초록 ▼

The position of the vehicle is detected by the position information from satellites and by the correction information based on the position data of a known point. On the other hand, the position of the vehicle is found based on the running histories since the reference point. Next, the difference be

The position of the vehicle is detected by the position information from satellites and by the correction information based on the position data of a known point. On the other hand, the position of the vehicle is found based on the running histories since the reference point. Next, the difference between the position data from satellites and the position data based on the running histories at each moment when the position data is received from satellites is calculated and those differences are averaged to obtain a correction value. Finally the current position of the vehicle is calculated by correcting the position data based on the running histories by the newest correction value. Consequently, in the autonomous running control system an accurate position of the vehicle can be found without stopping the vehicle, even when the position data from satellites does not have a sufficient accuracy. Thus, according to the present invention an efficient and accurate autonomous running can be achieved.

대표청구항 ▼

An autonomous running control system for controlling a vehicle so as to run said vehicle autonomously, comprising: a stationary station for receiving radio waves from a plurality of satellites at a stationary point where a position is known and for finding a position at said stationary point based o

An autonomous running control system for controlling a vehicle so as to run said vehicle autonomously, comprising: a stationary station for receiving radio waves from a plurality of satellites at a stationary point where a position is known and for finding a position at said stationary point based on said radio waves; differential information calculating means for calculating a difference between said position at said stationary point based on said radio waves and said known position in said stationary station and outputting said difference as a difference information; differential information transmitting means for transmitting said difference information from said stationary station to said system of said vehicle; first position finding means for receiving said radio waves from said plurality of satellites and for finding a first position at a point where said vehicle is running; differential information receiving means for receiving said difference information from said stationary station; first corrected position finding means for finding a corrected first position at said point where said vehicle is running based on said first position and said said differential information; running history detecting means for detecting a running history of said vehicle; second position finding means for finding a second position at said point where said vehicle is running based on said running history at the moment when said radio waves are received from said satellites; differential values calculating means for calculating a differential value between said corrected first position and said second position at each moment when said radio waves are received from said satellites; correction value calculating means for producing a correction value by averaging a predetermined number of said differential values; and final position finding means for finding a final position where said vehicle is currently located by correcting said second position with said correction value.