, and for each visual point calculating the deviation between a reference point on the road and the direction toward which said vehicle is running, each of the reference points being associated with one of the visual points;

c) storing a membership function on a degree of importance for each visual point with respect to vehicle speed;

d) calculating the product of the deviation for each visual point and the degree of importance for each visual point and calculating a total deviation for all visual points equal to the total of the products; and

e) carrying out steering control of the vehicle on the basis of the total deviation calculated in step d).

15. A method as set forth in claim 14 wherein each of the reference points lies substantially midway between the guide lines.

16. An autonomous vehicle comprising:

a) imaging means for forming an image of a portion of a road on which the vehicle is running, the portion including guide lines;

b) processing means for processing the image to identify in the image a plurality of visual points on the road ahead of the vehicle and for each visual point calculating the deviation between one of a plurality of reference points on the road and the direction toward which said vehicle is running, each reference point being disposed between the guide lines ahead of the vehicle and lying on a line which is perpendicular to the direction in which the vehicle is travelling and which passes through one of the visual points;

c) storage means for storing a membership function on a degree of importance for each visual point with respect to vehicle speed;

d) means for calculating the product of the deviation for each visual point calculated by the processing means and the degree of importance for each visual point stored in the storage means and calculating a total deviation for all the visual points equal to the sum of the products; and

e) steering control means for controlling the steering of the vehicle on the basis of the total deviation.