Autonomous vehicle and controlling method for autonomous vehicle

• US 5,995,883 A
• Filed: 06/06/1997
• Issued: 11/30/1999
• Est. Priority Date: 06/07/1996
• Status: Expired due to Term

• Current Assignee: Moneual Incorporated (Hong-Seok Park, MBA)
• Original Assignee: Minolta Corporation Limited (Konica Minolta Inc.)
• Inventors: Nishikado, Masashi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US08/870,715
• Time in Patent Office: 907 Days
• Field of Search: 701/23, 701/300, 701/25, 180/169, 15/319
• US Class Current: 701/23
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

An autonomous vehicle has a distance measuring sensor that periodically measures the distance to an object using a prescribed period and it'"'"'s movement is controlled in accordance with the distance measured by the distance measuring sensor. A controller that controls the prescribed period based on the moving speed and the measured distance so that the prescribed period is made shorter as the moving speed increases and the distance to the object becomes shorter.

Claims

1. An autonomous vehicle comprising:

a driver that moves the vehicle body;

a distance measuring sensor that periodically measures the distance to an object using a prescribed period;

a speed detector that detects the moving speed of the vehicle body; and

a controller that controls said prescribed period based on the moving speed detected by said speed detector.

2. An autonomous vehicle claimed in claim 1, wherein said controller performs control such that said period becomes shorter as the moving speed of the vehicle body increases.

3. An autonomous vehicle claimed in claim 1, wherein said controller controls said prescribed period based on the moving speed detected by said speed detector and the distance detected by said distance measuring sensor.

4. An autonomous vehicle comprising:

a distance measuring sensor that periodically measures the distance to an object using a prescribed period; and

a controller that controls an period for driving said distance measuring sensor based on the distance to the object that is detected by the distance measuring sensor.

5. An autonomous vehicle claimed in claim 4, wherein said controller performs control such that said period becomes shorter as the distance to the object decreases.

6. A method for controlling an autonomous vehicle comprising steps of:

moving the autonomous vehicle;

measuring the distance from the autonomous vehicle to an object;

controlling the movement of the autonomous vehicle in accordance with the measured distance;

determining a next measuring timing for executing a following measurement of the distance in accordance with the moving speed of the autonomous vehicle; and

repeating said measuring steps, controlling step and determining step.

7. A method claimed in claim 6, wherein said timing is determined such that a period between the measurements of distances becomes shorter as the moving speed of the autonomous vehicle increases.

8. A method claimed in claim 6, wherein said next timing is determined based on the moving speed of the autonomous vehicle and the measured distance.

9. A method for controlling an autonomous vehicle comprising steps of:

moving the autonomous vehicle;

measuring the distance from the autonomous vehicle to an object;

controlling the movement of the autonomous vehicle in accordance with the measured distance;

determining a next measuring timing for executing a following measurement of the distance in accordance with the measured distance; and

repeating said measuring steps, controlling step and determining step.

10. A method claimed in claim 9, wherein said timing is determined such that a period between the measurements of distances becomes

shorter as the distance to the object decreases.