公开(公告)号：US6138062A

公开(公告)日：2000-10-24

申请号：US887335

申请日：1997-07-02

Applicant: Masayuki Usami

Inventor： Masayuki Usami

IPC: B62D6/00 ,  B60W30/00 ,  B62D15/02 ,  G01S13/93 ,  G05D1/02 ,  G06T1/00 ,  G08G1/04 ,  G08G1/16 ,  G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0246 ,  B62D15/026 ,  B62D15/0265 ,  G05D1/0238 ,  G05D1/0257 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0253 ,  G05D2201/0213

Abstract: An automatic travel controlling device capable of reliably guiding a vehicle along a lane even if the white lane lines cannot be detected. A laser radar device for detecting the distance to a side wall of the lane is provided to the left and right in addition to a CCD camera for detecting the white lane lines. An image from the CCD camera is supplied to a image processor ECU, and an extracted white line is supplied to a vehicle controlling ECU. A vehicle controlling ECU drives a steering actuator to perform steering control based on two white lines of the lane when detected. However, when the white lines cannot be detected, steering control based on the distances to the side walls is performed. If an obstacle is detected ahead by the laser radar device, the vehicle position is detected based on the distances to the side walls and a lane change is performed to evade the obstacle.

Abstract translation: 即使不能检测白车道线，也能够沿车道可靠地引导车辆的自动行驶控制装置。 除了用于检测白车道线的CCD照相机之外，还向左右设置用于检测与车道侧壁的距离的激光雷达装置。 来自CCD摄像机的图像被提供给图像处理器ECU，并且提取的白线被提供给车辆控制ECU。 车辆控制ECU驱动转向致动器，以在检测到时基于车道的两条白线执行转向控制。 然而，当不能检测白线时，执行基于与侧壁的距离的转向控制。 如果激光雷达装置前方检测到障碍物，则基于与侧壁的距离来检测车辆位置，并执行车道改变以逃避障碍物。