公开(公告)号：US4809178A

公开(公告)日：1989-02-28

申请号：US051831

申请日：1987-05-20

申请人： Yoshiki Ninomiya ,  Gunji Sugimoto ,  Takero Hongo ,  Keiichi Watanabe ,  Hideo Arakawa

发明人： Yoshiki Ninomiya ,  Gunji Sugimoto ,  Takero Hongo ,  Keiichi Watanabe ,  Hideo Arakawa

IPC分类号： G05D1/02

CPC分类号： G05D1/0272 ,  G05D1/0255 ,  G05D1/0274

摘要： An obstacle data processing system for an unmanned self-controlled vehicle, capable of enabling the vehicle to automatically avert any obstacle which lies in the course of running of the vehicle. The system has obstacle position memory device capable of accumulating position data concerning specific obstacles and, hence, forming data concerning the distribution of the obstacles. The vehicle therefore can conduct appropriate averting operation in accordance with the distribution of a plurality of obstacles.

摘要翻译： 一种用于无人驾驶的自控车辆的障碍物数据处理系统，其能够使车辆自动避开车辆行驶过程中的任何障碍物。 该系统具有能够累积关于特定障碍物的位置数据的障碍物位置存储装置，并且因此形成关于障碍物分布的数据。 因此，车辆可以根据多个障碍物的分布进行适当的避免操作。

公开(公告)号：US4860209A

公开(公告)日：1989-08-22

申请号：US170313

申请日：1988-03-18

申请人： Gunji Sugimoto ,  Takero Hongo

发明人： Gunji Sugimoto ,  Takero Hongo

IPC分类号： G05D1/02

CPC分类号： G05D1/0272 ,  G05D1/0255 ,  G05D1/0227

摘要： In a running command system for an unmanned vehicle, path information is stored, a current running state is compared with running command instruction data, an end of an operation corresponding to the running command instruction data is detected, and new running command instruction data corresponding to the next operation is generated upon detection of the end of the operation. The optimal running command instruction data can be set to cause the unmanned vehicle to travel along a running path whose information is stored in a running course memory, thereby accurately guiding the unmanned vehicle to a destination.

摘要翻译： 在无人驾驶车辆的运行命令系统中，存储路径信息，将当前运行状态与运行命令指令数据进行比较，检测与运行命令指令数据对应的动作结束，对应于运行命令指令数据的运行命令指令数据 在检测到操作结束时产生下一个操作。 可以设定最佳运行命令指令数据，使无人驾驶车辆沿其信息存储在行驶路线存储器中的运行路径行驶，从而将无人驾驶车辆准确地引导到目的地。

公开(公告)号：US07966127B2

公开(公告)日：2011-06-21

申请号：US11813037

申请日：2005-12-28

申请人： Eiichi Ono ,  Yoshiki Ninomiya ,  Yoshikatsu Kisanuki ,  Takero Hongo ,  Kiyokazu Sunami ,  Yuichi Tanaka ,  Kazunori Furukawa ,  Yoshikazu Hattori ,  Yuji Muragishi ,  Arata Takahashi ,  Yojiro Koike

发明人： Eiichi Ono ,  Yoshiki Ninomiya ,  Yoshikatsu Kisanuki ,  Takero Hongo ,  Kiyokazu Sunami ,  Yuichi Tanaka ,  Kazunori Furukawa ,  Yoshikazu Hattori ,  Yuji Muragishi ,  Arata Takahashi ,  Yojiro Koike

IPC分类号： G06F17/10

CPC分类号： B60R21/0134 ,  B60R21/36 ,  B60R2021/346 ,  B60T7/22 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W40/04 ,  B60W2420/52 ,  B62D15/0265

摘要： The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.

摘要翻译： 本发明提供一种能够在紧急情况下实现最佳回避控制的车辆运动控制装置。 车辆运动控制装置包括用于检测外部环境的外部环境检测单元和用于检测驾驶员车辆的行驶状态的行驶状态检测单元。 基于由外部环境检测单元检测到的外部环境来检测障碍物，并且创建指示障碍物的环境地图。 控制装置基于由行驶状态检测单元检测到的驾驶员车辆的环境映射和行驶状态来估计用于避免障碍物的多个可能的回避动作。 控制装置根据由回避动作估计部估计出的每个回避动作来估计碰撞破坏，并且基于所估计的碰撞破坏选择合适的回避动作。 控制装置控制车辆，使得执行所选择的回避动作。

公开(公告)号：US4700302A

公开(公告)日：1987-10-13

申请号：US673574

申请日：1984-11-21

申请人： Hideo Arakawa ,  Gunji Sugiyama ,  Koichi Tange ,  Takero Hongo ,  Yuzo Yamamoto ,  Hiroyuki Ohba

发明人： Hideo Arakawa ,  Gunji Sugiyama ,  Koichi Tange ,  Takero Hongo ,  Yuzo Yamamoto ,  Hiroyuki Ohba

IPC分类号： G05B13/04 ,  G05D1/02 ,  G06F15/50

CPC分类号： G05D1/0265 ,  G05D1/0272

摘要： An automatic guidance system for an unmanned vehicle causes the unmanned vehicle to move to a destination by a combination of traveling along a preset course, and turning and stopping at predetermined positions. A running control unit is provided to determine optimal control values in such a manner that a running state of the unmanned vehicle after a predetermined period of time is predicted by changing control values set in a drive unit in accordance with state values (e.g., position information and heading angle information) representing the current running state, and that the running state after the predetermined period of time matches with the directed operation of the unmanned vehicle, thereby accurately guiding the unmanned vehicle along the preset path.

摘要翻译： 用于无人驾驶车辆的自动引导系统使得无人驾驶车辆通过沿着预设路线行驶的组合以及在预定位置处转动和停止而移动到目的地。 提供运行控制单元以确定最佳控制值，使得通过根据状态值（例如，位置信息）改变设置在驱动单元中的控制值来预测在预定时间段之后的无人驾驶车辆的行驶状态 和方位角信息），并且在预定时间段之后的行驶状态与无人驾驶车辆的定向操作相匹配，从而沿着预设路径准确地引导无人驾驶车辆。