Title:
【発明の名称】自律走行車
Document Type and Number:
Japanese Patent JPH081563
Kind Code:
B2
Abstract:
PURPOSE:To accurately measure the distance between an autonomous traveling vehicle and a guide line set along the side direction of the vehicle by deciding whether a steering operation of the vehicle is carried out to travel on a curve or to avoid an obstacle and changing the detecting direction of a distance detection means. CONSTITUTION:A decision means 8A decides whether a steering operation due to the control of a steering procedure 9 carried out by a steering control means 8B is required to perform an autonomous travel of a vehicle or to avoid an obstacle. When the latter operation is decided, by the means 8A, a direction changing means 4 turns a distance detection means 1 in response to the steering value in the direction opposite to the steering direction. Thus the distance detecting direction is changed by the means 4. When the means 8A decides the steering operation needed for travel on a curve, the means 4 turns the means 1 in response to the steering value in the direction equal to the steering direction and changes the distance detecting direction. Thus it is possible to accurately measure the distance between the vehicle and a guide line 5 set along the side direction of the vehicle in both states where the vehicle avoides an obstacle existing on the traveling course surface and travels on a curve.
Inventors:
Yamada Katsunori
Application Number:
JP17992889A
Publication Date:
January 10, 1996
Filing Date:
July 12, 1989
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Domestic Patent References:
| JP6265110A | ||||
| JP63259705A | ||||
| JP62173350A | ||||
| JP62117012A | ||||
| JP62154510U |
Attorney, Agent or Firm:
Fuyuki Nagai
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