Patent ID: 6085131
Filing Date: 2000-07-04
Classification: G05D

Abstract:
A method of controlling a driverless vehicle, comprising:(a) inputting a first image with a fixed camera, said fixed camera being fixedly mounted to a vehicle;(b) determining a tracing angle based on said image from said fixed camera, said tracing angle being an angle between a current traveling path of said vehicle and a desired traveling path of said vehicle;(c) determining whether said tracing angle is greater than a first reference angle;(d) rotating a movable camera, movably mounted to said vehicle, to a desired angular position based on said tracing angle when step (c) determines that said tracing angle is greater than said first reference angle;(e) inputting an image with said movable camera when step (c) determines that said tracing angle is greater than said first reference angle;(f) determining a new tracing angle based on said image from said movable camera when step (c) determines that said tracing angle is greater than said first reference angle; and(g) controlling a steering angle of said vehicle based on said new tracing angle determined in step (f) when step (c) determines that said tracing angle is greater than said first reference angle.