JPS6426915A - Controller for self-traveling vehicle - Google Patents

Controller for self-traveling vehicle

Info

Publication number
JPS6426915A
JPS6426915A JP62182286A JP18228687A JPS6426915A JP S6426915 A JPS6426915 A JP S6426915A JP 62182286 A JP62182286 A JP 62182286A JP 18228687 A JP18228687 A JP 18228687A JP S6426915 A JPS6426915 A JP S6426915A
Authority
JP
Japan
Prior art keywords
vehicle
traveling
picture
self
calculates
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.)
Granted
Application number
JP62182286A
Other languages
Japanese (ja)
Other versions
JP2668882B2 (en
Inventor
Akira Hattori
Kazunori Noso
Norimasa Kishi
Kunihiko Kurami
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co 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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP62182286A priority Critical patent/JP2668882B2/en
Publication of JPS6426915A publication Critical patent/JPS6426915A/en
Application granted granted Critical
Publication of JP2668882B2 publication Critical patent/JP2668882B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To ensure the highly reliable steering operation with a self-traveling vehicle by converting a squint picture photographed in the traveling direction of the vehicle into a plane picture and calculating a steering angle based on the plane picture. CONSTITUTION:The squint picture information photographed by an image pickup means 1 set on a self-traveling vehicle is transformed into the plane picture information by a picture transforming means 3. A reference line forming means 5 produces a reference line Lr which is orthogonal to the traveling direction Y of the vehicle at a prescribed position Yr in the direction Y in a plane picture. A crossing position calculating means 7 calculates a position where the vehicle crosses the line Lr if the vehicle travels forward at the present steering angle. An ideal traveling position calculating means 9 calculates an ideal traveling position of the vehicle on the line Lr. A steering angle calculating means 11 calculates the steering angles of the vehicle based on the relation between said crossing position and ideal traveling position.
JP62182286A 1987-07-23 1987-07-23 Autonomous traveling vehicle control device Expired - Fee Related JP2668882B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62182286A JP2668882B2 (en) 1987-07-23 1987-07-23 Autonomous traveling vehicle control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62182286A JP2668882B2 (en) 1987-07-23 1987-07-23 Autonomous traveling vehicle control device

Publications (2)

Publication Number Publication Date
JPS6426915A true JPS6426915A (en) 1989-01-30
JP2668882B2 JP2668882B2 (en) 1997-10-27

Family

ID=16115622

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62182286A Expired - Fee Related JP2668882B2 (en) 1987-07-23 1987-07-23 Autonomous traveling vehicle control device

Country Status (1)

Country Link
JP (1) JP2668882B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02226310A (en) * 1989-02-28 1990-09-07 Nissan Motor Co Ltd Autonomous running vehicle
JPH02270005A (en) * 1989-04-12 1990-11-05 Nissan Motor Co Ltd Autonomous traveling vehicle
JPH03113513A (en) * 1989-09-27 1991-05-14 Nissan Motor Co Ltd Speed-sensitive steering controller for self-traveling vehicle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62140109A (en) * 1985-12-16 1987-06-23 Toyoda Autom Loom Works Ltd Steering control method for image type unmanned carrier

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62140109A (en) * 1985-12-16 1987-06-23 Toyoda Autom Loom Works Ltd Steering control method for image type unmanned carrier

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02226310A (en) * 1989-02-28 1990-09-07 Nissan Motor Co Ltd Autonomous running vehicle
JPH02270005A (en) * 1989-04-12 1990-11-05 Nissan Motor Co Ltd Autonomous traveling vehicle
JPH03113513A (en) * 1989-09-27 1991-05-14 Nissan Motor Co Ltd Speed-sensitive steering controller for self-traveling vehicle

Also Published As

Publication number Publication date
JP2668882B2 (en) 1997-10-27

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees