Control apparatus for autonomous operating vehicle

• US 8,744,663 B2
• Filed: 09/22/2011
• Issued: 06/03/2014
• Est. Priority Date: 09/30/2010
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Sato, Kazuhisa, Yamamura, Makoto, Masubuchi, Yoshinori
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): GOLDMAN, RICHARD A
• Application Number:
  US13/240,684
• Publication Number:
  US 20120083961A1
• Time in Patent Office: 985 Days
• Field of Search: None
• US Class Current: 701/24
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0208 Lawn mower

Abstract

In an apparatus for controlling an autonomous operating vehicle having an operating machine and a magnetic sensor adapted to detect a border of a travel-scheduled area, the vehicle is controlled to travel around the area from a start point along the border to sequentially record traveling directions and traveled distances on a bitmap. The generated travel trajectory is transformed to map information. A position of the vehicle is detected using bits of the bitmap of the transformed map information, and the vehicle is controlled to, as traveling straight in the north-south directions, while perform the operation with the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from a geomagnetic sensor as a reference.

Claims

1. An apparatus for controlling an autonomous operating vehicle having a center of gravity, a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while using the operating machine, the apparatus comprising:

a geomagnetic sensor adapted to produce an output indicative of geomagnetism acting in the travel-scheduled area;

an angular velocity sensor adapted to produce an output indicative of angular velocity generated about a vertical axis passing through the center of gravity of the vehicle;

a wheel speed sensor adapted to produce an output indicative of a speed of the driven wheel of the vehicle;

a direction and distance calculator adapted to calculate a traveling direction based on the output of the angular velocity sensor and a distance traveled based on the output of the wheel speed sensor;

a travel path generator adapted to drive the prime mover based on the calculated traveling direction so that the vehicle is guided around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor, and to sequentially record the calculated traveling directions and the calculated distances traveled on a bitmap, during the vehicle'"'"'s travel to an end point, the bit map defining the travel-scheduled area and comprising a plurality of divided discrete areas, so as to generate a travel path with respect to the border of the travel-scheduled area;

a map information transformer adapted to transform the generated travel path to map information composed of the bitmap; and

a travel and operation controller adapted to determine a position of the vehicle using the discrete areas from the bitmap of the transformed map information, and control the vehicle, while traveling in straight lines, to perform the operation using the operating machine based on the calculated traveling direction, the calculated distance traveled and the determined position, utilizing a primary reference direction obtained from the output of the geomagnetic sensor as a reference;

wherein the map information transformer determines whether a distance between the end point at a time when the travel around the border of the travel-scheduled area is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel path when the distance is determined to exceed the first prescribed value, while transforming the travel trajectory to the map information when the distance is determined not to exceed the first prescribed value.

2. The apparatus according to claim 1, wherein the map information transformer determines whether traveling angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the angular velocity sensor when the traveling angle difference is determined to exceed the second prescribed value.

3. The apparatus according to claim 1, wherein the map information transformer determines whether an angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the wheel speed sensor when the angle difference is determined not to exceed the second prescribed value.

4. The apparatus according to claim 1, wherein the travel and operation controller determines whether a change in the output of the geomagnetic sensor during the vehicle'"'"'s straight travel is less than a third prescribed value, and determines that the vehicle has traveled straight when the change is determined to be less than the third prescribed value.

5. The apparatus according to claim 4, wherein the travel and operation controller calibrates the output of the angular velocity sensor when the change is determined to exceed the third prescribed value.

6. The apparatus according to claim 1, wherein a unit area of each of the discrete areas of the bitmap is set based on width of the operation performed through the operating machine.

7. An apparatus for controlling an autonomous operating vehicle having a center of gravity, a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while using the operating machine, the apparatus comprising:

geomagnetism output producing means for producing an output indicative of geomagnetism acting in the travel-scheduled area;

angular velocity output producing means for producing an output indicative of angular velocity generated about a vertical axis passing through the center of gravity of the vehicle;

wheel speed output producing means for producing an output indicative of a speed of the driven wheel of the vehicle;

traveling direction and distance calculating means for calculating a traveling direction based on the output of the angular velocity output producing means and a distance traveled based on the output of the wheel speed output producing means;

travel path generating means for driving the prime mover based on the calculated traveling direction so that the vehicle is guided around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor, and for sequentially recording the calculated traveling directions and the calculated distances traveled on a bitmap, during the vehicle'"'"'s travel to an end point, the bitmap defining the travel-scheduled area and comprising a plurality of divided discrete areas, to generate a travel path with respect to the border of the travel-scheduled area;

map information transforming means for transforming the generated travel trajectory to map information composed of the bitmap; and

travel and operation controlling means for determining a position of the vehicle using the discrete areas from the bitmap of the transformed map information, and for controlling the vehicle, while traveling in straight lines across the travel-scheduled area, to perform the operation using the operating machine based on the calculated traveling direction, the calculated distance traveled and the determined position, utilizing a primary reference direction obtained from the output of the geomagnetic sensor as a reference;

wherein the map information transforming means determines whether a distance between the end point at a time when the travel around the border of the travel-scheduled area is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel path when the distance is determined to exceed the first prescribed value, while transforming the travel path to the map information when the distance is determined not to exceed the first prescribed value.

8. The apparatus according to claim 7, wherein the map information transforming means determines whether a traveling angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the angular velocity output producing means when the traveling angle difference is determined to exceed the second prescribed value.

9. The apparatus according to claim 7, wherein the map information transforming means determines whether an angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the wheel speed output producing means when the angle difference is determined not to exceed the second prescribed value.

10. The apparatus according to claim 7, wherein the travel and operation controlling means determines whether a change in the output of the geomagnetic output producing means during the vehicle'"'"'s straight travel is less than a third prescribed value, and determines that the vehicle has traveled straight when the change is determined to be less than the third prescribed value.

11. The apparatus according to claim 10, wherein the travel and operation controlling means calibrates the output of the angular velocity output producing means when the change is determined to exceed the third prescribed value.

12. The apparatus according to claim 7, wherein a unit area of each of the discrete areas of the bitmap is set based on width of the operation performed through the operating machine.

13. A method for controlling an autonomous operating vehicle having a center of gravity, a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while using the operating machine, the method comprising the steps of:

obtaining a sensor output indicative of geomagnetism acting in the travel-scheduled area;

obtaining a sensor output indicative of angular velocity generated about a vertical axis passing through the center of gravity of the vehicle;

obtaining a sensor output indicative of a speed of the driven wheel of the vehicle;

calculating a traveling direction based on the sensor output indicative of the angular velocity and a distance traveled based on the sensor output of indicative of the wheel speed;

driving the prime mover based on the calculated traveling direction so that the vehicle is guided around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor, and sequentially recording the calculated traveling directions and the calculated distances traveled on a bitmap, during the vehicle'"'"'s travel to an end point, the bitmap defining the travel-scheduled area and comprising a plurality of divided discrete areas, so as to generate a travel path with respect to the border of the travel-scheduled area;

transforming the generated travel path to map information composed of the bitmap; and

determining a position of the vehicle using the discrete areas from the bitmap of the transformed map information, and controlling the vehicle, while in traveling straight lines across the travel-scheduled area, to perform the operation using the operating machine based on the calculated traveling direction, the calculated distance traveled and the determined position, utilizing a primary reference direction obtained from the sensor output of the geomagnetism as a reference;

wherein the step of map information transforming determines whether a distance between the end point at a time when the travel around the border of the travel-scheduled area is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel path when the distance is determined to exceed the first prescribed value, while transforming the travel path to the map information when the distance is determined not to exceed the first prescribed value.

14. The apparatus according to claim 13, wherein the step of map information transforming determines whether a traveling angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the sensor output indicative of the angular velocity when the traveling angle difference is determined to exceed the second prescribed value.

15. The apparatus according to claim 13, wherein the step of map information transforming determines whether an angle difference between the end point at the time when the travel around the border is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the sensor output indicative of the wheel speed when the angle difference is determined not to exceed the second prescribed value.

16. The method according to claim 13, wherein the step of operation controlling determines whether a change in the sensor output indicative of the geomagnetism during the vehicle'"'"'s straight travel is less than a third prescribed value, and determines that the vehicle has traveled straight when the change is determined to be less than the third prescribed value.

17. The method according to claim 16, wherein the step of operation controlling calibrates the sensor output indicative of the angular velocity when the change is determined to exceed the third prescribed value.

18. The method according to claim 13, wherein a unit area of each of the discrete areas of the bitmap is set based on width of the operation performed through the operating machine.