Abstract Disclosed is an automatic travelling apparatus which permits: determination of a permissible travelling area on the basis of images taken by an image pickup device or video camera, showing the sight of the area appearing ahead of the vehicle; steering control of the vehicle to go into a target course in the permissible travelling area; and selection of a predetermined way of a selected crossing or branch in the target course. These complicated determination and control can be easily performed without fail. Also, when an image pickup device or video camera take images of the area extending ahead of the vehicle for determining a permissible ravelling area, a wide-angle camera, a telescopic range camera and an ordinary camera are selectively used to meet particular situations for example, taking pictures of a crossing, zigzag way or straight long way. This selective use of cameras of different characteristics permits correct identification of particular roads with those stored in the map storage.
An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for presetting course informations as to which way of a crossing or branch the vehicle takes; means responsive to detection of a crossing or branch appearing ahead of the vehicle for outputting relevant course informations; means for identifying the crossing or branch appearing ahead of the vehicle on the basis of images taken by the image pickup device and showing the sight of the area extending ahead of the vehicle; and means for reading the relevant course informations outputted and controlling the vehicle with reference to the informations of the identified crossing or branch so as to permit the vehicle to take the indicated way of the crossing or branch.
Claim 2
Dependent Claim
128 words
An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle; means for presetting course informations as to which way of a crossing or branch the vehicle takes; means responsive to detection of a crossing or branch appearing ahead of the vehicle for outputting relevant course informations; means for identifying the crossing or branch appearing ahead of the vehicle on the basis of images taken by the image pickup device and showing the sight of the area extending ahead of the vehicle; and means for reading the relevant course informations outputted and controlling the vehicle with reference to the informations of the identified crossing or branch so as to permit the vehicle to take the indicated way of the crossing or branch.
Claim 3
Dependent Claim
103 words
An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle for taking images of the area extending ahead of the vehicle; means for identifying the road with reference to the images taken by the image pickup device ; means for steering the vehicle so as to permit the running vehicle to follow the identified road; means for setting informations indicating the particulars of roads to follow; means responsive to detection of a particular road for outputting relevant informations; and means for selecting the image-taking characteristics of the image pickup device with reference to the information outputted.
Claim 4
Dependent Claim
103 words
An automatic travelling apparatus characterized in that it comprises: an image pickup device attached to a vehicle for taking images of the area extending ahead of the vehicle; means for identifying the road with reference to the images taken by the image pickup device ; means for steering the vehicle so as to permit the running vehicle to follow the identified road; means for setting informations indicating the particulars of roads to follow; means responsive to detection of a particular road for outputting relevant informations; and means for selecting the image-taking characteristics of the image pickup device with reference to the information outputted.
Claim 5
Dependent Claim
20 words
An automatic travelling apparatus according to claim 2 wherein roads to follow include crossings, branches, straight roads and zigzag roads.
Claim 6
Dependent Claim
23 words
An automatic travelling apparatus according to claim 2 wherein the image-taking characteristics of the image pickup device are wide-angle, telescopic range or ordinary.
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