Autonomous traveling vehicle
First Claim
1. In an autonomous traveling vehicle having acceleration/deceleration actuators, a vehicle control system comprising:
- vehicle position detection means for detecting the position of a vehicle on the basis of information received from information sources disposed on a road;
control plan processing means for creating a control plan formed of correlation data of speed and distance, on the basis of at least one of information received from a preceding vehicle and information received from information transmission means disposed on or near the road;
deviation calculation means for calculating at least one of a distance deviation and a speed deviation at an anticipated arrival point of the vehicle after a predetermined time period, on the basis of the control plan and the vehicle position;
vehicle-speed control means for controlling the accelerating/decelerating actuators on the basis of at least one of the distance deviation and the speed deviation; and
correction means for correcting at least one of the distance deviation and the speed deviation in order to compensate for any deviation due to a gradient of the road, on the basis of information about the road gradient as received from the information transmission means.
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Accused Products
Abstract
In driving a motor vehicle in accordance with a control plan, the influence of the inclination of a road is recognized so as to realize an accurate control. The position and speed of a vehicle after a predetermined time period as estimated on the basis of the detection of magnetic nails, are estimated by a first processing portion, while the control plan of the vehicle (the correlation between the position and speed of the vehicle) is determined by a control plan processing portion on the basis of information received from a leakage coaxial cable. The deviations between the control plan and the estimated position and speed of the vehicle are calculated, and these deviations are further multiplied by gains Kx and Ku in a control plan converting portion so as to calculate a target acceleration. A throttle and a brake are controlled on the basis of the target acceleration, whereby the vehicle is driven in conformity with the controls. A correction device corrects the target acceleration in order to eliminate the influence of the inclination of a road.
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Citations
6 Claims
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1. In an autonomous traveling vehicle having acceleration/deceleration actuators, a vehicle control system comprising:
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vehicle position detection means for detecting the position of a vehicle on the basis of information received from information sources disposed on a road;
control plan processing means for creating a control plan formed of correlation data of speed and distance, on the basis of at least one of information received from a preceding vehicle and information received from information transmission means disposed on or near the road;
deviation calculation means for calculating at least one of a distance deviation and a speed deviation at an anticipated arrival point of the vehicle after a predetermined time period, on the basis of the control plan and the vehicle position;
vehicle-speed control means for controlling the accelerating/decelerating actuators on the basis of at least one of the distance deviation and the speed deviation; and
correction means for correcting at least one of the distance deviation and the speed deviation in order to compensate for any deviation due to a gradient of the road, on the basis of information about the road gradient as received from the information transmission means. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification