To accurately estimate the position of the vehicle by integrating drive data by artificially driving the vehicle on a route, smoothing the drive data and generating smoothing data for forming a consistent course, and making the vehicle navigate on the route by using the smoothing data.
After a subtarget 40006 is selected, steering for driving the vehicle 102 toward the subtarget 4006 while avoiding an obstacle 4002 is determined. Obstacle detection is obtained from a laser distance scanner. Distance data generated by the scanner are processed so as to generate a list of polygons for modeling the part of the obstacle which can be viewed from the vehicle position. In order that new distance data can be used, the subtarget 4006 is generated by implementing a subtarget selecting method and an area (free space 4010) for safe navigation is determined for the steering determining method. The frequency that the subtarget selecting method can be implemented depends upon the rate that the scanner can gather data.
| WO/2010/052204 | DOCKING STATION APPARATUS |
| JPH11248478 | POSITION RECOGNITION SYSTEM |
GUDAT ADAM J
CHRISTENSEN DANA A
FRIEDRICH DOUGLAS W
STAFFORD DARRELL E
SENNOT JAMES W
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