JPS6444512A - Control system for autonomous traveling vehicle - Google Patents

Control system for autonomous traveling vehicle

Info

Publication number
JPS6444512A
JPS6444512A JP62199957A JP19995787A JPS6444512A JP S6444512 A JPS6444512 A JP S6444512A JP 62199957 A JP62199957 A JP 62199957A JP 19995787 A JP19995787 A JP 19995787A JP S6444512 A JPS6444512 A JP S6444512A
Authority
JP
Japan
Prior art keywords
image
lines
vehicle
traveling
advancing direction
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
JP62199957A
Other languages
Japanese (ja)
Other versions
JP2819551B2 (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 JP62199957A priority Critical patent/JP2819551B2/en
Publication of JPS6444512A publication Critical patent/JPS6444512A/en
Application granted granted Critical
Publication of JP2819551B2 publication Critical patent/JP2819551B2/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 follow up a curve to surely execute autonomous travel control by changing the image pickup direction of an image pickup means mounted on a vehicle in accordance with traveling environment. CONSTITUTION:An obliquely observed image picked up by cameras 101, 103 in an image information processing part 100 is supplied to an image processing computer 105 and converted into a reversely obliquely observed image so that the converted image goes to a plane image in a world coordinate system. A pair of traveling lines R, L are extracted on the plane image by the computer 105. A reference line Lr rectangular to an advancing direction is formed on a front position by a prescribed distance Yr from a self-behicle 900 so as to intersect with the extracted traveling lines L, R. The lines L, R intersect with the line Lr at points A, B. When the current position of the vehicle 900 is defined as an origin and a direction rectangular the advancing direction and the advancing direction are respectively defined as X and Y, whether the vehicle is protruded from the lines R, L or not is calculated. Thus, the traveling lines L, R can be catched within the obliquely observed image by controlling the directions of the cameras by means of steering angles.
JP62199957A 1987-08-12 1987-08-12 Autonomous traveling vehicle control device Expired - Fee Related JP2819551B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62199957A JP2819551B2 (en) 1987-08-12 1987-08-12 Autonomous traveling vehicle control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62199957A JP2819551B2 (en) 1987-08-12 1987-08-12 Autonomous traveling vehicle control device

Publications (2)

Publication Number Publication Date
JPS6444512A true JPS6444512A (en) 1989-02-16
JP2819551B2 JP2819551B2 (en) 1998-10-30

Family

ID=16416412

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62199957A Expired - Fee Related JP2819551B2 (en) 1987-08-12 1987-08-12 Autonomous traveling vehicle control device

Country Status (1)

Country Link
JP (1) JP2819551B2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07309464A (en) * 1994-05-19 1995-11-28 Nec Data Terminal Ltd Automatic paper feeding mechanism
JPH11202937A (en) * 1998-01-14 1999-07-30 Sugino Mach Ltd Omnidirectional mobile robot
EP1222441B2 (en) † 1999-10-16 2007-04-18 Bayerische Motoren Werke Aktiengesellschaft Camera system for vehicles
JP2010086972A (en) * 2005-04-08 2010-04-15 Toshiba Lighting & Technology Corp Self-ballasted lamp
CN109669448A (en) * 2017-10-17 2019-04-23 阿尔派株式会社 Automatic Pilot control device and automatic Pilot control method
JP2021170377A (en) * 2018-03-28 2021-10-28 ヤンマーパワーテクノロジー株式会社 Automatic travel device of work vehicle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61255413A (en) * 1985-05-09 1986-11-13 Mitsubishi Electric Corp Remote control system running device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61255413A (en) * 1985-05-09 1986-11-13 Mitsubishi Electric Corp Remote control system running device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07309464A (en) * 1994-05-19 1995-11-28 Nec Data Terminal Ltd Automatic paper feeding mechanism
JPH11202937A (en) * 1998-01-14 1999-07-30 Sugino Mach Ltd Omnidirectional mobile robot
EP1222441B2 (en) † 1999-10-16 2007-04-18 Bayerische Motoren Werke Aktiengesellschaft Camera system for vehicles
US8164627B1 (en) 1999-10-16 2012-04-24 Bayerische Motoren Werke Aktiengesellschaft Camera system for vehicles
JP2010086972A (en) * 2005-04-08 2010-04-15 Toshiba Lighting & Technology Corp Self-ballasted lamp
JP2010086973A (en) * 2005-04-08 2010-04-15 Toshiba Lighting & Technology Corp Self-ballasted lamp
CN109669448A (en) * 2017-10-17 2019-04-23 阿尔派株式会社 Automatic Pilot control device and automatic Pilot control method
JP2021170377A (en) * 2018-03-28 2021-10-28 ヤンマーパワーテクノロジー株式会社 Automatic travel device of work vehicle

Also Published As

Publication number Publication date
JP2819551B2 (en) 1998-10-30

Similar Documents

Publication Publication Date Title
JP2583641B2 (en) Travel control method
CN108459600A (en) A kind of vision navigation system of AGV trolleies
CA2066280A1 (en) Image pickup system with a image pickup device for control
CN206657243U (en) The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system
DE102017127449B4 (en) image display device
JPS6444512A (en) Control system for autonomous traveling vehicle
CN108827336A (en) One kind being based on unpiloted paths planning method, device and equipment
EP0204516A3 (en) Vision system for distinguishing touching parts
JPS5748044A (en) Travelling lever device of slewable hydraulic excavator
JPS6444510A (en) Robot control device
CN106843221A (en) A kind of turn coordination control method and device of many agricultural robots
JPS56116114A (en) Branch control system for unmanned car
JPS6426915A (en) Controller for self-traveling vehicle
MY132412A (en) Vehicle running management method and system, and vehicle running assisting apparatus
JPS6478780A (en) Work shifter
CN105911994A (en) Automobile automatic driving system and usage method thereof
JPS5393533A (en) System for controlling unmanned travelling vehicles
JPH0466553U (en)
JPS6421612A (en) Method for guiding unmanned carrier
JPS5945607U (en) Automatic steering sensor structure for work vehicles
JPH03191403A (en) Traveling data processor for autonomous-traveling vehicle
JPS6479883A (en) Image pickup type boundary detector
PT102153A (en) Autonomous vehicle with versatile automatic driving control system
JPS6452531A (en) Controller for distance between two vehicles
JPH09146641A (en) Method for controlling automated guided vehicle

Legal Events

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