US5390118A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Automatic lateral guidance control system
Assignee: Aisin Corp
•
Filing: 1993-11-24
•
Granted: 1995-02-14
•
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. The system uses past and present position data to calculate a predetermined path for the vehicle. Gain factors and comfort factors are determined to maximize comfort to passengers of the system and to optimize performance of the system.
Inventors
- 👤 Donald Margolis
- 👤 Yoshiyuki Yasui
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:10
CPC Classifications
B; B62; B62D; B62D1/00; B62D1/24; B62D1/28; G; G01; G01S; G01S17/00; G01S17/88; G01S17/93; G01S17/931; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0234; G05D1/0236; G05D1/0255; G05D1/0268; G05D1/0272
Claims Analysis
Total Claims: 38
Claim 1
Independent Claim
169 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 position signals representing both the present position of said vehicle with respect to said road, and a past position of said vehicle with respect to said road; 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
169 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 position signals representing both the present position of said vehicle with respect to said road, and a past position of said vehicle with respect to said road; 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
42 words
The apparatus according to claim 1, further comprising means for sensing the yaw rate of said vehicle and for generating yaw rate signals in response thereto, wherein said means for calculating a path utilizes said yaw rate signals to calculate said path.
Claim 4
Dependent Claim
35 words
The apparatus according to claim 1, wherein said means for calculating a path, means for calculating a preview distance, means for identifying a point and means for generating a control signal comprises a processing unit.
Claim 5
Dependent Claim
14 words
The apparatus according to claim 3, wherein said processing unit comprises a computing apparatus.
Claim 6
Dependent Claim
13 words
The apparatus according to claim 3 wherein said processing unit comprises a microcontroller.
Claim 7
Dependent Claim
42 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 vehicle to said point, and wherein said means for generating a control signal utilizes said calculated angle.
Claim 8
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 9
Dependent Claim
47 words
The apparatus according to claim 1, further comprising means for shifting said point an offsetting amount, said amount being determined, at least in part, by the curvature of said road, in order to provide a margin of distance between said vehicle and an edge of said road.
Claim 10
Dependent Claim
19 words
The apparatus according to claim 1, further comprising steering means responsive to said control signal for steering said vehicle.
Claim 11
Dependent Claim
16 words
The apparatus according to claim 1, wherein said predetermined number of markers is at least three.
Claim 12
Dependent Claim
16 words
The apparatus according to claim 1 wherein said position sensing means comprises an optical sensing apparatus.
Claim 13
Dependent Claim
16 words
The apparatus according to claim 11, wherein said optical sensing apparatus comprises a laser radar apparatus.
Claim 14
Independent Claim
254 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; means for calculating a gain factor as a function of the distance between said vehicle and each of said selected markers; means responsive to said gain factor 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 furthest of said selected markers to said vehicle such that said vehicle is guided substantially along said road.
Claim 15
Independent Claim
254 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; means for calculating a gain factor as a function of the distance between said vehicle and each of said selected markers; means responsive to said gain factor 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 furthest of said selected markers to said vehicle such that said vehicle is guided substantially along said road.
Claim 16
Dependent Claim
26 words
The apparatus according to claim 13, wherein said predetermined number of markers is one marker and said point along a path coincides with said selected marker.
Claim 17
Dependent Claim
18 words
The apparatus according to claim 13, wherein said predetermined number of markers is at least two adjacent markers.
Claim 18
Dependent Claim
38 words
The apparatus according to claim 13, wherein said means for calculating a minimum preview review distance, means for comparing and designating, means for calculating a gain factor and means for generating a control signal comprises a processing unit.
Claim 19
Dependent Claim
41 words
The apparatus according to claim 13, further comprising means for calculating the angle formed between the heading of said vehicle and a straight line from vehicle to said point, and wherein said means for generating a control signal utilizes said angle.
Claim 20
Dependent Claim
29 words
The apparatus according to claim 13, further comprising means for multiplying said control signal by a gain factor determined by the vehicle speed and the curvature of said road.
Claim 21
Dependent Claim
47 words
The apparatus according to claim 13, further comprising means for shifting said point an offsetting amount, said amount being determined, at least in part, by the curvature of said road, in order to provide a margin of distance between said vehicle and an edge of said road.
Claim 22
Dependent Claim
19 words
The apparatus according to claim 13, further comprising steering means responsive to said control signal for steering said vehicle.
Claim 23
Independent Claim
234 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; calculating a gain factor as a function of the distance between said vehicle and each of said selected markers; 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 from said vehicle utilizing said gain factor so as to guide said vehicle substantially along said road.
Claim 24
Independent Claim
234 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; calculating a gain factor as a function of the distance between said vehicle and each of said selected markers; 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 from said vehicle utilizing said gain factor so as to guide said vehicle substantially along said road.
Claim 25
Dependent Claim
26 words
The method according to claim 21, wherein said predetermined number of markers is one marker and said point along a path coincides with said selected marker.
Claim 26
Dependent Claim
18 words
The apparatus according to claim 21, wherein said predetermined number of markers is at least two adjacent markers.
Claim 27
Dependent Claim
40 words
The method according to claim 21, further comprising the steps of: calculating the angle formed between the heading of said vehicle and a straight line from vehicle to said point; and utilizing said calculated angle to generate said control signal.
Claim 28
Dependent Claim
30 words
The method according to claim 21, 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 29
Dependent Claim
48 words
The method according to claim 21, further comprising the step of shifting said point an offsetting amount, said amount being determined, at least in part, by the curvature of said road, in order to provide a margin of distance between said vehicle and an edge of said road.
Claim 30
Dependent Claim
20 words
The method according to claim 21, further comprising the step of steering said vehicle in accordance with said control signal.
Claim 31
Independent Claim
158 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 position signals representing both the present position of said vehicle with respect to said road, and a past position of said vehicle with respect to said road; 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 32
Independent Claim
158 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 position signals representing both the present position of said vehicle with respect to said road, and a past position of said vehicle with respect to said road; 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 33
Dependent Claim
36 words
The method according to claim 28, further comprising the steps of: sensing the yaw rate of said vehicle and generating yaw rate signals in response thereto; and utilizing said yaw rate signals to calculate said path.
Claim 34
Dependent Claim
40 words
The method according to claim 28, further comprising the steps of: calculating the angle formed between the heading of said vehicle and a straight line from vehicle to said point; and utilizing said calculated angle to generate said control signal.
Claim 35
Dependent Claim
30 words
The method according to claim 28, 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 36
Dependent Claim
48 words
The method according to claim 28, further comprising the step of shifting said point an offsetting amount, said amount being determined, at least in part, by the curvature of said road, in order to provide a margin of distance between said vehicle and an edge of said road.
Claim 37
Dependent Claim
20 words
The method according to claim 28, further comprising the step of steering said vehicle in accordance with said control signal.
Claim 38
Dependent Claim
16 words
The method according to claim 28, wherein said predetermined number of markers is at least three.
References Cited (Backward Citations)
US3172496A
Cited
US3443071A
Cited
US3466451A
Cited
US3619618A
Cited
US3723012A
Cited
US3708668A
Cited
US3881568A
Cited
US3802780A
Cited
US4195425A
Cited
US4185919A
Cited
US4181435A
Cited
US4007991A
Cited
US3918172A
Cited
US4049961A
Cited
US3970840A
Cited
US4070584A
Cited
US4181430A
Cited
US4069888A
Cited
US4184767A
Cited
US4111552A
Cited
US4136949A
Cited
US4149143A
Cited
US4099591A
Cited
US4227812A
Cited
US4313654A
Cited
US4157533A
Cited
US4168908A
Cited
US4160237A
Cited
US4218138A
Cited
US4227261A
Cited
US4187027A
Cited
US4227807A
Cited
US4180322A
Cited
US4278142A
Cited
US4309758A
Cited
US4387988A
Cited
US4225226A
Cited
US4477184A
Cited
US4269512A
Cited
US4314761A
Cited
US4373804A
Cited
US4259009A
Cited
US4383230A
Cited
US4419011A
Cited
US4502782A
Cited
US4395121A
Cited
US4333147A
Cited
US4349277A
Cited
US4445029A
Cited
US4486095A
Cited
US4441810A
Cited
US4436418A
Cited
US4443103A
Cited
US4514083A
Cited
US4401886A
Cited
US4425043A
Cited
US4515471A
Cited
US4515472A
Cited
US4484069A
Cited
US4456829A
Cited
US4552456A
Cited
US4769700A
Cited
US4575237A
Cited
US4498768A
Cited
US4538907A
Cited
US4511248A
Cited
US4497065A
Cited
US4580250A
Cited
US4569078A
Cited
US4556313A
Cited
US4566032A
Cited
US4632543A
Cited
US4647784A
Cited
US4727492A
Cited
US4644146A
Cited
US4700301A
Cited
US4660970A
Cited
US4685800A
Cited
US4752964A
Cited
US4673817A
Cited
US4703820A
Cited
US4716298A
Cited
US4706195A
Cited
US4668859A
Cited
US4786164A
Cited
US4615615A
Cited
USH341H
Cited
US4652107A
Cited
US4721385A
Cited
US4630109A
Cited
US4703240A
Cited
US4729660A
Cited
US4940925A
Cited
US4811228A
Cited
US4796998A
Cited
US4834531A
Cited
US4770526A
Cited
US4761561A
Cited
US4734572A
Cited
US4817000A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-02-13 | 1998-08-15 | 1999-02-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-02-13 | 2002-08-15 | 2003-02-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-02-13 | 2006-08-15 | 2007-02-14 | $7700.00 | Window Closed / Lapsed |