Vehicle navigation control system

• US 5,448,487 A
• Filed: 04/08/1994
• Issued: 09/05/1995
• Est. Priority Date: 04/15/1993
• Status: Expired due to Fees

• Current Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Arai, Kazumasa
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Walder, Jr., Stephen J.
• Application Number:
  US08/224,713
• Time in Patent Office: 515 Days
• Field of Search: 364/449, 364/424.02, 364/424.01, 364/444, 364/424.05, 364/434, 340/995, 340/996, 340/988
• US Class Current: 701/28
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A vehicle navigation control system has primary prediction error width calculating means for calculating a primary near-distance error width between a forward extending line of the vehicle and a target path at a predetermined near-distance observing location and for calculating a primary far-distance error width between the forward extending line and the target path at a predetermined far-distance observing location. A secondary near-distance error width between a predicted path and the target path at the predetermined near-distance observing location, and a secondary far-distance error width between the predicted path and the target path at the predetermined far-distance observing location, are calculated by a secondary prediction error width calculation means. Steering angle calculating formula selecting means determines whether the target path is a straight path or a curved path with a large curvature, a constantly curved path, or other curved path in accordance with the error widths calculated by the primary and secondary prediction error width calculating means and selects an optimum formula from predetermined model formulas. Steering angle determining means substitutes the corresponding error widths into the selected model formula so as to determine a steering angle.

Claims

1. A navigation control system for a vehicle with the navigation control system having a pair of cameras mounted on said vehicle for taking an image of an outside circumstance and for transmitting an image signal, a vehicle speed sensor mounted on said vehicle for detecting a vehicle speed and for generating a vehicle speed signal, and a steering angle sensor mounted on a steering column in said vehicle for sensing a steering angle and for producing a steering angle signal, said system further comprising:

distance calculating means responsive to said image signal for calculating a running distance from the vehicle and for producing a corresponding distance signal;

primary error width calculating means responsive to a distance signal from said distance calculating means for calculating a primary near-distance error width between a forwardly extending line in front of said vehicle and a target path located in a running direction of said vehicle within a calculated near running distance and for generating a primary near-distance error width signal;

said primary error width calculating means also being responsive to a distance signal from said distance calculating means for calculating a primary far-distance error width between said forwardly extending line in front of said vehicle and said target path located in said running direction of said vehicle within a calculated far running distance and for generating a primary far-distance error width signal;

secondary error width calculating means responsive to said vehicle speed signal, said steering angle signal and a distance signal from said distance calculating means for calculating a predicted path and a secondary near-distance error width between said predicted path and said target path located in said running direction of said vehicle within a calculated near running distance and for generating a secondary near-distance error width signal;

said secondary error width calculating means further being for calculating a secondary far-distance error width between said predicted path and said target path located in said running direction of said vehicle within a far running distance calculated by said distance calculating means and for generating a secondary far-distance error width signal;

steering angle formula selecting means responsive to said primary and secondary near-distance error width signals and said primary and secondary far-distance error width signals for selecting a desired model steering angle formula and for transmitting a select signal; and

steering angle determining means responsive to said primary and secondary near-distance error width signals, said primary and secondary far-distance error width signals and said select signal for deciding on an optimum steering angle for accurately and rapidly following said target path.

2. The vehicle navigation control system as set forth in claim 1,

wherein said steering angle formula selecting means determines that

(a) the target path is a straight path or a curved path with a large curvature if the primary near-distance error width and the primary far-distance error width are equal to or less than predetermined corresponding values, respectively, and if the secondary near-distance error width is equal to or less than a predetermined corresponding value,

(b) the target path is a constantly curved path if the primary near-distance error width and the primary far-distance error width are equal to or more than the predetermined corresponding values, respectively, and if the secondary near-distance error width and the secondary far-distance error width are equal to or less than the predetermined corresponding values, respectively, or

(c) the target path is some other path than a straight path, a large curvature curved path and a constantly curved path if the conditions (a) and (b) are not satisfied.

3. The vehicle navigation control system as set forth in claim 2,

wherein said steering angle formula selects one of

(a) "steering angle δ

=constant k1×

primary near-distance error width dL1" if the target path is a straight path or a curved path with a large curvature,

(b) "steering angle δ

=constant k3×

Σ

ε

L2 secondary far-distance error width" if the target path is a constantly curved path, and

(c) "steering angle δ

=constant k2×

Σ

ε

L1 secondary near-distance error width" if said target path is other than (a) and (b).

4. The vehicle navigation control system as set forth in claim 1, wherein said

distance calculating means calculates a predetermined near-distance observing location, a predetermined far-distance location, and the target path in accordance with the image signal received from said cameras fixed to the vehicle.

5. The vehicle navigation control system as set forth in claim 1, further comprising switching means for selecting one proportional constant out of a plurality of proportional constants for use by said steering angle determining means, and said one proportional constant corresponding to the desired model steering angle formula selected by said steering angle formula selecting means.

6. The vehicle navigation control system as set forth in claim 1, further comprising:

said steering controller for receiving a steering angle signal from said steering angle determining means.