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Automatic steering control apparatus
Published
  • Year: 1999
DOI
-
    Abstract
    An automatic steering control apparatus automatically steers a motor vehicle to run along a predetermined running path having path markers. The path markers are detected with a marker sensor on the motor vehicle, and positional relationships between a present position of the motor vehicle and the running path are successively determined based on a detected output signal from the marker sensor. Positions of the motor vehicle on map data stored on the motor vehicle are successively determined based on the positional relationships and the map data. Curvature information of portions of the running path on the map data is attained through communications with a travel information providing facility disposed outside of the motor vehicle, and curvature information of the running path ahead of the recognized present position of the motor vehicle is acquired based on the curvature information attained through communications with the travel information providing facility. Alternatively, curvature information of the running path ahead of the recognized present position of the motor vehicle may be acquired from the map data. A steering control quantity for the motor vehicle is determined based on at least the acquired curvature information, a present speed of the motor vehicle, and a present positional relationship between the motor vehicle and the running path.

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    • References (10)
    • Cited By (34)
    Guy T. D. Ashworth1
    Estimated H-index: 1
    A navigational apparatus and method is provided for autonomous vehicles having digitally controlled drive means for driving the vehicle along a line in either forward or rearward direction and for turning the vehicle either clockwise or counterclockwise with zero turning radius. The navigational apparatus includes obstacle sensors connected to the vehicle for producing an obstacle signal in response to contact or other desired proximity between an obstacle and a vehicle as the vehicle is driven ...
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    Tsuneo Nakahara7
    Estimated H-index: 7
    (Sumitomo Electric Industries),
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    Estimated H-index: 2
    (Sumitomo Electric Industries)
    A hollow metallic device surrounds an antenna fixed to the moving car of the train, and a substance, which absorbs or reflects electromagnetic wave energy, is discharged therefrom in two paths on either side of the leakage wave guide extending in the path of the car movement adjacent the track.
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    Yuji Nishikawa1
    Estimated H-index: 1
    A method for controlling a robotic vehicle as the robotic is traversed from an origination node to a destination node is disclosed. An optimal nodal path is determined from the origination node to the destination node. A deviation distance is calculated from the actual location of the robotic vehicle to the optimal nodal path. This deviation distance is compared with the specified distance. If the deviation distance exceeds the specified distance, a determination is made as to whether correction...
    25 Citations Source
    Jean-Marie Detriche3
    Estimated H-index: 3
    ,
    Alain Micaelli3
    Estimated H-index: 3
    A process for relocking a driverless, robotized vehicle (1) on a theoretical trajectory (Tth2) in which during the passage of the vehicle through a joining section (S1), the curvature of the trajectory of the vehicle (1) is progressively modified as a function of the instantaneous curvature and the heading or course (θ). Thus, there are no orientation discontinuities along the trajectory, which imposes no impossible operating conditions on the drive members of the vehicle, but still makes it pos...
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    Charles Broxmeyer1
    Estimated H-index: 1
    This invention provides automatic longitudinal control of vehicles on highways, including speed control and protection against collision. The invention also provides for lane changing, following highway directional changes, route control, and transitions between the operator-controlled and the automatically controlled states. The invention is ideally configured to be employed jointly and cooperatively with previously developed means of automatic lateral control. Groups of permanent magnets are e...
    100 Citations Download PDF
    Akira Hattori1
    Estimated H-index: 1
    An autonomous vehicle autonomously running on a route of travel and its method are disclosed in which data on a plurality of target points and on a plurality of paths, the target points and paths defining start and end points of road segments which are the respective paths into which the route of travel is divided are stored into a data storage block, a shape of each road segment is determined on the basis of the stored data in the data storage block, a target running state is set on the basis o...
    90 Citations Download PDF
    Wei-Bin Zhang16
    Estimated H-index: 16
    (University of California, Berkeley),
    Robert E. Parsons3
    Estimated H-index: 3
    (University of California, Berkeley),
    Thomas West1
    Estimated H-index: 1
    (California Department of Transportation)
    An Intelligent Vehicle/Highway System (IVHS) may require a multifunctional roadway reference system. This roadway reference system should help the vehicle locate its lateral and longitudinal position, and provide other information required for vehicle control. This reference system is defined as an Intelligent Roadway Reference System (IRRS). The California Program on Advanced Technology for the Highway (PATH) is developing an IRRS, consisting of roadway reference and vehicle sensing elements wh...
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    Kenshi Suzuki1
    Estimated H-index: 1
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    Kazuhiro Shibatani1
    Estimated H-index: 1
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    Hisao Nishii1
    Estimated H-index: 1
    A routeless guiding method for guiding a moving body, in which the driving speeds of the body's right and left driving wheels are independently controlled according to an operational expression including parameters based on a positional relation between the body's present position and a target position to guide the body to a target position without designating a route. To guide the body, the gain of an azimuth deviation parameter related to a traveling direction of the moving body to the target ...
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    Martin Helmut1
    Estimated H-index: 1
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    Richiyaado Emu Sowaa1
    Estimated H-index: 1
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    Estimated H-index: 1
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    Estimated H-index: 1
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    • Cited By (34)
    Yopp Wilford Trent2
    Estimated H-index: 2
    (Ford Motor Company)
    A vehicle steering mechanism is autonomously operated. At least one first parameter for governing control of a steering mechanism is retrieved. The first parameter is applied to operation of the steering mechanism. Data is collected relating to operation of the vehicle. At least one second parameter for governing control of the steering mechanism is determined.
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    David I. Ferguson17
    Estimated H-index: 17
    (Google),
    Dmitri A. Dolgov18
    Estimated H-index: 18
    (Google)
    A autonomous driving computer system determines whether a driving environment has changed. One or more objects and/or object types in the driving environment may be identified as primary objects. The autonomous driving computer system may be configured to detect the primary objects and/or object types, and compare the detected objects and/or object types with the previous known location of the detected object and/or object types. The autonomous driving computer system may obtain several differen...
    31 Citations Source
    Silvia Citelli4
    Estimated H-index: 4
    (Bosch)
    In a method for course prediction in driver assistance systems for motor vehicles, a dynamic course hypothesis is created on the basis of vehicle-dynamics data of the vehicle, which method includes the following steps: creating an infrastructure course hypothesis on the basis of data from at least one information source that describe the traffic infrastructure; calculating, on the basis of features of the information source, a weighting factor that describes the reliability of the infrastructure...
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    Fabrice Villaume7
    Estimated H-index: 7
    (Airbus Operations S.A.S.),
    Pierre Scacchi6
    Estimated H-index: 6
    (Airbus Operations S.A.S.)
    The device (1) comprises means (7A) for calculating a yaw rate on the basis of measured current lateral and longitudinal speeds, as well as on the basis of a current curvature, of a current lateral deviation and of a current angular deviation, which are calculated previously, said yaw rate allowing the aircraft to follow laterally a ground rolling trajectory.
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    Ty A Lasky4
    Estimated H-index: 4
    (University of California, Berkeley),
    Stephen M. Donecker1
    Estimated H-index: 1
    (University of California, Berkeley),
    Kin S. Yen1
    Estimated H-index: 1
    (University of California, Berkeley)
    ... more
    Methods and apparatus to sense both discrete and continuous magnetic reference systems installed in the roadway, and provide information to support lateral and, to some extent, longitudinal and vertical vehicle control and/or driver assistance. The position of an object, such as a vehicle, relative to a magnetic reference infrastructure, such as that representing a dividing line on a roadway, is determined by sensing, with a sensor associated with the object, at least one axial field strength co...
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    Torquil Ross-Martin1
    Estimated H-index: 1
    A vehicle guidance system for directing a vehicle along a predetermined path comprises an onboard computer, a number of distance sensors and a steering system controllable by the computer. The predetermined path is stored in a memory of the computer and, in operation, the steering system is controlled to follow the predetermined path. The sensors are adapted to measure the distance, laterally of the vehicle travel direction, between the sensors and curbs provided along the predetermined path, an...
    10 Citations Source
    Yasuhito Ishida8
    Estimated H-index: 8
    ,
    Gen Inoue6
    Estimated H-index: 6
    A vehicle device control device includes an automatic drive control device for executing an automatic drive control by controlling at least a driving torque generating device, which applies a driving torque on a vehicle, so that a vehicle speed reaches a preset target vehicle speed, and a shift position determination portion for determining a shift position of a gear lever of the vehicle, wherein in a case where the shift position determination portion determines that the gear lever is set at a ...
    89 Citations Source
    Fabrice Villaume7
    Estimated H-index: 7
    (Airbus Operations S.A.S.),
    Pierre Scacchi6
    Estimated H-index: 6
    (Airbus Operations S.A.S.)
    A method and device automatically controls the driving of an aircraft along a ground path of an airport domain. A guidance system is configured to determine, with the aid of at least one current value of the aircraft and a ground rolling trajectory, a yaw rate setpoint enabling the aircraft to follow the ground rolling trajectory by application of a yaw rate command. The guidance system, with the aid of measured current values of parameters of the aircraft, the determined ground rolling trajecto...
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    Christopher Paul Urmson15
    Estimated H-index: 15
    (Google),
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    Estimated H-index: 18
    (Google),
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    Estimated H-index: 9
    (Google)
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    David I. Ferguson17
    Estimated H-index: 17
    (Google),
    Jiajun Zhu11
    Estimated H-index: 11
    (Google),
    Dmitri A. Dolgov18
    Estimated H-index: 18
    (Google)
    A method and apparatus are provided for determining one or more object models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the object models. The server may determine the object models according to a given object classification, a particular driving environment, or a combi...
    11 Citations Source

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