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US5367457A
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Apparatus and method for improving accuracy of an automatic travelling apparatus
Assignee: Honda Motor Co Ltd
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Filing: 1993-06-01
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Granted: 1994-11-22
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Expires: 2013-06-01
Abstract
Abstract Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle by an image pick-up means attached to the vehicle; sampling and processing the image data to extract therefrom continuous line segments; determining a permissible travelling area ahead of the vehicle on the basis of the continuous line segments extracted; 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, and furthermore of renewing, on the basis of the instantaneous running condition during a period of image sampling, the preceding position of the vehicle in the permissible travelling area and reset a target course in the permissible travelling area in relation to the renewed position.
Inventors
- 👤 Shinnosuke Ishida
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 06:48
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0212; G05D1/0231; G05D1/0246
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
134 words
A machine implemented process for controlling a vehicle, said process comprising the steps of: generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle; sampling and processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; detecting an instantaneous running condition of said vehicle; repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and steering said vehicle in response to each determined steering correction.
Claim 2
Dependent Claim
134 words
A machine implemented process for controlling a vehicle, said process comprising the steps of: generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle; sampling and processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; detecting an instantaneous running condition of said vehicle; repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and steering said vehicle in response to each determined steering correction.
Claim 3
Dependent Claim
154 words
An automatic vehicle control system comprising: means for generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle, said means for generating said image data being adapted to be attached to said vehicle; means for sampling said processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; means for detecting an instantaneous running condition of said vehicle; means for repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; means for determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and means adapted for steering said vehicle in response to each determined steering correction.
Claim 4
Dependent Claim
154 words
An automatic vehicle control system comprising: means for generating image data representative of an area ahead of a vehicle in a direction of travel of said vehicle, said means for generating said image data being adapted to be attached to said vehicle; means for sampling said processing said generated image data at repeated intervals to extract therefrom continuous line segments indicative of a permissible travel path in said area ahead of said vehicle; means for detecting an instantaneous running condition of said vehicle; means for repeatedly calculating a present position of said vehicle and repeatedly setting a target course in said permissible travel path between each of said sampling and processing intervals; means for determining, based on said instantaneous running condition of said vehicle, a steering correction necessary to permit said vehicle to follow each of said target course settings; and means adapted for steering said vehicle in response to each determined steering correction.
Claim 5
Dependent Claim
35 words
The automatic vehicle control system of claim 2 wherein said instantaneous running condition of said vehicle is determined as a function of a running speed of said vehicle and a yaw rate of said vehicle.
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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) | 1997-11-21 | 1998-05-23 | 1998-11-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-11-21 | 2002-05-23 | 2002-11-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-11-21 | 2006-05-23 | 2006-11-22 | $7700.00 | Window Closed / Lapsed |