DE69900354D1 - Gerät und Verfahren zur Steuerung eines autonom fahrenden Fahrzeugs - Google Patents

Gerät und Verfahren zur Steuerung eines autonom fahrenden Fahrzeugs

Info

Publication number
DE69900354D1
DE69900354D1 DE69900354T DE69900354T DE69900354D1 DE 69900354 D1 DE69900354 D1 DE 69900354D1 DE 69900354 T DE69900354 T DE 69900354T DE 69900354 T DE69900354 T DE 69900354T DE 69900354 D1 DE69900354 D1 DE 69900354D1
Authority
DE
Germany
Prior art keywords
controlling
driving vehicle
autonomously driving
autonomously
vehicle
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
DE69900354T
Other languages
English (en)
Other versions
DE69900354T2 (de
Inventor
Tsuyoshi Torii
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.)
Subaru Corp
Original Assignee
Fuji Jukogyo KK
Fuji Heavy Industries 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
Application filed by Fuji Jukogyo KK, Fuji Heavy Industries Ltd filed Critical Fuji Jukogyo KK
Application granted granted Critical
Publication of DE69900354D1 publication Critical patent/DE69900354D1/de
Publication of DE69900354T2 publication Critical patent/DE69900354T2/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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
DE69900354T 1998-07-10 1999-07-12 Gerät und Verfahren zur Steuerung eines autonom fahrenden Fahrzeugs Expired - Fee Related DE69900354T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10196163A JP2000029517A (ja) 1998-07-10 1998-07-10 自律走行車の走行制御装置

Publications (2)

Publication Number Publication Date
DE69900354D1 true DE69900354D1 (de) 2001-11-22
DE69900354T2 DE69900354T2 (de) 2002-05-23

Family

ID=16353264

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69900354T Expired - Fee Related DE69900354T2 (de) 1998-07-10 1999-07-12 Gerät und Verfahren zur Steuerung eines autonom fahrenden Fahrzeugs

Country Status (4)

Country Link
US (1) US6480768B1 (de)
EP (1) EP0971276B1 (de)
JP (1) JP2000029517A (de)
DE (1) DE69900354T2 (de)

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JP3690311B2 (ja) * 2001-06-14 2005-08-31 日産自動車株式会社 車両の前後輪舵角制御装置
US6848657B2 (en) 2002-01-17 2005-02-01 The Creative Train Company, Llc Dynamic self-teaching train track layout learning and control system
US20030236723A1 (en) * 2002-06-25 2003-12-25 Angott Paul G. Automatic billing system for a lawn mowing service using GPS
DE10322765B4 (de) * 2003-05-19 2008-06-05 Daimler Ag Automatisierter Speditionshof
US7609156B2 (en) 2004-04-07 2009-10-27 Jeffrey D Mullen Advanced cooperative defensive military tactics, armor, and systems
FR2878044B1 (fr) 2004-11-15 2007-02-02 Renault Sas Systeme de pilotage automatique d'un vehicule automobile, imitant un pilotage humain
US8239083B2 (en) 2006-01-18 2012-08-07 I-Guide Robotics, Inc. Robotic vehicle controller
US7953526B2 (en) * 2006-01-18 2011-05-31 I-Guide Robotics, Inc. Robotic vehicle controller
DE102006016185A1 (de) * 2006-04-06 2007-10-11 Bayerische Motoren Werke Ag Steuervorrichtung für Kraftfahrzeuge zum Erlernen des selbstständigen Befahrens einer vorgegebenen Ideallinie
US20080027599A1 (en) * 2006-07-28 2008-01-31 James Logan Autonomous vehicle and systems and methods for the operation thereof
US8195364B2 (en) 2007-02-12 2012-06-05 Deere & Company Perception model for trajectory following autonomous and human augmented steering control
US7895135B2 (en) * 2007-02-12 2011-02-22 Deere & Company Human perception model for speed control performance
US8498796B2 (en) * 2007-02-12 2013-07-30 Deere & Company Perception model for trajectory following autonomous and human augmented speed control
US20090018717A1 (en) * 2007-07-11 2009-01-15 Keith Reed Vehicle auto-guidance memory
CN101393034B (zh) * 2007-09-21 2011-07-20 财团法人工业技术研究院 车道线预估方法及车道偏移警示系统
WO2009147420A1 (en) * 2008-06-04 2009-12-10 Bae Systems Plc Vehicle system
EP2136275B1 (de) * 2008-06-18 2014-05-21 C.R.F. Società Consortile per Azioni Automatisches Antriebssystem zum automatischen Antrieb eines Motorfahrzeugs entlang vordefinierten Wegen
US20090319186A1 (en) * 2008-06-24 2009-12-24 Honeywell International Inc. Method and apparatus for determining a navigational state of a vehicle
WO2011115534A1 (en) 2010-03-17 2011-09-22 Husqvarna Ab Method and system for navigating a robotic garden tool
JP5420510B2 (ja) * 2010-09-30 2014-02-19 本田技研工業株式会社 自律走行作業車の制御装置
US9547945B2 (en) 2011-03-18 2017-01-17 The Raymond Corporation Integration of an autonomous industrial vehicle into an asset management system
US8433469B2 (en) 2011-03-18 2013-04-30 The Raymond Corporation Communication technique by which an autonomous guidance system controls an industrial vehicle
US9776332B2 (en) * 2011-12-08 2017-10-03 Lg Electronics Inc. Automatic moving apparatus and manual operation method thereof
US9363945B2 (en) 2012-10-09 2016-06-14 Husqvarna Ab Method and system for enhancing a coverage distribution of a robotic garden tool
CN103647947A (zh) * 2013-12-04 2014-03-19 广东好帮手电子科技股份有限公司 一种行车轨道智能监控系统及其实现方法
CN103793153B (zh) * 2014-01-21 2017-01-04 广州钜东网络科技有限公司 虚拟汽车驾照考试考场自定义方法及装置
JP6340812B2 (ja) 2014-02-18 2018-06-13 村田機械株式会社 自律走行台車
US10053064B2 (en) 2016-08-15 2018-08-21 Caterpillar Inc. System and method for controlling braking of autonomous machine
CN109936976A (zh) * 2017-01-24 2019-06-25 株式会社久保田 联合收割机、收割机、以及自动转向系统
CN106965844A (zh) * 2017-04-22 2017-07-21 芜湖酷哇机器人产业技术研究院有限公司 防盗婴儿车
EP3591421A4 (de) * 2017-05-26 2020-12-02 Positec Power Tools (Suzhou) Co., Ltd Bewegliches objekt und positionierungsverfahren dafür, automatisiertes arbeitssystem und speichermedium
JP6980087B2 (ja) * 2017-05-29 2021-12-15 株式会社クボタ 自動走行作業車両のための衛星測位システム
DE102017210171A1 (de) * 2017-06-19 2018-12-20 Robert Bosch Gmbh Trajektorienbasiertes Führen eines Kraftfahrzeugs
JP6824866B2 (ja) * 2017-12-19 2021-02-03 株式会社クボタ 草刈機自動走行システム
US10705529B2 (en) 2018-01-05 2020-07-07 Honda Motor Co., Ltd. Autonomous all-terrain vehicle (ATV)
GB201802475D0 (en) * 2018-02-15 2018-04-04 Jaguar Land Rover Ltd Controller and vehicle
CN108820042B (zh) * 2018-05-25 2020-04-10 东软集团股份有限公司 一种自动驾驶方法及装置
CN109683614B (zh) * 2018-12-25 2021-08-13 青岛慧拓智能机器有限公司 用于无人矿用车辆的车辆路径控制方法及装置
JP7158367B2 (ja) * 2019-12-09 2022-10-21 本田技研工業株式会社 車両制御システム
TWI738475B (zh) * 2020-08-24 2021-09-01 安捷科股份有限公司 具自動學習校正機制的車輛前進後退偵測系統及方法

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JP3743582B2 (ja) * 1996-02-21 2006-02-08 株式会社小松製作所 無人車両と有人車両混走時のフリート制御装置及び制御方法

Also Published As

Publication number Publication date
US6480768B1 (en) 2002-11-12
DE69900354T2 (de) 2002-05-23
EP0971276B1 (de) 2001-10-17
EP0971276A1 (de) 2000-01-12
JP2000029517A (ja) 2000-01-28

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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