US5357432A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Automatic lateral guidance control system
Assignee: Aisin Corp
•
Filing: 1993-11-24
•
Granted: 1994-10-18
•
Expires: 2013-11-24
Abstract
Abstract An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path.
Inventors
- 👤 Donald L. Margolis
- 👤 Yoshiyuki Yasui
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 02:34
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0259; G05D1/0265; G05D1/0231; G05D1/0234; G05D1/0236; G05D1/0268; G05D1/0272; G05D1/0276; G05D1/0278; G05D1/028; G05D1/0255
Claims Analysis
Total Claims: 33
Claim 1
Independent Claim
145 words
An apparatus for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said apparatus comprising: means for sensing the position, relative to said vehicle, of a predetermined number of said markers and for generating position signals in response thereto; means for calculating a path approximating said road in accordance with said position signals; means for sensing the speed of said vehicle and for generating speed signals in response thereto; means for calculating a preview distance as a function of the speed of said vehicle in accordance with said speed signals; means for identifying a point along said approximate path that is spaced apart from said vehicle by said preview distance; and means for generating a control signal for use in steering said vehicle substantially toward said point such that said vehicle is guided substantially along said road.
Claim 2
Independent Claim
145 words
An apparatus for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said apparatus comprising: means for sensing the position, relative to said vehicle, of a predetermined number of said markers and for generating position signals in response thereto; means for calculating a path approximating said road in accordance with said position signals; means for sensing the speed of said vehicle and for generating speed signals in response thereto; means for calculating a preview distance as a function of the speed of said vehicle in accordance with said speed signals; means for identifying a point along said approximate path that is spaced apart from said vehicle by said preview distance; and means for generating a control signal for use in steering said vehicle substantially toward said point such that said vehicle is guided substantially along said road.
Claim 3
Dependent Claim
16 words
The apparatus according to claim 1 wherein said position sensing means comprises an optical sensing apparatus.
Claim 4
Dependent Claim
16 words
The apparatus according to claim 2 wherein said optical sensing apparatus comprises a laser radar apparatus.
Claim 5
Dependent Claim
16 words
The apparatus according to claim 1, wherein said predetermined number of markers is at least three.
Claim 6
Dependent Claim
38 words
The apparatus according to claim 1, wherein said means for calculating a path, said means for calculating a preview distance, said means for identifying a point and said means for generating a control signal comprise a processing unit.
Claim 7
Dependent Claim
14 words
The apparatus according to claim 5 wherein said processing unit comprises a computing apparatus.
Claim 8
Dependent Claim
13 words
The apparatus according to claim 5 wherein said processing unit comprises a microcontroller.
Claim 9
Dependent Claim
43 words
The apparatus according to claim 1, further comprising means for calculating the angle formed between the heading of said vehicle and a straight line from said vehicle to said point, and wherein said means for generating a control signal utilizes said calculated angle.
Claim 10
Dependent Claim
29 words
The apparatus according to claim 1, further comprising means for multiplying said control signal by a gain factor determined by the vehicle speed and the curvature of said road.
Claim 11
Dependent Claim
19 words
The apparatus according to claim 1, further comprising steering means responsive to said control signal for steering said vehicle.
Claim 12
Independent Claim
230 words
An apparatus for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said apparatus comprising: means for designating a first predetermined number of markers from said plurality of markers as selected markers; means for sensing the position, relative to said vehicle, of each of said first predetermined number of markers and for generating position signals in response thereto; means for sensing the speed of said vehicle and for generating speed signals in response thereto; means for calculating a minimum preview review distance as a function of the speed of said vehicle in accordance with said speed signals; means for comparing the distance between said vehicle and the position of the nearest marker of said first predetermined number of markers to said vehicle with said minimum preview review distance and for designating a second predetermined number of markers from said plurality of markers as said selected markers if the distance between said vehicle and the position of said nearest marker of said first predetermined number of markers is equal to or exceeds said minimum preview review distance; and means for generating a control signal for use in steering said vehicle substantially toward a point along a path that is located between the nearest and the furthest of said selected markers to said vehicle such that said vehicle is guided substantially along said road.
Claim 13
Independent Claim
230 words
An apparatus for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said apparatus comprising: means for designating a first predetermined number of markers from said plurality of markers as selected markers; means for sensing the position, relative to said vehicle, of each of said first predetermined number of markers and for generating position signals in response thereto; means for sensing the speed of said vehicle and for generating speed signals in response thereto; means for calculating a minimum preview review distance as a function of the speed of said vehicle in accordance with said speed signals; means for comparing the distance between said vehicle and the position of the nearest marker of said first predetermined number of markers to said vehicle with said minimum preview review distance and for designating a second predetermined number of markers from said plurality of markers as said selected markers if the distance between said vehicle and the position of said nearest marker of said first predetermined number of markers is equal to or exceeds said minimum preview review distance; and means for generating a control signal for use in steering said vehicle substantially toward a point along a path that is located between the nearest and the furthest of said selected markers to said vehicle such that said vehicle is guided substantially along said road.
Claim 14
Dependent Claim
26 words
The apparatus according to claim 11, wherein said predetermined number of markers is one marker and said point along a path coincides with said selected marker.
Claim 15
Dependent Claim
18 words
The apparatus according to claim 11, wherein said predetermined number of markers is at least two adjacent markers.
Claim 16
Dependent Claim
34 words
The apparatus according to claim 11, wherein said means for calculating a minimum preview review distance, said means for comparing and designating and said means for generating a control signal comprises a processing unit.
Claim 17
Dependent Claim
13 words
The apparatus according to claim 14 wherein said processing unit comprises a microcontroller.
Claim 18
Dependent Claim
43 words
The apparatus according to claim 11, further comprising means for calculating the angle formed between the heading of said vehicle and a straight line from said vehicle to said point, and wherein said means for generating a control signal utilizes said calculated angle.
Claim 19
Dependent Claim
29 words
The apparatus according to claim 11, further comprising means for multiplying said control signal by a gain factor determined by the vehicle speed and the curvature of said road.
Claim 20
Dependent Claim
19 words
The apparatus according to claim 11, further comprising steering means responsive to said control signal for steering said vehicle.
Claim 21
Independent Claim
134 words
A method for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said method comprising the steps of: sensing the position, relative to said vehicle, of a predetermined number of said markers and generating position signals in response thereto; calculating a path approximating said road in accordance with said position signals; sensing the speed of said vehicle and generating speed signals in response thereto; calculating a preview distance as a function of the speed of said vehicle in accordance with said speed signals; identifying a point along said approximate path that is spaced apart from said vehicle by said preview distance; and generating a control signal for use in steering said vehicle substantially toward said point so as to guide said vehicle substantially along said road.
Claim 22
Independent Claim
134 words
A method for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said method comprising the steps of: sensing the position, relative to said vehicle, of a predetermined number of said markers and generating position signals in response thereto; calculating a path approximating said road in accordance with said position signals; sensing the speed of said vehicle and generating speed signals in response thereto; calculating a preview distance as a function of the speed of said vehicle in accordance with said speed signals; identifying a point along said approximate path that is spaced apart from said vehicle by said preview distance; and generating a control signal for use in steering said vehicle substantially toward said point so as to guide said vehicle substantially along said road.
Claim 23
Dependent Claim
16 words
The method according to claim 19, wherein said predetermined number of markers is at least three.
Claim 24
Dependent Claim
41 words
The method according to claim 19, further comprising the steps of: calculating the angle formed between the heading of said vehicle and a straight line from said vehicle to said point; and utilizing said calculated angle to generate said control signal.
Claim 25
Dependent Claim
30 words
The method according to claim 19, further comprising the step of multiplying said control signal by a gain factor determined by the vehicle speed and the curvature of said road.
Claim 26
Dependent Claim
20 words
The method according to claim 19, further comprising the step of steering said vehicle in accordance with said control signal.
Claim 27
Independent Claim
211 words
A method for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said method comprising the steps of: designating a first predetermined number of markers from said plurality of markers as selected markers; sensing the position, relative to said vehicle, of each of said first predetermined number of markers and generating position signals in response thereto; sensing the speed of said vehicle and generating speed signals in response thereto; calculating a minimum preview review distance as a function of the speed of said vehicle in accordance with said speed signals; comparing the distance between said vehicle and the position of the nearest marker of said first predetermined number of markers to said vehicle with said minimum preview review distance and for designating a second predetermined number of markers from said plurality of markers as said selected markers if the distance between said vehicle and the position of said nearest marker is equal to or exceeds said minimum preview review distance; and generating a control signal for use in steering said vehicle substantially toward a point along a path that is located between the nearest and furthest of said selected markers to said vehicle so as to guide said vehicle substantially along said road.
Claim 28
Independent Claim
211 words
A method for automatically guiding a moving vehicle with respect to a road having a plurality of markers positioned therealong, said method comprising the steps of: designating a first predetermined number of markers from said plurality of markers as selected markers; sensing the position, relative to said vehicle, of each of said first predetermined number of markers and generating position signals in response thereto; sensing the speed of said vehicle and generating speed signals in response thereto; calculating a minimum preview review distance as a function of the speed of said vehicle in accordance with said speed signals; comparing the distance between said vehicle and the position of the nearest marker of said first predetermined number of markers to said vehicle with said minimum preview review distance and for designating a second predetermined number of markers from said plurality of markers as said selected markers if the distance between said vehicle and the position of said nearest marker is equal to or exceeds said minimum preview review distance; and generating a control signal for use in steering said vehicle substantially toward a point along a path that is located between the nearest and furthest of said selected markers to said vehicle so as to guide said vehicle substantially along said road.
Claim 29
Dependent Claim
26 words
The method according to claim 24, wherein said predetermined number of markers is one marker and said point along a path coincides with said selected marker.
Claim 30
Dependent Claim
18 words
The method according to claim 24, wherein said predetermined number of markers is at least two adjacent markers.
Claim 31
Dependent Claim
41 words
The method according to claim 24, further comprising the steps of: calculating the angle formed between the heading of said vehicle and a straight line from said vehicle to said point; and utilizing said calculated angle to generate said control signal.
Claim 32
Dependent Claim
30 words
The method according to claim 24, further comprising the step of multiplying said control signal by a gain factor determined by the vehicle speed and the curvature of said road.
Claim 33
Dependent Claim
20 words
The method according to claim 24, further comprising the step of steering said vehicle in accordance with said control signal.
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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) | 1997-10-17 | 1998-04-18 | 1998-10-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-10-17 | 2002-04-18 | 2002-10-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-10-17 | 2006-04-18 | 2006-10-18 | $7700.00 | Window Closed / Lapsed |