DE69027633T2 - Automatische Fahrzeugführung entlang Führungslinien - Google Patents

Automatische Fahrzeugführung entlang Führungslinien

Info

Publication number
DE69027633T2
DE69027633T2 DE69027633T DE69027633T DE69027633T2 DE 69027633 T2 DE69027633 T2 DE 69027633T2 DE 69027633 T DE69027633 T DE 69027633T DE 69027633 T DE69027633 T DE 69027633T DE 69027633 T2 DE69027633 T2 DE 69027633T2
Authority
DE
Germany
Prior art keywords
guidance
automatic vehicle
lines
along
vehicle guidance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69027633T
Other languages
English (en)
Other versions
DE69027633D1 (de
Inventor
Hiroshi Kamada
Tohru Ozaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP1188037A external-priority patent/JP2664998B2/ja
Priority claimed from JP1188039A external-priority patent/JP2545610B2/ja
Priority claimed from JP1188040A external-priority patent/JPH0812685B2/ja
Priority claimed from JP1223180A external-priority patent/JP2677310B2/ja
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Publication of DE69027633D1 publication Critical patent/DE69027633D1/de
Application granted granted Critical
Publication of DE69027633T2 publication Critical patent/DE69027633T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S706/00—Data processing: artificial intelligence
    • Y10S706/90—Fuzzy logic

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Analysis (AREA)
DE69027633T 1989-07-20 1990-07-20 Automatische Fahrzeugführung entlang Führungslinien Expired - Fee Related DE69027633T2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP1188037A JP2664998B2 (ja) 1989-07-20 1989-07-20 自走車用監視装置
JP1188039A JP2545610B2 (ja) 1989-07-20 1989-07-20 直線近似方式
JP1188040A JPH0812685B2 (ja) 1989-07-20 1989-07-20 自走車用監視装置
JP1223180A JP2677310B2 (ja) 1989-08-31 1989-08-31 無人自走車用制御装置

Publications (2)

Publication Number Publication Date
DE69027633D1 DE69027633D1 (de) 1996-08-08
DE69027633T2 true DE69027633T2 (de) 1996-11-21

Family

ID=27475371

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69027633T Expired - Fee Related DE69027633T2 (de) 1989-07-20 1990-07-20 Automatische Fahrzeugführung entlang Führungslinien

Country Status (3)

Country Link
US (1) US5087969A (de)
EP (1) EP0409642B1 (de)
DE (1) DE69027633T2 (de)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03201110A (ja) * 1989-12-28 1991-09-03 Toyota Central Res & Dev Lab Inc 自律走行車の位置方位検出装置
DE69121751T2 (de) * 1990-03-30 1997-01-02 Shinko Electric Co Ltd Steuerungssystem für ein unbemanntes Trägerfahrzeug
JP2754871B2 (ja) * 1990-06-01 1998-05-20 日産自動車株式会社 走行路検出装置
JP2769052B2 (ja) * 1991-04-09 1998-06-25 インターナショナル・ビジネス・マシーンズ・コーポレイション 自律移動機械、移動機械の制御装置及び方法
US5245422A (en) * 1991-06-28 1993-09-14 Zexel Corporation System and method for automatically steering a vehicle within a lane in a road
US5461357A (en) * 1992-01-29 1995-10-24 Mazda Motor Corporation Obstacle detection device for vehicle
KR950009344B1 (ko) * 1992-09-15 1995-08-21 주식회사삼성중공업 무궤도식 크레인 자동주향방법 및 그 장치
JPH06213660A (ja) * 1993-01-19 1994-08-05 Aisin Seiki Co Ltd 像の近似直線の検出方法
US5877897A (en) 1993-02-26 1999-03-02 Donnelly Corporation Automatic rearview mirror, vehicle lighting control and vehicle interior monitoring system using a photosensor array
US6822563B2 (en) 1997-09-22 2004-11-23 Donnelly Corporation Vehicle imaging system with accessory control
US6891563B2 (en) 1996-05-22 2005-05-10 Donnelly Corporation Vehicular vision system
JP3351205B2 (ja) * 1995-11-09 2002-11-25 株式会社日立製作所 車両の安全走行制御装置及び制御方法
US7655894B2 (en) 1996-03-25 2010-02-02 Donnelly Corporation Vehicular image sensing system
JP4084857B2 (ja) * 1996-08-30 2008-04-30 本田技研工業株式会社 自動車の前方監視システムにおけるイメージセンサの縦横比設定方法
US6459987B1 (en) * 1996-11-15 2002-10-01 Garmin Corporation Method and apparatus for backtracking a path
JP3072730B2 (ja) * 1998-10-09 2000-08-07 日本電気株式会社 車両検出方法および装置
US6466862B1 (en) * 1999-04-19 2002-10-15 Bruce DeKock System for providing traffic information
US7366595B1 (en) * 1999-06-25 2008-04-29 Seiko Epson Corporation Vehicle drive assist system
US6888622B2 (en) * 2002-03-12 2005-05-03 Nissan Motor Co., Ltd. Method for determining object type of reflective object on track
WO2003093857A2 (en) 2002-05-03 2003-11-13 Donnelly Corporation Object detection system for vehicle
GB0325990D0 (en) 2003-11-07 2003-12-10 Trw Ltd Method and apparatus for discriminating the colour of road markings
US7526103B2 (en) 2004-04-15 2009-04-28 Donnelly Corporation Imaging system for vehicle
US7908080B2 (en) 2004-12-31 2011-03-15 Google Inc. Transportation routing
US7972045B2 (en) 2006-08-11 2011-07-05 Donnelly Corporation Automatic headlamp control system
EP1931147B1 (de) * 2006-12-04 2019-07-10 Harman Becker Automotive Systems GmbH Vorrichtung und verfahren zum verarbeiten eines bildes einer umgebung eines fahrzeuges
FR2911713B1 (fr) 2007-01-19 2014-03-21 Thales Sa Dispositif et procede de mesure de parametres dynamiques d'un aeronef evoluant sur une zone aeroportuaire
ES2402422B1 (es) * 2011-09-07 2014-03-11 Manuel MUÑOZ SÁIZ Sistema de conducción automática y de avisos de zonas de velocidad reducida para vehiculos mejorado
JP6082415B2 (ja) * 2015-03-03 2017-02-15 富士重工業株式会社 車両の走行制御装置
WO2017054078A1 (en) * 2015-10-02 2017-04-06 Celebramotion Inc. Method and system for people interaction and a guided cart therefor
CN108303982B (zh) * 2018-01-31 2021-11-30 深圳力子机器人有限公司 自动引导运输车、其控制方法及控制系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6084610A (ja) * 1983-10-17 1985-05-14 Hitachi Ltd 誘導装置
JPS6270917A (ja) * 1985-09-24 1987-04-01 Kubota Ltd 自動走行作業車用の境界検出装置
JPS6270916A (ja) * 1985-09-24 1987-04-01 Kubota Ltd 自動走行作業車用の境界検出方法
EP0273976B1 (de) * 1986-05-21 1993-08-11 Kabushiki Kaisha Komatsu Seisakusho Lenkvorrichtung für sich unbemannt bewegende körper
JPH072888B2 (ja) * 1986-05-27 1995-01-18 旭硝子株式会社 エポキシ樹脂組成物
US4933864A (en) * 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures

Also Published As

Publication number Publication date
EP0409642B1 (de) 1996-07-03
US5087969A (en) 1992-02-11
EP0409642A2 (de) 1991-01-23
DE69027633D1 (de) 1996-08-08
EP0409642A3 (en) 1992-08-26

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee