Automatic following travel system

• US 6,301,530 B1
• Filed: 06/22/2000
• Issued: 10/09/2001
• Est. Priority Date: 06/23/1999
• 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: Tamura, Kazuya
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/599,449
• Time in Patent Office: 474 Days
• Field of Search: 701/23, 701/93, 701/96, 701/117, 701/119, 701/116, 701/301, 180/168, 340/435, 340/436, 340/988, 340/902, 340/904, 340/907, 340/903
• US Class Current: 701/23
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

The automatic following travel system of the present invention allows processional travel with a leading vehicle and a plurality of succeeding vehicles automatically following the leading vehicle, wherein Each of the vehicles comprises: a vehicle-to-vehicle communicator for communicating with the other vehicles; and a self position detector for detecting the position of the vehicle in which it is mounted, in the self coordinate system which is stored in the vehicle. Each of the succeeding vehicles comprises: a preceding vehicle position detector for detecting the position of a preceding vehicle in front of the succeeding vehicle in the procession in the succeeding vehicle coordinate system; a succeeding vehicle position transformer for transforming the succeeding vehicle position information from the succeeding vehicle coordinate system to the leading vehicle coordinate system, based on preceding vehicle position information in the succeeding vehicle coordinate system detected by the preceding vehicle position detector, on the succeeding vehicle position information in the succeeding vehicle coordinate system detected by the self position detector, and on information representing the relationship between the preceding vehicle coordinate system and the leading vehicle coordinate system transmitted from the preceding vehicle by the vehicle-to-vehicle communicator; a vehicle controller for driving the succeeding vehicle to follow the leading vehicle, based on the transformation by the succeeding-vehicle-position-to-leading-vehicle-position-coordinate-system transformer and on the position of the leading vehicle.

Claims

1. An automatic following travel system that allows processional travel with a leading vehicle and a plurality of succeeding vehicles automatically following the leading vehicle, wherein each of the vehicles comprises:

a vehicle-to-vehicle communicator for communicating with the other vehicles; and

a self position detector for detecting the position of the vehicle in which it is mounted, in a self coordinate system which is stored in the vehicle, and

each of the succeeding vehicles comprises;

a preceding vehicle position detector for detecting the position of a preceding vehicle in front of the succeeding vehicle in the procession in a succeeding vehicle coordinate system;

a succeeding vehicle position transformer for transforming the succeeding vehicle position information from the succeeding vehicle coordinate system to a leading vehicle coordinate system, based on preceding vehicle position information in the succeeding vehicle coordinate system detected by the preceding vehicle position detector, on the succeeding vehicle position information in the succeeding vehicle coordinate system detected by the self position detector, and on information representing the relationship between the preceding vehicle coordinate system and the leading vehicle coordinate system transmitted from the preceding vehicle by the vehicle-to-vehicle communicator;

a vehicle controller for driving the succeeding vehicle to follow the leading vehicle, based on the transformation by the succeeding-vehicle-position-to-leading-vehicle-position-coordinate-system transformer and on the position of the leading vehicle.

2. An automatic following travel system according to claim 1, wherein the succeeding vehicle position transformer comprises:

a succeeding-vehicle-position-to-preceding-vehicle-coordinate-system transformer for transforming the succeeding vehicle position information from the succeeding vehicle coordinate system to the preceding vehicle coordinate system, based on preceding vehicle position information in the succeeding vehicle coordinate system detected by the preceding vehicle position detector, on the succeeding vehicle position information in the succeeding vehicle coordinate system detected by the self position detector, and on the preceding vehicle position information in the preceding coordinate system transmitted by the vehicle-to-vehicle communicator; and

a succeeding-vehicle-position-to-leading-vehicle-coordinate-system transformer for transforming the succeeding vehicle position information, which was transformed to the preceding vehicle coordinate system, to the leading vehicle coordinate system, based on the transformation in the preceding vehicle to the leading vehicle coordinate system transmitted by the vehicle-to-vehicle communicator, when the preceding vehicle is not the leading vehicle.

3. An automatic following travel system according to claim 1, wherein the succeeding vehicle position transformer comprises:

a difference calculator for calculating differences in traveling direction and in a x- and y-directions between the succeeding vehicle coordinate system and the preceding vehicle coordinate system; and

a first transformer for transforming the succeeding vehicle position information from the succeeding coordinate system to the preceding vehicle coordinate system, based on the differences between the succeeding vehicle coordinate system and the preceding vehicle coordinate system calculated by the difference calculator of the succeeding vehicle; and

a second transformer for transforming the succeeding vehicle position information from the preceding vehicle coordinate system to the leading vehicle coordinate system, based on the differences between the preceding vehicle coordinate system and the leading vehicle coordinate system which are calculated by the difference calculator of the preceding vehicle and are transmitted to the succeeding vehicle by the vehicle-to-vehicle communicator.

4. An automatic following travel system according to claim 3, wherein the difference calculator employs a certain percentage of the calculation results as the differences in traveling direction.

5. An automatic following travel system according to claim 3, wherein the difference calculator employs a certain percentage of the calculation results as the differences in the x- and y-directions.

6. An automatic following travel system according to claim 1, wherein the succeeding vehicle position transformer comprises:

a succeeding-vehicle-position-to-leading-vehicle-coordinate-system transformer for transforming the succeeding vehicle position information from the succeeding vehicle coordinate system to the leading vehicle coordinate system, based on preceding vehicle position information, which was transformed to the leading vehicle coordinate system by the preceding vehicle and was transmitted by the vehicle-to-vehicle communicator, on preceding vehicle position information in the succeeding vehicle coordinate system detected by the preceding vehicle position detector, and on the succeeding vehicle position information in the succeeding vehicle coordinate system detected by the self position detector.

7. An automatic following travel system according to claim 1, wherein the succeeding vehicle position transformer comprises:

a difference calculator for calculating differences in traveling direction and in a x- and y-directions between the succeeding vehicle coordinate system and the preceding vehicle coordinate system which was transformed to the leading vehicle coordinate system by the preceding vehicle; and

a transformer for transforming the succeeding vehicle position information from the succeeding coordinate system to the leading vehicle coordinate system, based on the differences between the succeeding vehicle coordinate system and the preceding vehicle coordinate system calculated by the succeeding vehicle.

8. An automatic following travel system according to claim 7, wherein the difference calculator employs a certain percentage of the calculation results as the differences in traveling direction.

9. An automatic following travel system according to claim 7, wherein the difference calculator employs a certain percentage of the calculation results as the differences in the x- and y-directions.

10. An automatic following travel system according to claim 1, wherein, each of the vehicle sets the point of a magnetic nail, buried in the ground, as the origin of its coordinate system before starting.

11. An automatic following travel system according to claim 1, wherein as the communication by the vehicle-to-vehicle communicator is opened, timers in the respective electric vehicles are reset and synchronized.