Title:
RUNNING VEHICLE
Document Type and Number:
Japanese Patent JPS5977517
Kind Code:
A
Abstract:
PURPOSE:To secure safety and work efficiency by discriminating whether an obstacle is a static object or a moving object, when a sensor detects the object in the course of running, and executing running control corresponding to a result of its discrimination. CONSTITUTION:When an ultrasonic sensor 5A detects an obstacle 11E, a distance l1 to this obstacle is measured repeatedly by the sensor 5A. Subsequently, a distance l0 where a car body 1 moves during a time t0 interval in which the sensor 5A transmits intermittently an ultrasonic wave is measured by a distance sensor, and a forecasting distance l2 to the obstacle 11E, which is varied during the time t0 is calculated. Subsequently, this forecasting distance l2 is compared with the actual distance l1 to the obstacle 11E measured by the sensor 5A, and in case when this distance l1 is within an allowable error range to the distance l2, the obstacle is discriminated as a static object, avoiding control is executed, and in case when said distance becomes out of the allowable error range, the object is discriminated as a moving object, running is stopped automatically by operating a speed change gear.
Inventors:
ITOU KATSUMI
FUJIWARA OSAMI
FUJIWARA OSAMI
Application Number:
JP18838682A
Publication Date:
May 04, 1984
Filing Date:
October 27, 1982
Export Citation:
Assignee:
KUBOTA LTD
International Classes:
B60K31/00; B60R21/00; B60W30/00; B61B13/00; A01B69/00; B62D1/24; G05D1/02; G01S15/931; (IPC1-7): A01B69/00; B61B13/00; G05D1/02
Domestic Patent References:
| JPS5824910A | 1983-02-15 |
Attorney, Agent or Firm:
Kitamura Osamu