Steering control system and method for autonomous intelligent vehicles
First Claim
1. A steering control system for an autonomous intelligent vehicle having a steering system, said steering control system comprising:
- image input means for supplying images appearing in front of the vehicle, said image input means comprising a plurality of elements mounted at predetermined positions on the vehicle;
a plurality of image grabbers receiving images supplied from the image input means, and capturing image signals corresponding to a road, said captured images comprising near image signals and distant image signals;
a first controller determining if the vehicle is being driven within a lane of the road using the near image signals captured by the image grabbers;
a second controller determining a driving direction of the vehicle and detecting curves in the road using the distant image signals captured by the image grabbers;
a steering controller analyzing determinations of the first and second controllers and outputting control signals comprising a steering angle and a steering direction corresponding to the analysis; and
drive means for driving the steering system of the vehicle in the steering direction and the steering angle corresponding to the control signals outputted from the steering controller.
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Accused Products
Abstract
Disclosed is a steering control system and method for autonomous intelligent vehicles. The system includes image input means for supplying images of in front of the vehicle; a plurality of image grabbers which receive images from the image input means and capture image signals corresponding to the road; a first controller determining if the vehicle is being driven within the lane using near image signals received from the image grabbers; a second controller determining a driving direction of the vehicle and detecting curves in the road using distant image signals received from the image grabbers; a steering controller analyzing the information received from the first and second controllers to determine a steering angle and direction, and which outputs control signals corresponding to the analysis; and drive means for driving a steering system of the vehicle in a direction and angle corresponding to the control signals received from the steering controller.
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Citations
11 Claims
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1. A steering control system for an autonomous intelligent vehicle having a steering system, said steering control system comprising:
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image input means for supplying images appearing in front of the vehicle, said image input means comprising a plurality of elements mounted at predetermined positions on the vehicle;
a plurality of image grabbers receiving images supplied from the image input means, and capturing image signals corresponding to a road, said captured images comprising near image signals and distant image signals;
a first controller determining if the vehicle is being driven within a lane of the road using the near image signals captured by the image grabbers;
a second controller determining a driving direction of the vehicle and detecting curves in the road using the distant image signals captured by the image grabbers;
a steering controller analyzing determinations of the first and second controllers and outputting control signals comprising a steering angle and a steering direction corresponding to the analysis; and
drive means for driving the steering system of the vehicle in the steering direction and the steering angle corresponding to the control signals outputted from the steering controller. - View Dependent Claims (2, 3)
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4. A steering control method for steering an autonomous intelligent vehicle with a steering system on a road, the method comprising the steps of:
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supplying near and distant images appearing in front of the vehicle after the images are processed to a predetermined state;
capturing image signals corresponding to the road from the near and distant images, and determining a driving direction of the vehicle and detecting curves in the road from the distant images, and determining if the vehicle is being driven off-center from a road lane marker from the captured near images;
determining a steering angle and a steering direction by analyzing the driving direction, the curves in the road and whether the vehicle is being driven off-center from the road lane marker; and
driving the steering system of the vehicle according to the determined steering angle and the steering direction. - View Dependent Claims (5, 6, 7)
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6. The steering control method of claim 4 wherein the steering angle is determined using an Equation below:
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7. The steering control method of claim 4 wherein the curves in the road are detected from the distant images using an Equation below:
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where α
x is the angle made by an intersection of a central line with a horizontal line x, θ
x is the ratio constant of the road for an interval between horizontal lines, and k is a finite number greater than n.
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8. A steering control system for a vehicle, comprising:
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a first camera for capturing first images appearing in front of the vehicle;
a second camera for capturing second images appearing in front of the vehicle, said second images being farther away from the vehicle than said first images;
a first controller having a first output responsive to said first images;
a second controller having a second output responsive to said second images;
a steering controller for generating a steering angle and steering direction as a function of said first and second outputs; and
an automated driver for steering the vehicle in the steering angle and the steering direction.
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9. A vehicle with an autonomous steering control system comprising:
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image input means for supplying images appearing in front of the vehicle, said image input means comprising a plurality of elements mounted at predetermined positions on the vehicle;
a plurality of image grabbers for receiving images supplied from the image input means, and capturing image signals corresponding to a road, said captured images comprising near image signals and distant image signals;
a first controller for determining if the vehicle is being driven within a lane of the road using the near image signals captured by the image grabbers;
a second controller for determining a driving direction of the vehicle and detecting curves in the road using the distant image signals captured by the image grabbers;
a steering controller for analyzing the determinations of the first and second controllers and outputting control signals comprising a steering angle and a steering direction corresponding to the analysis; and
drive means for driving the steering system of the vehicle in the steering direction and the steering angle corresponding to the control signals outputted from the steering controller. - View Dependent Claims (10, 11)
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Specification