System and method for providing steering control for autonomous vehicle
First Claim
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1. A system for providing a steering control for an autonomous vehicle, comprising:
- a) first means, disposed on the vehicle so as to face toward a vehicular forward direction, for monitoring a presence of a road contour index extended in the vehicular forward direction;
b) second means for setting a plurality of measuring points for a plurality of predetermined distances set toward the vehicular forward direction ahead of a vehicular center on a vehicular coordinate system;
c) third means for defining positions of the monitored road contour index and outputting the position data of the monitored contour index defined with respect to the respective measuring points;
d) fourth means for setting a membership function for each measuring point which gives predetermined reliabilities to input values of the position data for the measuring points mutually adjacent to the corresponding one of the measuring points to which the membership function is set; and
e) fifth means for calculating a steering angle through which a steering mechanism of the vehicle is steered for each measuring point with the position data for the respective measuring points as input parameters, said fifth means calculating the steering angle for each measuring point, the input parameters of the other measuring points being included in the calculation of the steering angle for any one of the measuring points according to the reliabilities given to the other measuring points, said system providing the steering control for the steering mechanism of the autonomous vehicle on the basis of the calculated steering angle.
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Abstract
A system and method for providing a steering control for an autonomous vehicle are disclosed in which a plurality of measuring points for determining distances therefrom to respective points on an imaged white line are set, a membership function for each measuring point is set which gives a reliability μli (j) to the other measuring points so that an effective range to the input values of the respective measuring points is expanded, and a control equation sli (or sri) at each measuring point toward which the input values to the other measuring points are reflected.
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Citations
29 Claims
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1. A system for providing a steering control for an autonomous vehicle, comprising:
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a) first means, disposed on the vehicle so as to face toward a vehicular forward direction, for monitoring a presence of a road contour index extended in the vehicular forward direction; b) second means for setting a plurality of measuring points for a plurality of predetermined distances set toward the vehicular forward direction ahead of a vehicular center on a vehicular coordinate system; c) third means for defining positions of the monitored road contour index and outputting the position data of the monitored contour index defined with respect to the respective measuring points; d) fourth means for setting a membership function for each measuring point which gives predetermined reliabilities to input values of the position data for the measuring points mutually adjacent to the corresponding one of the measuring points to which the membership function is set; and e) fifth means for calculating a steering angle through which a steering mechanism of the vehicle is steered for each measuring point with the position data for the respective measuring points as input parameters, said fifth means calculating the steering angle for each measuring point, the input parameters of the other measuring points being included in the calculation of the steering angle for any one of the measuring points according to the reliabilities given to the other measuring points, said system providing the steering control for the steering mechanism of the autonomous vehicle on the basis of the calculated steering angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A system for providing a steering control for an autonomous vehicle so as to run the vehicle in parallel to a road contour index, comprising:
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a) first means having a video camera, the video camera being disposed on the vehicle so as to face toward a vehicle forward direction, for photographing a white line serving as the road contour index extending along a side edge of a running road and outputting an image signal indicating a presence of the white line; b) second means, including an image processing block, for setting a plurality of measuring points for a plurality of predetermined distances set toward the vehicular forward direction ahead of a vehicular center on a vehicular coordinate system and for defining positions of the white line with respect to the respective measuring points and outputting the position data of the white line at the respective measuring points and outputting the defined position data; c) third means for setting a running reference line on which the vehicle is to run autonomously; d) fourth means for setting a membership function for each measuring point which at least gives predetermined reliabilities to input values of the position data for the measuring points mutually adjacent to the corresponding one of the measuring points to which the membership function is set; and e) fifth means for calculating a steering angle through which a steering mechanism of the vehicle is steered for each measuring point with the position data for the respective measuring points and output from the third means as input steering values, said fifth means calculating the steering angle for each measuring point on a basis of a weight mean method in which reliabilities are multiplied by the position data for the respective measuring points and outputting a final steering angle which is calculated using a gross mean of the calculated steering angle and said system providing the steering control through the steering mechanism of the vehicle on the basis of the calculated final output steering angle of the fifth means so as to run the vehicle in parallel to the road contour index. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. A method for providing a steering control for an autonomous vehicle so as to run the vehicle in parallel to a road contour index, comprising the steps of:
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a) monitoring a presence of a road contour index extending in the vehicular forward direction; b) setting a plurality of measuring points for a plurality of predetermined distances set toward the vehicular forward direction ahead of a vehicular center on a vehicular coordinate system; c) defining positions of the monitored road contour index with respect to the respective measuring points and outputting the position data of the monitored contour index defined with respect to the respective measuring points; d) setting a membership function for each measuring point which gives predetermined reliabilities to input values of the position data for the measuring points mutually adjacent to the corresponding one of the measuring points to which the membership function is set; e) calculating a steering angle through which a steering mechanism of the vehicle is steered for each measuring point with the position data for the respective measuring points as input steering values; and (f) calculating the steering angle for each measuring point, the input values of the other measuring points being included in the calculation of the steering angle for any one of the measuring points according to reliabilities given to the other measuring points, said method providing the steering control for the steering mechanism of the autonomous vehicle on the basis of the calculated steering angle.
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Specification