Road system for automatically traveling vehicle

• US 6,115,652 A
• Filed: 05/14/1998
• Issued: 09/05/2000
• Est. Priority Date: 05/15/1997
• 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: Sato, Masashi, Tamura, Kazuya, Kobayashi, Sachio, Jitsukata, Eishi
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US09/078,486
• Time in Patent Office: 845 Days
• Field of Search: 701/28, 701/23, 701/25, 701/26, 701/117, 340/902, 340/903, 340/905
• US Class Current: 701/28
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4049 Relationship among other objects, e.g. converging dynamic objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G08G 1/042 using inductive or magnetic detectors
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A road system for an automatically traveling vehicle is provided, wherein the merging or diverging of the automatically traveling vehicle at a connection point of a road can be smoothly performed. An indicating means comprising a bar code is provided on each of a main lane and a branch lane at a location short of a merging point of a road by a predetermined distance (e.g., 500 m). Information relating to the distance from one vehicle to the merging point and information relating to the shape of the merging point are provided by viewing the indicating means with a CCD camera. The indicating means can be provided at a location short of a diverging point of the road, at the merging point of the road or at the diverging point of the road. The type of the indicating means is not limited to the bar code, and the indicating means may be a signpost, a line, magnetic nails or the like.

Claims

1. A road system for an automatically traveling vehicle, the road system comprising a road having a main lane, at least one branch lane and a connection point connecting the main lane with the at least one branch lane, indicating means located at the connection point for indicating the position and shape of the connection point, detecting means located in the traveling vehicle for detecting the indicating means, and transmitting means located on or near the road for transmitting information to the traveling vehicle, wherein the vehicle automatically travels based on said information and information provided by communication between the vehicle and other traveling vehicles, wherein the detecting means is a magnetic sensor and the indicating means is a plurality of magnetic nails embedded in a road surface and wherein the position and shape of the connection point are indicated on the basis of the distance between the magnetic nails.

2. A road system for an automatically traveling vehicle, the road system comprising a road having a main lane, at least one branch lane and a connection point connecting the main lane with the at least one branch lane, indicating means located at the connection point for indicating the position and shape of the connection point, detecting means located in the traveling vehicle for detecting the indicating means, and transmitting means located on or near the road for transmitting information to the traveling vehicle, wherein the vehicle automatically travels based on said information and information provided by communication between the vehicle and other traveling vehicles, wherein the detecting means is a magnetic sensor and the indicating means is a plurality of magnetic nails embedded in a road surface and wherein the position and shape of the connection point are indicated on the basis of the sequence of arrangement of poles of the magnetic nails.