Method and apparatus for controlling a vehicle and accounting fo

Details Method and apparatus for controlling a vehicle and accounting fo Method and apparatus for controlling a vehicle and accounting fo

1991-03-15

1993-09-07

Black, Thomas G.

Boots, shoes, and leggings

364456, 180169, 358103, G01F 1550

Patent

active

052435245

ABSTRACT:
Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle in its running direction by an image pick-up device fixed to the vehicle; determining, by processing the taken image, a permissible travel path in a X-Y coordinates having the Y-Axis corresponding to the axis of the vehicle's running direction; setting a target course in the determined permissible travel path; estimating a steering amount necessary for permitting the vehicle to follow the target course on the basis of the detected running condition of the vehicle; and steering the vehicle to follow the target course with reference to the steering amount; and also is capable of determining a side-slip angle of the vehicle and turning any one of patterns--image, permissible travel path and the target course--by the determined side-slip angle to coincide the actual running direction of the vehicle with the direction of the Y-axis.

REFERENCES:
patent: 4969036 (1990-11-01), Bhanu et al.
patent: 5101351 (1992-03-01), Hattori
patent: 5122957 (1992-06-01), Hattori
patent: 5163002 (1992-11-01), Kurami
patent: 5172315 (1992-12-01), Asanuma et al.
Liu et al., "On Lateral Control of Highway Vehicles Guided by a Forward Looking Sensor," International Conference on Applications of 1989, Department of Mechanical Engineering, University of California at Davis, Dec. 1989, pp. 119-124.
Davis et al., "Road Boundary Detection for Autonomous Vehicle Navigation," Optical Engineering, vol. 25 No. 3, Mar. 1986, pp. 409-414.

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