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Automatic travelling apparatus and method

  • US 5,172,315 A
  • Filed: 04/23/1992
  • Issued: 12/15/1992
  • Est. Priority Date: 08/10/1988
  • Status: Expired due to Term
First Claim
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1. An automatic travelling apparatus for a vehicle, comprising:

  • an image pickup device attached to the vehicle;

    means for determining a permissible travelling area on the basis of an image taken by the image pickup device;

    means for setting a target course in the permissible travelling area thus determined;

    means for detecting the instantaneous running condition of the vehicle;

    means for estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and

    means for steering the vehicle with reference to the steering amount.

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