Method and apparatus for lane sensing for automatic vehicle steering

• US 5,318,143 A
• Filed: 06/22/1992
• Issued: 06/07/1994
• Est. Priority Date: 06/22/1992
• Status: Expired due to Fees

• Current Assignee: Texas A&M University System
• Original Assignee: Texas A&M University System
• Inventors: Roan, Philip, Parker, Donald L.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US07/887,069
• Time in Patent Office: 715 Days
• Field of Search: 180/167, 180/168, 180/169, 180/170, 180/175, 180/176, 180/177, 180/178, 180/131, 180/179, 356/435, 356/442, 356/446, 356/447, 364/424.02, 364/426.01, 364/426.04
• US Class Current: 180/168
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0058 responsive to externally generated signalling
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: E01F 9/30 Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters E01F11/00 takes precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/74 Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

A lane sensing system (20) comprises a processor (22) operable to drive an infrared optical transmitter (24). Light is reflected by a center stripe (18) placed in the center of a highway lane. Reflected light is received in right and left receivers (26) and (28). The processor (22) uses the information to control a power steering control system (30) and a speed control system (32). Information may be encrypted into the center stripe (18) and used by processor (22) to control the speed of the vehicle (10) or to display information to an operator of the vehicle (10) through a display system (34).

Claims

1. A vehicle control system for controlling a vehicle operable to travel over a surface, the system comprising:

a transmitter on the vehicle operable to illuminate a first predetermined area of the surface beneath the vehicle;

first receiver on the vehicle operable to receive reflections from a second predetermined area of the surface beneath the vehicle;

a second receiver on the vehicle operable to receive reflections from a third predetermined area of the surface beneath the vehicle, said second and third predetermined areas disposed substantially adjacent one another and each comprising portions of said first predetermined area; and

a processor coupled to said first and second receivers and operable to determine the difference in the amplitudes of the reflections received by said first and second receivers and generate a steering control signal responsive to said difference, said first and second receivers receiving reflections from a stripe broken in predetermined intervals of unmarked and reflective areas disposed on the surface and illuminated by the transmitter resulting in said difference when said stripe is not disposed equally in said second and third predetermined areas.

2. The system of claim 1 wherein said reflections received by said first and second receivers vary in response to said intervals, said processor further comprising circuitry for counting said intervals to yield a value proportional to the speed of the vehicle, said processor circuitry further operable to generate a speed signal indicating the speed of the vehicle.

3. The system of claim 2 and further comprising a speed control system operable to receive said speed signal and adjust the speed of the vehicle so as to keep the speed of the vehicle constant.

4. The system of claim 1 wherein said stripe incorporates coded information according to positioning of said unmarked and reflective areas within said predetermined intervals and wherein said reflections received by said first and second receivers vary in response to said intervals, said processor further comprising circuitry for determining said coded information in said intervals.

5. The system of claim 4 wherein said coded information comprises information indicating a necessary change in the speed of the vehicle and wherein said processor circuitry is further operable to generate a speed control signal indicating the speed to be adopted by the vehicle.

6. The system of claim 5 and further comprising a speed control system operable to receive said speed control signal and adjust the speed of the vehicle so as to adopt the speed indicated by the coded information.

7. The system of claim 4 wherein said coded information comprises alphanumeric characters, the system further comprising a display coupled to said processor and operable to display said alphanumeric characters to a user of the system.

8. The system of claim 4 wherein said coded information comprises information indicating the location of the vehicle, the system further comprising a display coupled to said processor and operable to display said location to a user of the system.

9. The system of claim 4 wherein said coded information comprises information ordinarily displayed on road signs, the system further comprising a display coupled to said processor and operable to display said information to a user of the system.

10. The system of claim 1 wherein said processor comprises circuitry for generating an attenuation control signal associated with the amount of reflection received from the surface, said transmitter coupled to said attenuation control signal and operable to attenuate the amplitude of the signal used to illuminate said first predetermined area of the surface such that the amount of the reflection received by the system remains substantially constant when the stripe is illuminated.

11. A vehicle control system for controlling a vehicle operable to travel over a surface, the system comprising:

a transmitter on the vehicle operable to illuminate a first predetermined area of the surface beneath the vehicle;

a first receiver on the vehicle operable to receive reflections from a second predetermined area of the surface beneath the vehicle;

a second receiver on the vehicle operable to receive reflections from a third predetermined area of the surface beneath the vehicle, said second and third predetermined areas disposed substantially adjacent one another and each comprising portions of said first predetermined area;

a processor coupled to said first and second receiver and operable to determine the difference in the amplitudes of the reflections received by said first and second receivers and generate a steering control signal responsive to said difference, said first and second receivers receiving reflections from a reflective areas disposed on the surface and illuminated by the transmitter resulting in said difference when said stripe is not disposed equally in said second and third predetermined areas, said reflections received by said first and second receivers varying in response to said intervals, said processor comprising circuitry for counting said intervals to yield a value proportional to the speed of the vehicle, said processor circuitry further operable to generate a speed signal indicating the speed of the vehicle;

a speed control system operable to receive said speed signal and adjust the speed of the vehicle so as to keep the speed of the vehicle constant.

12. The system of claim 11 wherein said stripe incorporates coded information according to positioning of said unmarked and reflective areas within said predetermined intervals and wherein said reflections received by said first and second receivers vary in response to said intervals, said processor further comprising circuitry for determining said coded information in said intervals.

13. The system of claim 12, wherein said coded information comprises information indicating a necessary change in the speed of the vehicle and wherein said processor circuitry is further operable to generate a speed control signal indicating the speed to be adopted by the vehicle.

14. The system of claim 13 and further comprising a speed control system operable to receive said speed control signal and adjust the speed of the vehicle so as to adopt the speed indicated by the coded information.

15. The system of claim 12 wherein said coded information comprises alphanumeric characters, the system further comprising a display coupled to said processor and operable to display said alphanumeric characters to a user of the system.

16. The system of claim 12 wherein said coded information comprises information indicating the location of the vehicle, the system further comprising a display coupled to said processor and operable to display said location to a user of the system.

17. The system of claim 12 wherein said coded information comprises information ordinarily displayed on road signs, the system further comprising a display coupled to said processor and operable to display said information to a user of the system.

18. The system of claim 11 wherein said processor comprises circuitry for generating an attenuation control signal associated with the amount of reflection received from the surface, said transmitter coupled to said attenuation control signal and operable to attenuate the amplitude of the signal used to illuminate said first predetermined area of the surface such that the amount of the reflection received by the system remains substantially constant when the stripe is illuminated.

19. A method for controlling a vehicle operable to travel over a surface, the method comprising the steps of:

illuminating a first predetermined area of the surface beneath the vehicle using a transmitter on the vehicle;

receiving reflections from a second predetermined area of the surface beneath the vehicle using a first receiver on the vehicle;

receiving reflections from a third predetermined area of the surface beneath the vehicle using a second receiver on the vehicle, the second and third predetermined areas disposed substantially adjacent one another and each comprising portions of the first predetermined area;

determining the difference in the amplitudes of the reflections received by the first and second receivers using a processor coupled to the first and second receiver; and

generating a steering control signal responsive to the difference using the processor, the reflections being received from a stripe broken in predetermined intervals of unmarked and reflective areas disposed on the surface and illuminated by the transmitter resulting in the difference in the amplitudes when the stripe is not disposed equally in the second and third predetermined areas.

20. The method of claim 19 wherein the reflections received by the first and second receivers vary in response to the intervals, the method further comprising the steps of:

counting the intervals to yield a value proportional to the speed of the vehicle;

generating a speed signal indicating the speed of the vehicle; and

adjusting the speed of the vehicle so as to keep the speed of the vehicle substantially constant using a speed control system operable to receive the speed signal.