JPS643712A - Steering controller for vehicle - Google Patents

Steering controller for vehicle

Info

Publication number
JPS643712A
JPS643712A JP62159435A JP15943587A JPS643712A JP S643712 A JPS643712 A JP S643712A JP 62159435 A JP62159435 A JP 62159435A JP 15943587 A JP15943587 A JP 15943587A JP S643712 A JPS643712 A JP S643712A
Authority
JP
Japan
Prior art keywords
vehicle
steering
distance
function curve
locus
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
JP62159435A
Other languages
Japanese (ja)
Other versions
JP2676737B2 (en
Inventor
Akira Hattori
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 JP62159435A priority Critical patent/JP2676737B2/en
Publication of JPS643712A publication Critical patent/JPS643712A/en
Application granted granted Critical
Publication of JP2676737B2 publication Critical patent/JP2676737B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

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

Abstract

PURPOSE:To enable a vehicle to travel on a locus approximate to an evaluated function curve despite different operators by correcting an operating output parameter based on the displacement difference between a calculated steering locus and the evaluated function curve and then carrying out the steering control of the vehicle. CONSTITUTION:A picture processing part 10 processes the pictures photographed by a camera 2 provided on a vehicle 1 to detect the distance dxi between the vehicle 1 and a white line 3 as well as the posture thetasi of the vehicle 1. A steering control part 12 calculates momentarily the steering angles by a fuzzy inference from a starting point and a target point of the vehicle 1 based on the present position of the vehicle 1 obtained from a map information part 11 as well as the distance dxi and the posture thetasi. At the same time, the part 12 sets the distance traveled against the single output of the steering angle based on the distance between the target point and the starting point. A steering output parameter correction part 13 corrects the steering output parameter which is used by the fuzzy inference of the part 12 by using the displacement value between the traveling locus and the evaluated function curve as the correction value. Thus the vehicle 1 travels with its steering angle corrected for each prescribed distance based on said steering output.
JP62159435A 1987-06-26 1987-06-26 Vehicle steering control device Expired - Lifetime JP2676737B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62159435A JP2676737B2 (en) 1987-06-26 1987-06-26 Vehicle steering control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62159435A JP2676737B2 (en) 1987-06-26 1987-06-26 Vehicle steering control device

Publications (2)

Publication Number Publication Date
JPS643712A true JPS643712A (en) 1989-01-09
JP2676737B2 JP2676737B2 (en) 1997-11-17

Family

ID=15693689

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62159435A Expired - Lifetime JP2676737B2 (en) 1987-06-26 1987-06-26 Vehicle steering control device

Country Status (1)

Country Link
JP (1) JP2676737B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0336699A (en) * 1989-07-03 1991-02-18 Omron Corp Garaging control device
EP0449754A2 (en) * 1990-03-30 1991-10-02 Shinko Electric Co. Ltd. Control system for unmanned carrier vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS541596A (en) * 1977-06-03 1979-01-08 Tokyo Keiki Co Ltd Evaluation function indication of auto pilot
JPS5793406A (en) * 1980-10-02 1982-06-10 Volvo Ab Renewing method in car operated through assumed operating method
JPS59195491A (en) * 1983-04-21 1984-11-06 Nippon Kokan Kk <Nkk> Method of steering ship
JPS6170605A (en) * 1984-09-14 1986-04-11 Hitachi Ltd Digital control system
JPS61180313A (en) * 1984-10-09 1986-08-13 ポリ・エンタ−プライジズ・プリマス・リミテツド Automatic control of vehicle and control system
JPS61502149A (en) * 1984-05-16 1986-09-25 ザ　ゼネラル　エレクトリツク　カンパニ−，ピ−．エル．シ−． Vehicle control guidance device
JPS61241299A (en) * 1985-04-18 1986-10-27 Nippon Kokan Kk <Nkk> Optimum automatic steering control applying evaluation function

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS541596A (en) * 1977-06-03 1979-01-08 Tokyo Keiki Co Ltd Evaluation function indication of auto pilot
JPS5793406A (en) * 1980-10-02 1982-06-10 Volvo Ab Renewing method in car operated through assumed operating method
JPS59195491A (en) * 1983-04-21 1984-11-06 Nippon Kokan Kk <Nkk> Method of steering ship
JPS61502149A (en) * 1984-05-16 1986-09-25 ザ　ゼネラル　エレクトリツク　カンパニ−，ピ−．エル．シ−． Vehicle control guidance device
JPS6170605A (en) * 1984-09-14 1986-04-11 Hitachi Ltd Digital control system
JPS61180313A (en) * 1984-10-09 1986-08-13 ポリ・エンタ−プライジズ・プリマス・リミテツド Automatic control of vehicle and control system
JPS61241299A (en) * 1985-04-18 1986-10-27 Nippon Kokan Kk <Nkk> Optimum automatic steering control applying evaluation function

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0336699A (en) * 1989-07-03 1991-02-18 Omron Corp Garaging control device
EP0449754A2 (en) * 1990-03-30 1991-10-02 Shinko Electric Co. Ltd. Control system for unmanned carrier vehicle

Also Published As

Publication number Publication date
JP2676737B2 (en) 1997-11-17

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