Automatic steering system for automatically changing a moving line

• US 5,938,707 A
• Filed: 08/14/1996
• Issued: 08/17/1999
• Est. Priority Date: 08/23/1995
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Uehara, Yasuo
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/696,539
• Time in Patent Office: 1,098 Days
• Field of Search: 701/23, 701/28, 701/41, 701/42, 701/117, 701/118, 701/119, 701/208, 701/300, 180/167, 180/168, 180/169, 180/408, 180/410, 180/411
• US Class Current: 701/41
• 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: G05D 1/0261 using magnetic plots

Abstract

An automatic steering system which reduces formation of a wheel track by changing a relative position of a vehicle with respect to a road. A reference line is provided along a road so that a vehicle moves along the reference line. The vehicle moves on the road while an amount of shift from the reference line is controlled to be equal to a target amount of shift. The amount of shift is a distance between a predetermined position of the vehicle and the reference line. A moving line of the vehicle is fluctuated with respect to time in a direction substantially perpendicular to an extending direction of the reference line. Alternatively, the reference line may be shifted in a direction substantially perpendicular to the extending direction of the reference line.

Claims

1. An automatic steering system comprising:

a reference line provided along a road providing to a vehicle traveling on the road an indication of the path along which the road extends;

means for determining a target amount of shift from the reference line in a direction substantially perpendicular to the reference line, wherein the amount of shift is a distance in a direction substantially perpendicular to the reference line between a position of the vehicle and the reference line;

means for controlling a position of the vehicle relative to the reference line to achieve the target amount of shift; and

fluctuating means for changing the target amount of shift over time to change over time a moving line over which the vehicle is to be moved.

2. The automatic steering system as claimed in claim 1, wherein the fluctuating means changes the target amount of shift in accordance with a predetermined time function.

3. The automatic steering system as claimed in claim 2, wherein the reference line is defined by a plurality of markers provided along the road, each of the markers generating a signal, and wherein the fluctuating means comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein a current amount of shift of the vehicle is determined based on a difference in intensity between outputs of the detecting units.

4. The automatic steering system as claimed in claim 3, wherein each of the detecting units comprises a sensor for detecting said signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

5. The automatic steering system as claimed in claim 1, further comprising wheel track detecting means for detecting a state of wheel tracks formed on the road, wherein the means for fluctuating means adjusts the target amount of shift based on the detected state of the wheel tracks.

6. The automatic steering system as claimed in claim 5, wherein said reference line is defined by a plurality of markers provided along the road, each of the markers generating a signal, and wherein the fluctuating means comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein a current amount of shift of the vehicle is determined based on a difference in intensity between outputs of the detecting units.

7. The automatic steering system as claimed in claim 6, wherein each of the detecting units comprises a sensor for detecting said signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

8. The automatic steering system as claimed in claim 1, wherein the fluctuating means further comprises means for determining a road condition and for changing the based on the road condition to change the moving line.

9. The automatic steering system as claimed in claim 8, wherein said reference line is defined by a plurality of markers provided along the road, each of the markers generating a signal, and wherein the fluctuating means comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein a current amount of shift of the vehicle is determined based on a difference in intensity between outputs of the detecting units.

10. The automatic steering system as claimed in claim 9, wherein each of the detecting units comprises a sensor for detecting the signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

11. The automatic steering system as claimed in claim 8, wherein the fluctuating means comprises communication means for providing communication between the vehicle and an administration center.

12. The automatic steering system as claimed in claim 11, wherein the communication is performed via a plurality of beacons provided along the road.

13. The automatic steering system as claimed in claim 11, wherein information regarding road conditions is transmitted between the administration center and the vehicle.

14. The automatic steering system as claimed in claim 8, wherein the fluctuating means comprises communication means for providing communication between the vehicle and other vehicles running on the road the to communicate information with respect to road conditions.

15. The automatic steering system as claimed in claim 1, further comprising a plurality of markers provided along the road, wherein the markers are arranged in a plurality of groups of markers, each group of markers extending across the road in a direction substantially perpendicular to direction in which the road extends, the groups of markers being separated from one another at predetermined intervals in the direction in which the road extends, and wherein selected markers are detected to generate signals defining the reference line.

16. The automatic steering system as claimed in claim 15, wherein the target amount of shift is set to zero.

17. The automatic steering system as claimed in claim 15, wherein the fluctuating means shifts the reference line by altering the markers selected to define the reference line.

18. The automatic steering system as claimed in claim 15, wherein the fluctuating means further comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein a current amount of shift of the vehicle is determined based on a difference in intensity between outputs of the detecting units, and wherein each of the detecting units comprises a sensor for detecting the signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

19. The automatic steering system as claimed in claim 15, further comprising wheel track detecting means for detecting a state of wheel tracks formed on the road, wherein the means for fluctuating means adjusts the target amount of shift based on the detected state of the wheel tracks.

20. The automatic steering system as claimed in claim 19, wherein the fluctuating means comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein the amount of shift is determined based on a difference in intensity between outputs of the detecting units.

21. The automatic steering system as claimed in claim 20, wherein each of the detecting units comprises a sensor for detecting the signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

22. The automatic steering system as claimed in claim 15, wherein the fluctuating means further comprises means for determining a road condition and for changing the target amount of shift based on the road condition to chance the moving line.

23. The automatic steering system as claimed in claim 22, wherein the fluctuating means comprises a plurality of detecting units provided on the vehicle to detect the signals, wherein a current amount of shift of the vehicle is determined based on a difference in intensity between outputs of the detecting units.

24. The automatic steering system as claimed in claim 23, wherein each of the detecting units comprises a sensor for detecting the signals and a corresponding amplification unit for amplifying an output of the corresponding sensor, wherein the target amount of shift is set by changing amplification rates of the amplification units relative to one another.

25. The automatic steering system as claimed in claim 22, wherein the fluctuating means comprises communication means for providing communication between the vehicle and an administration center.

26. The automatic steering system as claimed in claim 25, wherein the communication is performed via a plurality of beacons provided along the road.

27. The automatic steering system as claimed in claim 25, wherein the information regarding road conditions is transmitted between the administration center and the vehicle.

28. The automatic steering system as claimed in claim 22, wherein the fluctuating means comprises communication means for providing communication between the vehicle and other vehicles running on the road the to communicate information with respect to road conditions.

29. An automatic steering system comprising:

a reference line provided along a road providing to a vehicle traveling on the road an indication of the path along which the road extends;

means for determining a target amount of shift from the reference line in a direction substantially perpendicular to the reference line, wherein the target amount of shift is a distance in a direction substantially perpendicular to the reference line between a moving line over which the vehicle is to be moved and the reference line;

means for controlling a position of the vehicle relative to the reference line to achieve the target amount of shift; and

fluctuating means for changing the target amount of shift over time to change over time a position of the moving line relative to the reference line.