Apparatus and method for improving accuracy of an automatic travelling apparatus
First Claim
1. A machine implemented process for controlling a vehicle, said process comprising the steps of:
- generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle;
sampling and processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle;
detecting an instantaneous running condition of said vehicle;
repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals;
determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and
steering said vehicle in response to each determined steering correction.
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Accused Products
Abstract
Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle by an image pick-up means attached to the vehicle; sampling and processing the image data to extract therefrom continuous line segments; determining a permissible travelling area ahead of the vehicle on the basis of the continuous line segments extracted; 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, and furthermore of renewing, on the basis of the instantaneous running condition during a period of image sampling, the preceding position of the vehicle in the permissible travelling area and reset a target course in the permissible travelling area in relation to the renewed position.
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Citations
3 Claims
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1. A machine implemented process for controlling a vehicle, said process comprising the steps of:
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generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle; sampling and processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; detecting an instantaneous running condition of said vehicle; repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and steering said vehicle in response to each determined steering correction.
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2. An automatic vehicle control system comprising:
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means for generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle, said means for generating said image data being adapted to be attached to said vehicle; means for sampling said processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; means for detecting an instantaneous running condition of said vehicle; means for repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; means for determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and means adapted for steering said vehicle in response to each determined steering correction. - View Dependent Claims (3)
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Specification