Automatic travelling apparatus and method
First Claim
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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Abstract
An automatic travelling apparatus which is capable of finding out a permissible travelling area from images taken by an image pick-up device to set a target course in the permissible travelling area; determining a steering amount appropriate for the purpose of permitting the vehicle to put itself on the target course, in consideration of the instantaneous travelling condition of the vehicle; and performing the exact steering control in terms of the steering amount. The exact travelling attained by the automatic travelling apparatus according to the present invention is attributable to a two-step determination in which first, a target course is set in a permissible area, and a tentative course is set appropriate for the purpose of permitting the vehicle to put itself on the target course.
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Citations
11 Claims
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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. - View Dependent Claims (6, 7, 8)
- an image pickup device attached to the vehicle;
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2. 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 determining the running speed of the vehicle;
means for setting a target course in the permissible travelling area on the basis of the running speed of the vehicle;
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. - View Dependent Claims (3, 4, 5)
- an image pickup device attached to the vehicle;
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9. An automatic travelling method for a vehicle, comprising the steps of:
- taking an image of the extension of raod ahead of the vehicle;
determining a permissible travelling area on the basis of the image thus taken;
setting a target course in the permissible travelling area thus determined;
detecting the instantaneous running condition of the vehicle;
estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and
steering the vehicle with reference to the steering amount.
- taking an image of the extension of raod ahead of the vehicle;
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10. An automatic travelling method for a vehicle, comprising the steps of:
- taking an image of the extension of road ahead of the vehicle;
determining a permissible travelling area on the basis of the image thus taken and the running speed of the vehicle;
setting a target course in the permissible travelling area thus determined;
detecting the instantaneous running condition of the vehicle;
estimating, on the basis of the instantaneous running condition, a steering amount set to permit the vehicle to follow the target course; and
steering the vehicle with reference to the steering amount.
- taking an image of the extension of road ahead of the vehicle;
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11. An automatic vehicle control method comprising the steps of:
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detecting an image of a road portion ahead of the vehicle; determining a permissible travelling area on the basis of the image detected; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle including determining running speed, yaw rate and tire steering angle; estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
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Specification