Steering control system and method for autonomous intelligent vehicles

• US 6,173,222 B1
• Filed: 10/09/1998
• Issued: 01/09/2001
• Est. Priority Date: 10/10/1997
• Status: Expired due to Fees

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Gi-seok, Seo, Jae-hyung
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/169,253
• Time in Patent Office: 823 Days
• Field of Search: 701/41, 701/42, 701/43, 701/82, 701/83, 701/28, 180/402, 180/421, 180/197, 180/412, 180/446
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

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.

Claims

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.

2. The steering control system of claim 1 wherein the image input means comprises first and second cameras mounted on opposite sides of a front of the vehicle, and a third camera mounted on an upper, center portions, of a windshield of the vehicle.

3. The steering control system of claim 2 wherein the plurality of image grabbers comprises a first, second and third image grabber corresponding respectively to the first, second and third cameras, each of the image grabbers processing the images supplied by its respective camera.

4. A steering control method for steering an autonomous intelligent vehicle with a steering system on a road, the method comprising the steps of:

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.

5. The steering control method of claim 4 wherein curves in the road are detected from the distant images using an equation below:

6. The steering control method of claim 4 wherein the steering angle is determined using an Equation below:

7. The steering control method of claim 4 wherein the curves in the road are detected from the distant images using an Equation below:

$\underset{x=n}{\overset{x=k}{\sum <br><br>}}<br><br>\mathrm{\alpha <br><br>}<br><br>x<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}<br><br>x$

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.

8. A steering control system for a vehicle, comprising:

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.

9. A vehicle with an autonomous 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 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.

10. The vehicle of claim 9 wherein the image input means comprises first and second cameras mounted on opposite sides of a front of the vehicle, and a third camera mounted on an upper, center portion, of a windshield of the vehicle.

11. The vehicle of claim 10 wherein the plurality of image grabbers comprises a first, second and third image grabber corresponding respectively to the first, second and third cameras, each of the image grabbers processing the images supplied by its respective camera.