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US 11,442,461 B2Granted
Mobile vehicle
AssigneeKabushiki Kaisha Toyota Jidoshokki
InventorsMasaya Minamida, Takuto Mihoichi
Life of this patent
Estimating the term…
Abstract
A mobile vehicle includes one or more wheels, a sensor configured to detect the position of a follow target, and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target. The controlling section is configured to determine a change point at which the traveling direction of the follow target has changed based on the detection result of the sensor, and to set a target point based on the change point.
Claims13
A mobile vehicle comprising:
- one or more wheels;
- a sensor configured to detect a position of a follow target;
- and
- a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein
- the controlling section is configured to:
- store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals,
- determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and
- set a target point based on the change point,
- the change point is a position that corresponds to one of the pieces of the stored positional data and meets one or more conditions,
- a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and
- the one or more conditions include a condition that an absolute value of a coordinate on the second axis is greatest on the coordinate system.
8 more elements
A mobile vehicle comprising:
- one or more wheels;
- a sensor configured to detect a position of a follow target;
- and
- a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein
- the controlling section is configured to:
- store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals,
- determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and
- set a target point based on the change point,
- a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and
- the controlling section excludes, from candidates for the change point, a position at which an absolute value of a coordinate on the second axis is smaller than or equal to a threshold on the coordinate system.
7 more elements
A mobile vehicle comprising:
- one or more wheels;
- a sensor configured to detect a position of a follow target;
- and
- a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target, wherein
- the controlling section is configured to:
- store in a memory pieces of positional data of the follow target that have been detected by the sensor at predetermined time intervals,
- determine a change point at which a traveling direction of the follow target has changed based on the pieces of the stored positional data, and
- set a target point based on the change point,
- the change point is a position that corresponds to one of the pieces of the stored positional data and meets one or more conditions,
- a coordinate system is defined in which a directional axis from the mobile vehicle toward the follow target is a first axis, and a directional axis orthogonal to the first axis is a second axis, and
- the one or more conditions include a condition that an absolute value of a coordinate on the second axis is greater than a threshold on the coordinate system.
8 more elements
Dependencies are inferred from the claim text.