EP0354561A2
Expired / Lapsed
EP
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Automatic travelling apparatus and method
Assignee: Honda Motor Co Ltd
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Filing: 1989-08-09
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Granted: —
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Expires: 2009-08-09
Abstract
Abstract Disclosed is an automatic travelling apparatus which is capable of finding out a permissible travelling area from images taken by an image pick-up device to set a target course in the permissible travelling area; determining a steering amount appropriate for the purpose of permitting the vehicle to put itself on the target course, in consideration of the instantaneous travelling condition of the vehicle; and performing the exact steering control in terms of the steering amount. The exact travelling attained by the automatic travelling apparatus according to the present invention is attributable to two-step determination in which first, a target course is set in a permissible area, and a tentative course is set appropriate for the purpose of permitting the vehicle to put itesel on the target course.
Inventors
- 👤 Yoshinobu Asanuma
- 👤 Shinnosuke Ishida
- 👤 Hiroshi Hasegawa
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-25 10:48
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0212; G05D1/0268; G05D1/0274; B; B60; B60T; B60T2201/00; B60T2201/08; B60T2201/087; G05D1/0272
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
95 words
1) An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; meas for setting a target course in the permissible travelling area thus determined; means for detecting the instantaneous running condition of the vehicle; means for estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and means for steering the vehicle with reference to the steering amount.
Claim 2
Dependent Claim
95 words
1) An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; meas for setting a target course in the permissible travelling area thus determined; means for detecting the instantaneous running condition of the vehicle; means for estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and means for steering the vehicle with reference to the steering amount.
Claim 3
Dependent Claim
112 words
2) An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; means for determining the running speed of the vehicle; means for setting a target course in the permissible travelling area on the basis of the running speed of the vehicle; means for detecting the instantaneous running condition of the vehicle; means for estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and means for steering the vehicle with reference to the steering amount.
Claim 4
Dependent Claim
112 words
2) An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; means for determining the running speed of the vehicle; means for setting a target course in the permissible travelling area on the basis of the running speed of the vehicle; means for detecting the instantaneous running condition of the vehicle; means for estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and means for steering the vehicle with reference to the steering amount.
Claim 5
Dependent Claim
32 words
3) An automatic travelling apparatus according to claim 1 or 2 wherein the instantaneous running condition of the vehicle is determined in terms of running speed, yaw rate and tire steering angle.
Claim 6
Dependent Claim
57 words
4) An automatic travelling apparatus according to claim 1 or 2 wherein a target course is set close to the left edge of a relatively wide road on which the car is about to run, whereas a target course is set on the center of a relatively narrow road on which the car is about to run.
Claim 7
Dependent Claim
32 words
5) An automatic travelling apparatus according to claim 1 or 2 wherein the curvature of the target course increases with the decrease of the running speed of the vehicle, and vice versa.
Claim 8
Dependent Claim
89 words
6) An automatic travelling method characterized in that it comprises the steps of taking an image of the extension of road ahead of a vehicle; determining a permissible travelling area on the basis of the image thus taken; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount set to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 9
Dependent Claim
89 words
6) An automatic travelling method characterized in that it comprises the steps of taking an image of the extension of road ahead of a vehicle; determining a permissible travelling area on the basis of the image thus taken; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount set to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 10
Dependent Claim
96 words
7) An automatic travelling method characterized in that it comprises the steps of: takingg an image of the extension of road ahead of a vehicle; determining a permissible travelling area on the basis of the image thus taken and the running speed of the vehicle; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount set to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 11
Dependent Claim
96 words
7) An automatic travelling method characterized in that it comprises the steps of: takingg an image of the extension of road ahead of a vehicle; determining a permissible travelling area on the basis of the image thus taken and the running speed of the vehicle; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount set to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
References Cited (Backward Citations)
No citation records indexed.
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