Patent US5172315A successfully refreshed from Google Patents.
US5172315A
Expired / Lapsed
US
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Automatic travelling apparatus and method
Assignee: Honda Motor Co Ltd
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Filing: 1992-04-23
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Granted: 1992-12-15
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Expires: 2012-04-23
Abstract
Abstract 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 a 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 itself on the target course.
Inventors
- 👤 Nobuyoshi Asanuma
- 👤 Shinnosuke Ishida
- 👤 Hiroshi Hasegawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 19:13
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/0274; G05D1/0212; G05D1/0231; G05D1/0246; G05D1/0272
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
93 words
An automatic travelling apparatus for a vehicle, comprising: an image pickup device attached to the vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; means 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
93 words
An automatic travelling apparatus for a vehicle, comprising: an image pickup device attached to the vehicle; means for determining a permissible travelling area on the basis of an image taken by the image pickup device; means 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
110 words
An automatic travelling apparatus for a vehicle, comprising: an image pickup device attached to the 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
110 words
An automatic travelling apparatus for a vehicle, comprising: an image pickup device attached to the 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
29 words
An automatic travelling apparatus according to claim 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
54 words
An automatic travelling apparatus according to claim 2 wherein a target course is set close to the left edge of a relatively wide road on which the bar 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
29 words
An automatic travelling apparatus according to claim 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
29 words
An automatic travelling apparatus according to claim 1, wherein the instantaneous running condition of the vehicle is determined in terms of running speed, yaw rate and tire steering angle.
Claim 9
Dependent Claim
54 words
An automatic travelling apparatus according to claim 1 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 10
Dependent Claim
29 words
An automatic travelling apparatus according to claim 1 wherein the curvature of the target course increases with the decrease of the running speed of the vehicle, and vice versa.
Claim 11
Dependent Claim
86 words
An automatic travelling method for a vehicle, comprising the steps of: taking an image of the extension of raod ahead of the 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 to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 12
Dependent Claim
86 words
An automatic travelling method for a vehicle, comprising the steps of: taking an image of the extension of raod ahead of the 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 to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 13
Dependent Claim
94 words
An automatic travelling method for a vehicle, comprising the steps of: taking an image of the extension of road ahead of the 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 14
Dependent Claim
94 words
An automatic travelling method for a vehicle, comprising the steps of: taking an image of the extension of road ahead of the 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 15
Dependent Claim
92 words
An automatic vehicle control method comprising the steps of: detecting an image of a road portion ahead of the vehicle; determining a permissible travelling area on the basis of the image detected; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle including determining running speed, yaw rate and tire steering angle; estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
Claim 16
Dependent Claim
92 words
An automatic vehicle control method comprising the steps of: detecting an image of a road portion ahead of the vehicle; determining a permissible travelling area on the basis of the image detected; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle including determining running speed, yaw rate and tire steering angle; estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-12-15 | 1996-06-15 | 1996-12-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-12-15 | 2000-06-15 | 2000-12-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-12-15 | 2004-06-15 | 2004-12-15 | $7700.00 | Window Closed / Lapsed |