Travel controlling apparatus of unmanned vehicle

Claim 2

A travel controlling apparatus of an unmanned vehicle comprising: a GPS receiver receiving a GPS signal so as to position an absolute coordinate position of a vehicle; an autonomous navigation computing device measuring a traveling direction and a traveling distance of the vehicle so as to position a relative coordinate position and azimuth of the vehicle from a specific position on the basis of the measured result; a position measuring portion calculating a present position and azimuth of the vehicle on the basis of the respective measured results of the GPS receiver and the autonomous navigation computing device; and a travel controlling portion relatively comparing a position and an azimuth of a previously set traveling path with the present position and azimuth calculated by the position measuring portion so as to control the vehicle travel in such a manner as to make respective deviation values small, wherein the travel controlling apparatus is provided with a roadside zone distance measuring device for measuring a distance from the vehicle to a roadside zone provided in a side of the traveling path, and said position measuring portion compensates at least one of a position positioned by said GPS receiver and/or a position and an azimuth positioned by the autonomous navigation computing device on the basis of the roadside zone distance measured by the roadside zone distance measuring device so as to determine the present position and azimuth.

Claim 3

A travel controlling apparatus of an unmanned vehicle as claimed in claim 1 , wherein said position measuring portion judges a stability of the roadside zone from the measured value of the roadside zone distance, and compensates on the basis of said roadside zone distance at a time when the stability is normal.

Claim 4

A travel controlling apparatus of an unmanned vehicle as claimed in claim 2 , wherein the compensation of said position measuring portion on the basis of the roadside zone distance is executed by a sensor fusion that includes weighting based on a positioning accuracy estimating value of the GPS receiver and/or a positioning accuracy estimating value of the autonomous computing device, and a positioning accuracy estimating value of the roadside zone distance measuring device.

Claim 5

A travel controlling apparatus of an unmanned vehicle comprising: a GPS receiver receiving a GPS signal so as to position an absolute coordinate position of a vehicle; an autonomous navigation computing device measuring a traveling direction and a traveling distance of the vehicle so as to position a relative coordinate position and azimuth of the vehicle from a specific position on the basis of the measured result; a position measuring portion calculating a present position and azimuth of the vehicle on the basis of the respective measured results of the GPS receiver and the autonomous navigation computing device; and a travel controlling portion relatively comparing a position and an azimuth of a previously set traveling path with the present position and azimuth calculated by the position measuring portion so as to control the vehicle travel in such a manner as to make respective deviation values small, wherein the travel controlling apparatus is provided with a roadside zone distance measuring device for measuring a distance from the vehicle to a roadside zone provided in a side of the traveling path, and said position measuring portion compensates at least one of a position positioned by said GPS receiver and/or a position and an azimuth positioned by the autonomous navigation computing device on the basis of the roadside zone distance measured by the roadside zone distance measuring device so as to determine the present position and azimuth, and wherein the compensation of said position measuring portion on the basis of the roadside zone distance is executed by a sensor fusion that includes weighting based on a positioning accuracy estimating value of the GPS receiver and/or a positioning accuracy estimating value of the autonomous computing device, and a positioning accuracy estimating value of the roadside zone distance measuring device.

Claim 6

A travel controlling apparatus of an unmanned vehicle comprising: a GPS receiver receiving a GPS signal so as to position an absolute coordinate position of a vehicle; an autonomous navigation computing device measuring a traveling direction and a traveling distance of the vehicle so as to position a relative coordinate position and azimuth of the vehicle from a specific position on the basis of the measured result; a position measuring portion calculating a present position and azimuth of the vehicle on the basis of the respective measured results of the GPS receiver and the autonomous navigation computing device; and a travel controlling portion relatively comparing a position and an azimuth of a previously set traveling path with the present position and azimuth calculated by the position measuring portion so as to control the vehicle travel in such a manner as to make respective deviation values small, wherein the travel controlling apparatus is provided with a roadside zone distance measuring device for measuring a distance from the vehicle to a roadside zone provided in a side of the traveling path, and said position measuring portion compensates at least one of a position positioned by said GPS receiver and/or a position and an azimuth positioned by the autonomous navigation computing device on the basis of the roadside zone distance measured by the roadside zone distance measuring device so as to determine the present position and azimuth, and wherein the compensation of said position measuring portion on the basis of the roadside zone distance is executed by a sensor fusion that includes weighting based on a positioning accuracy estimating value of the GPS receiver and/or a positioning accuracy estimating value of the autonomous computing device, and a positioning accuracy estimating value of the roadside zone distance measuring device.