# US 2012/0083961 A1 · Control apparatus for autonomous operating vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2012/0083961 A1 - Document ID: US20120083961A1 - Status: Published application - Kind: A1 - Application number: 13/240,684 - Filed: 2011-09-22 - Published: 2012-04-05 - Earliest claimed: 2010-09-30 - Assignees: Honda Motor Co., Ltd. - Inventors: Kazuhisa Sato; Makoto Yamamura; Yoshinori Masubuchi - Web page: https://patentgrep.com/patent/US20120083961A1 ## CPC - G05D 1/0259: {using magnetic or electromagnetic means} - G05D 1/0265: {using buried wires} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract In an apparatus for controlling an autonomous operating vehicle having an operating machine and a magnetic sensor adapted to detect a border of a travel-scheduled area, the vehicle is controlled to travel around the area from a start point along the border to sequentially record traveling directions and traveled distances on a bitmap. The generated travel trajectory is transformed to map information. A position of the vehicle is detected using bits of the bitmap of the transformed map information, and the vehicle is controlled to, as traveling straight in the north-south directions, while perform the operation with the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from a geomagnetic sensor as a reference. ## Claims ### Claim 1 An apparatus for controlling an autonomous operating vehicle having a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while performing operation using the operating machine, comprising: a geomagnetic sensor adapted to produce an output indicative of geomagnetism acting in the travel-scheduled area; an angular velocity sensor adapted to produce an output indicative of angular velocity generated about a vertical axis in center of gravity of the vehicle; a wheel speed sensor adapted to produce an output indicative of a speed of the driven wheel of the vehicle; a direction and distance calculator adapted to calculate a traveling direction based on the output of the angular velocity sensor and a traveled distance based on the output of the wheel speed sensor; a travel trajectory generator adapted to drive the prime mover based on the calculated traveling direction so that the vehicle is traveled around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor and during the vehicle's round travel, to sequentially record the calculated traveling directions and the calculated traveled distances on a bitmap, defining the travel-scheduled area and comprising a plurality of divided bits, to generate a travel trajectory with respect to the border of the travel-scheduled area; a map information transformer adapted to transform the generated travel trajectory to map information composed of the bitmap; and a travel and operation controller adapted to determine a position of the vehicle using the bits of the bitmap of the transformed map information, and control the vehicle to, as traveling straight, perform the operation using the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from the output of the geomagnetic sensor as a reference. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the map information transformer determines whether a distance between an end point at time when the round travel is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel trajectory when the distance is determined to exceed the first prescribed value, while transforming the travel trajectory to the map information when the distance is determined not to exceed the first prescribed value. ### Claim 3 (depends on 2) The apparatus according to claim 2, wherein the map information transformer determines whether an azimuth difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the angular velocity sensor when the azimuth difference is determined to exceed the second prescribed value. ### Claim 4 (depends on 2) The apparatus according to claim 2, wherein the map information transformer determines whether an azimuth angle difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the wheel speed sensor when the azimuth angle difference is determined not to exceed the second prescribed value. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein the travel and operation controller determines whether a change in the output of the geomagnetic sensor during the vehicle's straight travel is less than a third prescribed value, and determines that the vehicle is traveled straight when the change is determined to be less than the third prescribed value. ### Claim 6 (depends on 5) The apparatus according to claim 5, wherein the travel and operation controller calibrates the output of the angular velocity sensor when the change is determined to exceed the third prescribed value. ### Claim 7 (depends on 1) The apparatus according to claim 1, wherein a unit area of the bit of the bitmap is set based on width of the operation performed through the operating machine. ### Claim 8 An apparatus for controlling an autonomous operating vehicle having a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while performing operation using the operating machine, comprising: geomagnetism output producing means for producing an output indicative of geomagnetism acting in the travel-scheduled area; angular velocity output producing means for producing an output indicative of angular velocity generated about a vertical axis in center of gravity of the vehicle; wheel speed output producing means for producing an output indicative of a speed of the driven wheel of the vehicle; traveling direction and distance calculating means for calculating a traveling direction based on the output of the angular velocity output producing means and a traveled distance based on the output of the wheel speed output producing means; travel trajectory generating means for driving the prime mover based on the calculated traveling direction so that the vehicle is traveled around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor and during the vehicle's round travel, and for sequentially recording the calculated traveling directions and the calculated traveled distances on a bitmap, defining the travel-scheduled area and comprising a plurality of divided bits, to generate a travel trajectory with respect to the border of the travel-scheduled area; map information transforming means for transforming the generated travel trajectory to map information composed of the bitmap; and travel and operation controlling means for determining a position of the vehicle using the bits of the bitmap of the transformed map information, and for controlling the vehicle to, as traveling straight, perform the operation using the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from the output of the geomagnetic sensor as a reference. ### Claim 9 (depends on 8) The apparatus according to claim 8, wherein the map information transforming means determines whether a distance between an end point at time when the round travel is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel trajectory when the distance is determined to exceed the first prescribed value, while transforming the travel trajectory to the map information when the distance is determined not to exceed the first prescribed value. ### Claim 10 (depends on 9) The apparatus according to claim 9, wherein the map information transforming means determines whether an azimuth difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the angular velocity output producing means when the azimuth difference is determined to exceed the second prescribed value. ### Claim 11 (depends on 9) The apparatus according to claim 9, wherein the map information transforming means determines whether an azimuth angle difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the output of the wheel speed output producing means when the azimuth angle difference is determined not to exceed the second prescribed value. ### Claim 12 (depends on 8) The apparatus according to claim 8, wherein the travel and operation controlling means determines whether a change in the output of the geomagnetic output producing means during the vehicle's straight travel is less than a third prescribed value, and determines that the vehicle is traveled straight when the change is determined to be less than the third prescribed value. ### Claim 13 (depends on 12) The apparatus according to claim 12, wherein the travel and operation controlling means calibrates the output of the angular velocity output producing means when the change is determined to exceed the third prescribed value. ### Claim 14 (depends on 8) The apparatus according to claim 8, wherein a unit area of the bit of the bitmap is set based on width of the operation performed through the operating machine. ### Claim 15 A method for controlling an autonomous operating vehicle having a prime mover, a driven wheel connected to the prime mover, an operating machine, and a magnetic sensor adapted to produce an output indicative of magnetic field generated at an electric wire laid along a border of a travel-scheduled area, the vehicle being driven by the prime mover to autonomously travel in the travel-scheduled area defined by the border detected based on the output of the magnetic sensor, while performing operation using the operating machine, comprising the steps of: obtaining a sensor output indicative of geomagnetism acting in the travel-scheduled area; obtaining a sensor output indicative of angular velocity generated about a vertical axis in center of gravity of the vehicle; obtaining a sensor output indicative of a speed of the driven wheel of the vehicle; calculating a traveling direction based on the sensor output indicative of the angular velocity and a traveled distance based on the sensor output of indicative of the wheel speed; driving the prime mover based on the calculated traveling direction so that the vehicle is traveled around from a predetermined start point along the border of the travel-scheduled area in accordance with the output of the magnetic sensor and during the vehicle's round travel, and sequentially recording the calculated traveling directions and the calculated traveled distances on a bitmap, defining the travel-scheduled area and comprising a plurality of divided bits, to generate a travel trajectory with respect to the border of the travel-scheduled area; transforming the generated travel trajectory to map information composed of the bitmap; and determining a position of the vehicle using the bits of the bitmap of the transformed map information, and controlling the vehicle to, as traveling straight, perform the operation using the operating machine based on the calculated traveling direction, the calculated traveled distance and the determined position, utilizing a primary reference direction obtained from the sensor output of the geomagnetism as a reference. ### Claim 16 (depends on 15) The method according to claim 15, wherein the step of map information transforming determines whether a distance between an end point at time when the round travel is finished and the predetermined start point exceeds a first prescribed value, and newly generates the travel trajectory when the distance is determined to exceed the first prescribed value, while transforming the travel trajectory to the map information when the distance is determined not to exceed the first prescribed value. ### Claim 17 (depends on 16) The method according to claim 16, wherein the step of map information transforming determines whether an azimuth difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the sensor output indicative of the angular velocity when the azimuth difference is determined to exceed the second prescribed value. ### Claim 18 (depends on 16) The method according to claim 16, wherein the step of map information transforming determines whether an azimuth angle difference between the end point at the time when the round travel is finished and the predetermined start point exceeds a second prescribed value when the distance is determined to exceed the first prescribed value, and calibrates the sensor output indicative of the wheel speed when the azimuth angle difference is determined not to exceed the second prescribed value. ### Claim 19 (depends on 15) The method according to claim 15, wherein the step of operation controlling determines whether a change in the sensor output indicative of the geomagnetism during the vehicle's straight travel is less than a third prescribed value, and determines that the vehicle is traveled straight when the change is determined to be less than the third prescribed value. ### Claim 20 (depends on 19) The method according to claim 19, wherein the step of operation controlling calibrates the sensor output indicative of the angular velocity when the change is determined to exceed the third prescribed value. ### Claim 21 (depends on 15) The method according to claim 15, wherein a unit area of the bit of the bitmap is set based on width of the operation performed through the operating machine.