JPS6426915A - Controller for self-traveling vehicle - Google Patents
Controller for self-traveling vehicleInfo
- 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
Links
- 208000004350 Strabismus Diseases 0.000 abstract 2
- 230000001131 transforming effect Effects 0.000 abstract 1
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.
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)
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)
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 |
-
1987
- 1987-07-23 JP JP62182286A patent/JP2668882B2/en not_active Expired - Fee Related
Patent Citations (1)
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)
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 |