EP0488828A2
Expired / Lapsed
EP
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Control device of an autonomously moving body and evaluation method for data thereof
Assignee: Honda Motor Co Ltd
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Filing: 1991-12-02
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Granted: —
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Expires: 2011-12-02
Abstract
Abstract A control device of an autonomously moving body according to the present invention comprises at least one image pickup unit (101,102) which picks up the image of a moving road of an automatically moving body; an image processing unit (104,105,106) which processes a plurality of image data outputted from the image pickup unit and detects and outputs the condition of said moving read, or an outside information obtaining unit (103) which obtains environmental information other than image; a storage means (110) which stores data outputted from said image processing unit or said outside information obtaining means; a data control section (109) which corrects said data stored in said storage means to data of an arbitrary time and position; a data evaluating section (111) which integrates a plurality of data outputted from said data control section into one moving road data; and a control section (114,116,117) which controls the movement of the autonomously moving body according to the moving road data outputted from said data evaluating section.
Inventors
- 👤 Hiroshi Tsujino
- 👤 Hiroshi Hasegawa
- 👤 Yoshiaki Sakagami
- 👤 Hirokazu Yamashita
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 14:54
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; B; B60; B60W; B60W60/00; B60W60/001; G05D1/0255; G05D1/0268; G05D1/0272; G06; G06V; G06V10/00; G06V10/40; G06V10/44; G06V10/457; G06V20/00; G06V20/50; G06V20/56; G06V20/588; B60W2420/00; B60W2420/40; B60W2420/403; B60W2552/00; B60W2552/53; G05D1/0242; G05D1/0251; G05D1/0274
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
161 words
A control device of an autonomously moving body comprising: at least one image pickup unit (101,102) which picks up the image of a moving road of an autonomously moving body; an image processing unit (104,105,106) which processes a plurality of image data outputted from the image pickup unit and detects and outputs the condition of said moving road, or an outside information obtaining unit (103) which obtains environmental information other than image; a storage means (110) which stores data outputted from said image processing unit or said outside information obtaining unit; a data control section (109) which corrects said data stored in said storage means to data of an arbitrary time and position; a data evaluating section (111) which integrates a plurality of data outputted from said data control section into one moving road data; and a control section (116,117) which controls the movement of the autonomously moving body according to the moving road data outputted from said data evaluating section.
Claim 2
Dependent Claim
97 words
A control device as claimed in claim 1 further comprising: an environmental description making section(112) which accumulates the moving road data outputted from said data evaluating section, and holds and controls said moving road data as an environmental description; and a motion control supervisor (114) which plans the movement schedule of said autonomously moving body in accordance with an environmental description made by said environmental description making section, and instructs its movement at the same time; said control section controlling the movement of said autonomously moving body in accordance with the instruction of said motion control supervisor.
Claim 3
Dependent Claim
54 words
The control device of an autonomously moving body according to claim 2, comprising a locus estimating section (115) which detects the movement amount by a sensor (118,120) provided to said autonomously moving body, and outputs the detected movement amount to the data control section, the environmental description making section, and the motion control supervisor.
Claim 4
Dependent Claim
52 words
The control device of an autonomously moving body as defined in claim 1, 2 or 3, wherein the image processing unit which executes a plurality of image data processings or the outside information obtaining unit which obtains information other than image, is composed of respectively independent modules (104,105,106) and conduct non-synchronous processing.
Claim 5
Dependent Claim
39 words
The control device of an autonomously moving body as defined in any preceding claim, wherein the data control section corrects the data stored in the storage means to the data of time and position designated by a request signal.
Claim 6
Dependent Claim
54 words
The control device of an autonomously moving body as defined in claim 5, wherein the data control section projectively transforms the latest positional data stored in the storage means, onto a coordinate of the moving road surface, and corrects the transformed data to a positional coordinate of the time designated by a request signal.
Claim 7
Dependent Claim
66 words
The control device of an autonomously moving body as defined in claim 6, wherein the data evaluating section removes wrong data from a plurality of moving road data which is corrected to a positional coordinate of the same time and outputted from the data control section, and integrates and outputs a plurality of data which has been judged appropriate to be used as moving road data.
Claim 8
Dependent Claim
75 words
The control device of an autonomously moving body as defined in claims 2 and 7, wherein the environmental description making section integrates the moving road data outputted from the data evaluating section with past moving road data outputted from the data evaluating section, and the environmental description making section holds the integrated data as a environmental description and takes out the moving road data of an arbitrary time in the past from said environmental description.
Claim 9
Dependent Claim
59 words
The control device of an autonomously moving body as defined in claim 8, wherein the data control section outputs the moving road data taken out from the environmental description making section, to said image processing unit or said outside information obtaining unit, when the image processing unit or the outside information obtaining unit requires past moving road recognition data.
Claim 10
Dependent Claim
53 words
The control device of an autonomously moving body as defined in claim 9, wherein the motion control supervisor forms a plan of movement at the present time according to an environmental description outputted from the environmental description making section, and outputs a command of movement at the present time to the control section.
Claim 11
Dependent Claim
139 words
An evaluation method for a vehicle moving road, characterized in that: not less than one sequence of points data is inputted which has been extracted from vehicle moving road data, the image of which was taken by an image pickup device, and which is corrected to be data of the same time; the sequence of points data is held structured to a level of a line and point, and the conditions of the line and point composing the vehicle moving road are described as a model; likeness of the aforementioned sequence of points data to a vehicle moving road is judged by a predetermined rule in which a model is used as verification reference; and the aforementioned inputted sequence of points data is transformed into one reasonable datum of the vehicle moving road according to the said judgment result.
Claim 12
Dependent Claim
93 words
The evaluation method for a vehicle moving road according to claim 11, characterized in that the conditions of the model are composed in such a manner that: the vehicle moving road has a predetermined width; line segments composing the vehicle moving road are smoothly connected; the number of points composing the vehicle moving road exist in not less than a predetermined number; the data of the vehicle moving road does not exist outside a measurement range; and the data of the vehicle moving road does not exist outside the vehicle moving road region.
Claim 13
Dependent Claim
79 words
The evaluation method for a vehicle moving road according to claim 11 or claim 12, characterized in that: a predetermined rule in which a model is used as verification reference, comprises a rule: that the distance between a point composing one end of the boundary of the vehicle moving road and a segment composing the other end of the vehicle moving road, is within a predetermined range; and the boundary segments of the vehicle moving road are connected smoothly.
Claim 14
Dependent Claim
124 words
The evaluation method for a vehicle moving road according to claim 11, claim 12 or 13, wherein the aforementioned evaluation method has a predetermined rule having a model as a verification reference, characterized in that: the sequence of points expressing a vehicle moving road region is shown by vector expressing a region; an outer product between a point of the sequence of points data appearing to compose the vehicle moving road region and the vector is calculated according to the result of this calculation, and it is judged whether or not the point is in the vehicle moving region; and likeness between the sequence of points data which appears to compose the aforementioned vehicle moving road region to the vehicle moving road is judged.
Claim 15
Dependent Claim
69 words
The evaluation method for a vehicle moving road according to any of claims 11 to 14 characterized in that: when a plurality of sequence of points data exist, the processing to transform a plurality of input sequence of points data into one appropriate vehicle moving road data determines output data on the basis of a priority according to the image pickup characteristic of a plurality of image pickup devices.
Claim 16
Dependent Claim
79 words
The evaluation method for a vehicle moving road according to any of claims 11 to 15, characterized in that: when input sequence of points data appearing to be a vehicle moving road does not exist, the processing to transfer a plurality of inputted sequence of points data into one appropriate vehicle moving road data is conducted in a manner that appropriate points among the aforementioned plurality of input sequence of points data are joined and transformed into output data.
References Cited (Backward Citations)
No citation records indexed.
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