JPS6444512A - Control system for autonomous traveling vehicle - Google Patents
Control system for autonomous traveling vehicleInfo
- 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
Links
- 230000010365 information processing Effects 0.000 abstract 1
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.
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)
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61255413A (en) * | 1985-05-09 | 1986-11-13 | Mitsubishi Electric Corp | Remote control system running device |
-
1987
- 1987-08-12 JP JP62199957A patent/JP2819551B2/en not_active Expired - Fee Related
Patent Citations (1)
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)
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 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |