US6236915B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Autonomous traveling vehicle
Assignee: Honda Motor Co Ltd
•
Filing: 2000-03-14
•
Granted: 2001-05-22
•
Expires: 2020-03-14
Abstract
Abstract In driving a motor vehicle in accordance with a control plan, the influence of the inclination of a road is recognized so as to realize an accurate control. The position and speed of a vehicle after a predetermined time period as estimated on the basis of the detection of magnetic nails, are estimated by a first processing portion, while the control plan of the vehicle (the correlation between the position and speed of the vehicle) is determined by a control plan processing portion on the basis of information received from a leakage coaxial cable. The deviations between the control plan and the estimated position and speed of the vehicle are calculated, and these deviations are further multiplied by gains Kx and Ku in a control plan converting portion so as to calculate a target acceleration. A throttle and a brake are controlled on the basis of the target acceleration, whereby the vehicle is driven in conformity with the controls. A correction device corrects the target acceleration in order to eliminate the influence of the inclination of a road.
Inventors
- 👤 Yoshimi Furukawa
- 👤 Sachio Kobayashi
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 14:08
CPC Classifications
G; G05; G05B; G05B13/00; G05B13/02; G05B13/0205; G05B13/026; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0259; G05D1/0261; G05D1/0257; G05D1/0287; G05D1/0289; G08; G08G; G08G1/00; G08G1/16; G08G1/166
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
190 words
In an autonomous traveling vehicle having acceleration/deceleration actuators, a vehicle control system comprising: vehicle position detection means for detecting the position of a vehicle on the basis of information received from information sources disposed on a road; control plan processing means for creating a control plan formed of correlation data of speed and distance, on the basis of at least one of information received from a preceding vehicle and information received from information transmission means disposed on or near the road; deviation calculation means for calculating at least one of a distance deviation and a speed deviation at an anticipated arrival point of the vehicle after a predetermined time period, on the basis of the control plan and the vehicle position; vehicle-speed control means for controlling the accelerating/decelerating actuators on the basis of at least one of the distance deviation and the speed deviation; and correction means for correcting at least one of the distance deviation and the speed deviation in order to compensate for any deviation due to a gradient of the road, on the basis of information about the road gradient as received from the information transmission means.
Claim 2
Dependent Claim
190 words
In an autonomous traveling vehicle having acceleration/deceleration actuators, a vehicle control system comprising: vehicle position detection means for detecting the position of a vehicle on the basis of information received from information sources disposed on a road; control plan processing means for creating a control plan formed of correlation data of speed and distance, on the basis of at least one of information received from a preceding vehicle and information received from information transmission means disposed on or near the road; deviation calculation means for calculating at least one of a distance deviation and a speed deviation at an anticipated arrival point of the vehicle after a predetermined time period, on the basis of the control plan and the vehicle position; vehicle-speed control means for controlling the accelerating/decelerating actuators on the basis of at least one of the distance deviation and the speed deviation; and correction means for correcting at least one of the distance deviation and the speed deviation in order to compensate for any deviation due to a gradient of the road, on the basis of information about the road gradient as received from the information transmission means.
Claim 3
Dependent Claim
41 words
An autonomous traveling vehicle as defined in claim 1 , wherein the anticipated arrival point is calculated on the basis of the vehicle position, a first-order differential value of the vehicle position and a second-order differential value of the vehicle position.
Claim 4
Dependent Claim
28 words
An autonomous traveling vehicle as defined in claim 1 , wherein the information from the information transmission means is speed directive information relative to positions on the road.
Claim 5
Dependent Claim
52 words
An autonomous traveling vehicle as defined in claim 1 , wherein the deviation calculation means calculates the distance deviation and the speed deviation by comparing the information on the position and speed as received from the information transmission means, with the position and speed of the vehicle at the anticipated arrival point.
Claim 6
Dependent Claim
65 words
An autonomous traveling vehicle as defined in claim 1 , wherein the deviation calculation means calculates the distance deviation and the speed deviation by comparing the position and speed of the preceding vehicle after the predetermined time period, as calculated on the basis of the positional information received from the preceding vehicle, with the position and speed of the vehicle at the anticipated arrival point.
Claim 7
Dependent Claim
47 words
An autonomous traveling vehicle as defined in claim 5 , wherein the position and speed of the preceding vehicle after the predetermined time period, are calculated on the basis of a first-order differential value and second-order differential value of the positional information received from the preceding vehicle.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-05-21 | 2004-11-20 | 2005-05-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-05-21 | 2008-11-20 | 2009-05-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-05-21 | 2012-11-20 | 2013-05-22 | $7700.00 | Window Closed / Lapsed |