KR970049183A - 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템 - Google Patents

도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템 Download PDF

Info

Publication number
KR970049183A
KR970049183A KR1019950058643A KR19950058643A KR970049183A KR 970049183 A KR970049183 A KR 970049183A KR 1019950058643 A KR1019950058643 A KR 1019950058643A KR 19950058643 A KR19950058643 A KR 19950058643A KR 970049183 A KR970049183 A KR 970049183A
Authority
KR
South Korea
Prior art keywords
camera
image signal
output
signal
motor
Prior art date
Application number
KR1019950058643A
Other languages
English (en)
Other versions
KR100270523B1 (ko
Inventor
김동호
Original Assignee
전성원
현대자동차 주식회사
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 전성원, 현대자동차 주식회사 filed Critical 전성원
Priority to KR1019950058643A priority Critical patent/KR100270523B1/ko
Priority to US08/774,033 priority patent/US6085131A/en
Priority to JP8359910A priority patent/JP2946484B2/ja
Priority to DE69607581T priority patent/DE69607581T2/de
Priority to EP96120931A priority patent/EP0782059B1/en
Priority to AU76533/96A priority patent/AU717549B2/en
Publication of KR970049183A publication Critical patent/KR970049183A/ko
Application granted granted Critical
Publication of KR100270523B1 publication Critical patent/KR100270523B1/ko

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Studio Devices (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

이 발명은 도로 조건에 따라 카메라가 제어되도록 하는 기능을 구비한 무인 자동차에 관한 것으로서, 시야갹이 고정되어 있는 제1카메라와; 회전 가능한 축에 설치되어 회전각도에 따라 시야각이 제어 가능한 제2카메라와; 상기 제2카메라의 회전을 제어하기 위한 모터 시스템과; 상기 제2카메라의 회전축에 설치되어, 상기 제2카메라의 투사방향을 감지하기 위한 위치센서부와; 상기 제1 및 제2카메라 중 선택된 하나로부터 아날로그 영상 신호를 받아들이고, 상기 입력된 아날로그 영상신호를 디지탈 영상신호로 변환하여 출력하기 위한 화상처리부와; 상기 화상처리부의 출력신호를 입력받아, 디지탈 영상신호를 스캐닝하여 도로의 경계 및 장애물 유무를 감지하고, 이 감지된 정보에 따라 조향 목표각도를 결정하여 출력하며, 상기 제1카메라의 영상신호로부터 정보검출 실패시 제2카메라 구동명령 및 목표각도를 생성하여 출력하는 중앙제어유닛과; 상기 중앙제어유닛으로부터의 구동명령이 있을 경우 상기 화상처리부에서 제2카메라의 신호가 선택되도록 하고, 상기 위치센서부에서 감지되는 제2카메라 방향에 근거하여 상기 목표각도로 제2카메라가 회전하도록 하는 구동명령을 생성하여 상기모터 시스템에 출력하기 위한 카메라 제어부로 구성되어, 곡선로 주행시 곡선정도에 따라 제2카메라가 회전하도록 제어함으로써 무인자동차가 곡선로에서도 도로 경계 추적을 정확하게 수행할 수 있도록 한다.

Description

도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 이 발명의 실시예에 따른 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템의 구성블럭도이다.

Claims (4)

  1. 시야갹이 고정되어 있으며, 반경내의 경치를 아날로그 영상신호로 변환하여 출력하는 제1카메라; 회전 가능한 축에 설치되어 회전각도에 따라 시야각이 제어 가능하며, 반경내의 경치를 아날로그 영상신호로 변환하여 출력하는 제2카메라와; 상기 제2카메라의 회전을 제어하기 위한 모터 시스템과; 상기 제2카메라의 회전축에 설치되어, 상기 제2카메라의 투사방향을 감지하기 위한 위치센서부와; 상기 제1 및 제2카메라 중 선택된 하나로부터 아날로그 영상 신호를 받아들이고, 상기 입력된 아날로그 영상신호를 디지탈 영상신호로 변환하여 출력하기 위한 화상처리부와; 상기 화상처리부의 출력신호를 입력받아, 디지탈 영상신호를 스캐닝하여 도로의 경계 및 장애물 유무를 감지하고, 이 감지된 정보에 따라 조향 목표각도를 결정하여 출력하며, 상기 제1카메라의 영상신호로부터 정보검출 실패시 제2카메라 구동명령 및 목표각도를 생성하여 출력하는 중앙제어유닛과; 상기 중앙제어유닛으로부터의 구동명령이 있을 경우 상기 화상처리부에서 제2카메라의 신호가 선택되도록 하고, 상기 위치센서부에서 감지되는 제2카메라 방향에 근거하여 상기 목표각도로 제2카메라가 회전하도록 하는 구동명령을 생성하여 상기 모터 시스템에 출력하기 위한 카메라 제어부를 포함하여 이루어지는 것을 특징으로 하는 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템.
  2. 제1항에 있어서, 상기 중앙제어유닛에서 출력되는 조향 목표각도에 의거하여 핸들의 조향각이 제어되도록하는 핸들조향 제어장치를 부가하여 포함하는 것을 특징으로 하는 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템.
  3. 제1항에 있어서, 상기한 모터 시스템은 상기 카메라 제어부에서 출력되는 구동명령에 대응하는 모터제어신호를 생성하여 출력하는 모터구동회로와; 상기 모터구동회로의 모터제어신호에 따라 소정의 회전동작을 수행하는 모터와; 상기 모터의 회전력에 의해 카메라의 회전축이 회전할 수 있도록 회전력을 전달하는 전달기어를 포함하는 것을 특징으로 하는 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템.
  4. 제1항에 있어서, 상기한 위치센서부는 적어도 세개 이상의 위치센서로 구현되는 것을 특징으로 하는 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템.
    ※ 참고사항: 최초출원 내용에 의하여 공개하는 것임.
KR1019950058643A 1995-12-27 1995-12-27 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템 KR100270523B1 (ko)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1019950058643A KR100270523B1 (ko) 1995-12-27 1995-12-27 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템
US08/774,033 US6085131A (en) 1995-12-27 1996-12-27 Driverless vehicle system and method
JP8359910A JP2946484B2 (ja) 1995-12-27 1996-12-27 道路条件による制御機能を具備した無人自動車システムの制御方法及び無人自動車システム
DE69607581T DE69607581T2 (de) 1995-12-27 1996-12-27 Vorrichtung für fahrerlose Fahrzeuge und Verfahren zu ihrer Steuerung
EP96120931A EP0782059B1 (en) 1995-12-27 1996-12-27 Driverless vehicle system and method of control therefor
AU76533/96A AU717549B2 (en) 1995-12-27 1996-12-30 Driverless vehicle system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950058643A KR100270523B1 (ko) 1995-12-27 1995-12-27 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템

Publications (2)

Publication Number Publication Date
KR970049183A true KR970049183A (ko) 1997-07-29
KR100270523B1 KR100270523B1 (ko) 2000-11-01

Family

ID=19445027

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019950058643A KR100270523B1 (ko) 1995-12-27 1995-12-27 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템

Country Status (6)

Country Link
US (1) US6085131A (ko)
EP (1) EP0782059B1 (ko)
JP (1) JP2946484B2 (ko)
KR (1) KR100270523B1 (ko)
AU (1) AU717549B2 (ko)
DE (1) DE69607581T2 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190047778A (ko) * 2017-10-30 2019-05-09 현대자동차주식회사 차량 및 그 제어방법

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7366595B1 (en) * 1999-06-25 2008-04-29 Seiko Epson Corporation Vehicle drive assist system
JP2001086375A (ja) * 1999-09-09 2001-03-30 Matsushita Electric Ind Co Ltd 回転台付カメラ
DE19950033B4 (de) * 1999-10-16 2005-03-03 Bayerische Motoren Werke Ag Kameravorrichtung für Fahrzeuge
DE19961313B4 (de) * 1999-12-18 2005-06-02 Bayerische Motoren Werke Ag Kameraeinrichtung für ein Fahrzeug
US6725139B2 (en) * 2002-08-19 2004-04-20 Ford Global Technologies, Llc Steerable night vision system
US7733370B2 (en) * 2005-04-08 2010-06-08 Autoliv Asp, Inc. Night vision camera mount quick disconnect
EP1935069A4 (en) * 2005-10-13 2011-03-09 Sensilaser Technologies Inc METHOD AND DEVICE FOR REDUCING LASER PHASE RUSH
US8090489B2 (en) * 2007-11-09 2012-01-03 Bruno Delean Computerized driverless vehicles and traffic control system
USD685862S1 (en) 2011-07-21 2013-07-09 Mattel, Inc. Toy vehicle housing
USD681742S1 (en) 2011-07-21 2013-05-07 Mattel, Inc. Toy vehicle
US9365188B1 (en) 2011-04-22 2016-06-14 Angel A. Penilla Methods and systems for using cloud services to assign e-keys to access vehicles
US11270699B2 (en) 2011-04-22 2022-03-08 Emerging Automotive, Llc Methods and vehicles for capturing emotion of a human driver and customizing vehicle response
US9104537B1 (en) 2011-04-22 2015-08-11 Angel A. Penilla Methods and systems for generating setting recommendation to user accounts for registered vehicles via cloud systems and remotely applying settings
US11294551B2 (en) 2011-04-22 2022-04-05 Emerging Automotive, Llc Vehicle passenger controls via mobile devices
US9648107B1 (en) 2011-04-22 2017-05-09 Angel A. Penilla Methods and cloud systems for using connected object state data for informing and alerting connected vehicle drivers of state changes
US11132650B2 (en) 2011-04-22 2021-09-28 Emerging Automotive, Llc Communication APIs for remote monitoring and control of vehicle systems
US9229905B1 (en) 2011-04-22 2016-01-05 Angel A. Penilla Methods and systems for defining vehicle user profiles and managing user profiles via cloud systems and applying learned settings to user profiles
US9189900B1 (en) 2011-04-22 2015-11-17 Angel A. Penilla Methods and systems for assigning e-keys to users to access and drive vehicles
US9536197B1 (en) 2011-04-22 2017-01-03 Angel A. Penilla Methods and systems for processing data streams from data producing objects of vehicle and home entities and generating recommendations and settings
US11203355B2 (en) 2011-04-22 2021-12-21 Emerging Automotive, Llc Vehicle mode for restricted operation and cloud data monitoring
US10217160B2 (en) * 2012-04-22 2019-02-26 Emerging Automotive, Llc Methods and systems for processing charge availability and route paths for obtaining charge for electric vehicles
US9581997B1 (en) 2011-04-22 2017-02-28 Angel A. Penilla Method and system for cloud-based communication for automatic driverless movement
US9493130B2 (en) 2011-04-22 2016-11-15 Angel A. Penilla Methods and systems for communicating content to connected vehicle users based detected tone/mood in voice input
US9371007B1 (en) 2011-04-22 2016-06-21 Angel A. Penilla Methods and systems for automatic electric vehicle identification and charging via wireless charging pads
US9288270B1 (en) 2011-04-22 2016-03-15 Angel A. Penilla Systems for learning user preferences and generating recommendations to make settings at connected vehicles and interfacing with cloud systems
US9285944B1 (en) 2011-04-22 2016-03-15 Angel A. Penilla Methods and systems for defining custom vehicle user interface configurations and cloud services for managing applications for the user interface and learned setting functions
US9809196B1 (en) 2011-04-22 2017-11-07 Emerging Automotive, Llc Methods and systems for vehicle security and remote access and safety control interfaces and notifications
US9230440B1 (en) 2011-04-22 2016-01-05 Angel A. Penilla Methods and systems for locating public parking and receiving security ratings for parking locations and generating notifications to vehicle user accounts regarding alerts and cloud access to security information
US9818088B2 (en) 2011-04-22 2017-11-14 Emerging Automotive, Llc Vehicles and cloud systems for providing recommendations to vehicle users to handle alerts associated with the vehicle
US9139091B1 (en) 2011-04-22 2015-09-22 Angel A. Penilla Methods and systems for setting and/or assigning advisor accounts to entities for specific vehicle aspects and cloud management of advisor accounts
US9697503B1 (en) 2011-04-22 2017-07-04 Angel A. Penilla Methods and systems for providing recommendations to vehicle users to handle alerts associated with the vehicle and a bidding market place for handling alerts/service of the vehicle
US9180783B1 (en) 2011-04-22 2015-11-10 Penilla Angel A Methods and systems for electric vehicle (EV) charge location color-coded charge state indicators, cloud applications and user notifications
US9348492B1 (en) 2011-04-22 2016-05-24 Angel A. Penilla Methods and systems for providing access to specific vehicle controls, functions, environment and applications to guests/passengers via personal mobile devices
US9215274B2 (en) 2011-04-22 2015-12-15 Angel A. Penilla Methods and systems for generating recommendations to make settings at vehicles via cloud systems
US9346365B1 (en) 2011-04-22 2016-05-24 Angel A. Penilla Methods and systems for electric vehicle (EV) charging, charging unit (CU) interfaces, auxiliary batteries, and remote access and user notifications
US10824330B2 (en) 2011-04-22 2020-11-03 Emerging Automotive, Llc Methods and systems for vehicle display data integration with mobile device data
US9171268B1 (en) 2011-04-22 2015-10-27 Angel A. Penilla Methods and systems for setting and transferring user profiles to vehicles and temporary sharing of user profiles to shared-use vehicles
US10286919B2 (en) 2011-04-22 2019-05-14 Emerging Automotive, Llc Valet mode for restricted operation of a vehicle and cloud access of a history of use made during valet mode use
US10572123B2 (en) 2011-04-22 2020-02-25 Emerging Automotive, Llc Vehicle passenger controls via mobile devices
US10289288B2 (en) 2011-04-22 2019-05-14 Emerging Automotive, Llc Vehicle systems for providing access to vehicle controls, functions, environment and applications to guests/passengers via mobile devices
US9963145B2 (en) 2012-04-22 2018-05-08 Emerging Automotive, Llc Connected vehicle communication with processing alerts related to traffic lights and cloud systems
US11370313B2 (en) 2011-04-25 2022-06-28 Emerging Automotive, Llc Methods and systems for electric vehicle (EV) charge units and systems for processing connections to charge units
US9123035B2 (en) 2011-04-22 2015-09-01 Angel A. Penilla Electric vehicle (EV) range extending charge systems, distributed networks of charge kiosks, and charge locating mobile apps
US9223017B2 (en) * 2012-05-30 2015-12-29 Honeywell International Inc. Systems and methods for enhanced awareness of obstacle proximity during taxi operations
DE102014203541A1 (de) 2014-02-27 2015-08-27 Continental Teves Ag & Co. Ohg Fahrerlos betreibbares Fahrzeug und Verfahren zum Betrieb eines solchen Fahrzeugs
KR101513103B1 (ko) * 2014-05-23 2015-04-17 국방과학연구소 멀티카메라 제어장치
US10055726B2 (en) * 2014-07-14 2018-08-21 Jpmorgan Chase Bank, N.A. Systems and methods for management of mobile banking resources
US20170225628A1 (en) * 2016-02-09 2017-08-10 Ford Global Technologies, Llc Motorized Camera Mount
CN106272562A (zh) * 2016-08-31 2017-01-04 贺宜 一种机器视觉和机器人的配合方法
KR20180061686A (ko) 2016-11-30 2018-06-08 삼성전자주식회사 자율 주행 경로 생성 방법 및 그 장치
CN107390683B (zh) * 2017-07-14 2021-03-02 长沙中联消防机械有限公司 路轨两用车自动对轨系统、方法以及消防车

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4063283A (en) * 1975-04-03 1977-12-13 Chemetron Corporation Automatic envelope measuring system
US4819169A (en) 1986-09-24 1989-04-04 Nissan Motor Company, Limited System and method for calculating movement direction and position of an unmanned vehicle
US5208750A (en) * 1987-06-17 1993-05-04 Nissan Motor Co., Ltd. Control system for unmanned automotive vehicle
US5172315A (en) * 1988-08-10 1992-12-15 Honda Giken Kogyo Kabushiki Kaisha Automatic travelling apparatus and method
US5172317A (en) * 1988-08-10 1992-12-15 Honda Giken Kogyo Kabushiki Kaisha Automatic travelling apparatus
US5109425A (en) * 1988-09-30 1992-04-28 The United States Of America As Represented By The United States National Aeronautics And Space Administration Method and apparatus for predicting the direction of movement in machine vision
JP2583641B2 (ja) * 1990-05-18 1997-02-19 日産自動車株式会社 走行制御方法
JP2623157B2 (ja) * 1990-07-13 1997-06-25 株式会社イセキ開発工機 移動物体の操縦装置
JPH04205403A (ja) * 1990-11-30 1992-07-27 Nissan Motor Co Ltd 操舵制御装置
EP0488828B1 (en) * 1990-11-30 1996-08-14 Honda Giken Kogyo Kabushiki Kaisha Control device of an autonomously moving body and evaluation method for data thereof
US5414625A (en) * 1991-04-01 1995-05-09 Nissan Motor Co., Ltd. System and method for providing steering control for autonomous vehicle
JP3431962B2 (ja) * 1993-09-17 2003-07-28 本田技研工業株式会社 走行区分線認識装置を備えた自動走行車両
US5555019A (en) * 1995-03-09 1996-09-10 Dole; Kevin Miniature vehicle video production system
US5652617A (en) * 1995-06-06 1997-07-29 Barbour; Joel Side scan down hole video tool having two camera
US5623244A (en) * 1996-05-10 1997-04-22 The United States Of America As Represented By The Secretary Of The Navy Pilot vehicle which is useful for monitoring hazardous conditions on railroad tracks

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190047778A (ko) * 2017-10-30 2019-05-09 현대자동차주식회사 차량 및 그 제어방법

Also Published As

Publication number Publication date
JPH1049230A (ja) 1998-02-20
EP0782059A3 (en) 1997-07-30
EP0782059A2 (en) 1997-07-02
DE69607581T2 (de) 2000-12-14
AU7653396A (en) 1997-07-03
EP0782059B1 (en) 2000-04-05
JP2946484B2 (ja) 1999-09-06
DE69607581D1 (de) 2000-05-11
US6085131A (en) 2000-07-04
AU717549B2 (en) 2000-03-30
KR100270523B1 (ko) 2000-11-01

Similar Documents

Publication Publication Date Title
KR970049183A (ko) 도로 조건에 따른 카메라 제어기능을 구비한 무인 자동차 시스템
US11338856B2 (en) Systems and methods for switching between a driver mode and an autonomous driving mode for a vehicle
US10960924B2 (en) Vehicle systems for adjusting resistance or sensitivity of steering wheels and/or accelerator pedals
US7028804B2 (en) Steering angle neutral position detection error protecting method and detection error protecting apparatus
EP0459225B1 (en) A tracking control device for a vehicle
US5251680A (en) Collision-preventing apparatus for electric motor vehicle
US11608087B2 (en) Transitioning steering control from an autonomous vehicle to a driver
US20230150572A1 (en) Managing redundant steering system for autonomous vehicles
US20070282500A1 (en) Vehicle steering system
JP7434730B2 (ja) 車両用情報表示装置及び車両用制御装置
JP2006206011A (ja) 車両用操舵装置
JPH07156818A (ja) 車両用自動操舵装置
JP2005082148A (ja) 単一の移動センサを備えたステアリングコラムモジュール
JPH09180088A (ja) 車両用周囲モニタ装置
US20030161057A1 (en) Device and method for actuating and positioning vehicular monitoring device
KR19980061720A (ko) 도로환경 인식기능을 갖는 차량
KR100199757B1 (ko) 집단무인 주행차량 및 집단무인주행 방법
WO2023085406A1 (ja) 駐車支援装置、及び駐車支援方法
KR100290350B1 (ko) 무인자율차량의수동변속기자동제어장치
JPS61132442A (ja) 車両用後方視界テレビカメラの姿勢制御装置
JP2581329B2 (ja) 車両用追従走行制御装置
KR970036067A (ko) 차량의 무인유도시스템
KR970036064A (ko) 자동차의 차량 거리 제어형 정속 주행 장치
KR19980054235A (ko) 자동차의 조향장치용 조향축의 각도감지장치
JPH05254372A (ja) 車両用周囲監視装置

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20050801

Year of fee payment: 6

LAPS Lapse due to unpaid annual fee