| 摘要 |
PURPOSE:To ensure the autonomous and smooth drive of a vehicle up to a target point from a starting point by performing the steering control of the vehicle at a steering angle set based on the distance data between the starting point and the target point and the vehicle attitude obtained at the starting point. CONSTITUTION:A picture processing means 102 detects the attitude of a vehicle as well as the distance between the vehicle and one of two white lines drawing at both ends of a driving course based on the pictures photographed by a CCD camera 2. Then a position calculation means 101 calculates the position of the vehicle at its starting point from the information issued from a map information input means 103. A target point is decided by a drive control means 104 and a steering control means 105 performs the steering control via the fuzzy control and based on the information on the target point. The vehicle is driven up to the target point from the starting point via a drive distance control means 10 and a drive motor driving means 106. In such a way, an autonomous and smooth steering curve is obtained, and therefore no rolling is produced to the drive of the vehicle.
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