Automated vehicle

• US 6,019,184 A
• Filed: 11/05/1997
• Issued: 02/01/2000
• Est. Priority Date: 11/22/1996
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Nagai, Takaaki
• Primary Examiner(s): Swann, J. J.
• Assistant Examiner(s): VANAMAN, FRANK BENNETT
• Application Number:
  US08/964,960
• Time in Patent Office: 818 Days
• Field of Search: 180/167, 180/168, 180/169, 701/208, 701/49, 701/36
• US Class Current: 180/167
• 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 automated vehicle for performing automated driving control while successively detecting magnetic fluxes caused by magnetic nails embedded in a cruising lane at predetermined intervals comprises a magnetic sensor for detecting the magnetic fluxes caused by the magnetic nails, and sensor moving means for vertically moving the magnetic sensor in response to a change in a road clearance of the vehicle so as to keep a constant clearance between the magnetic sensor and each of the magnetic nails.

This automated vehicle drives itself on a road in which magnetic nails are embedded, while detecting the magnetism (magnetic flux) of the magnetic nails. During this self-driving operation, when the vehicle moves up and down due to the damping and pitching of the vehicle, irregularities of the road surface, or the like, the sensor moving means is actuated so as to vertically move the magnetic sensor in response to such a vertical movement of the vehicle, whereby the clearance between the magnetic sensor and each of the magnetic nails (road surface) is kept constant. As a result, even when the vehicle moves up and down during cruising, the magnetic sensor can detect the magnetic nails without hindrance.

Claims

1. An automated vehicle for performing automated driving control while successively detecting magnetic fluxes caused by magnetic nails embedded in a cruising lane at predetermined intervals, said automated vehicle comprising:

a magnetic sensor for detecting the magnetic fluxes caused by said magnetic nails;

a clearance sensor for detecting a road clearance of said vehicle; and

sensor moving means for vertically moving said magnetic sensor in response to a change in a value detected by said clearance sensor so as to keep a constant clearance between said magnetic sensor and each of said magnetic nails.

2. An automated vehicle according to claim 1, wherein said clearance sensor is a sensor which outputs an ultrasonic pulse from a body of said vehicle onto a road surface and detects the road clearance according to a wave reflected from said road surface.

3. An automated vehicle according to claim 1, wherein said magnetic sensor can be moved up to an accommodating position which is separated upward from a road surface, where said magnetic sensor can be accommodated in a body of said vehicle;

wherein said automated vehicle further comprises lane detecting means for detecting whether or not said vehicle is on said cruising lane in which said magnetic nails are embedded; and

wherein, when said lane detecting means detects that said vehicle is running on said cruising lane in which said magnetic nails are embedded, said sensor moving means moves said magnetic sensor down from said accommodating position so as to set the clearance between said magnetic sensor and each of said magnetic nails to a level at which a magnetism of said magnetic nails can be detected.

4. An automated vehicle according to claim 3, further comprising driving mode selecting means for selecting whether to perform automated driving or manual driving;

wherein, in a case where a manual driving mode is selected by said driving mode selecting means, when said lane detecting means detects that said vehicle is running on said cruising lane in which said magnetic nails are embedded, said sensor moving means automatically moves said magnetic sensor down from said accommodating position so as to set the clearance between said magnetic sensor and each of said magnetic nails to a level at which a magnetism of said magnetic nails can be detected.

5. An automated vehicle according to claim 3, further comprising a navigation device for detecting a position of said vehicle during cruising, wherein said lane detecting means judges, according to information about vehicle position detected by said navigation device, whether or not said vehicle is running on said cruising lane in which said magnetic nails are embedded.

6. An automated vehicle according to claim 1, further comprising driving mode selecting means for selecting whether to perform automated driving or manual driving;

wherein, when a manual driving mode is selected by said driving mode selecting means, said magnetic sensor is moved to an accommodating position separated upward from a road surface.

7. An automated vehicle according to claim 1, further comprising means for instructing accommodation of said magnetic sensor;

wherein, when said accommodation instructing means is actuated, said magnetic sensor is moved to an accommodating position separated upward from a road surface.