Title:
移動体の制御装置
Document Type and Number:
Japanese Patent JP7065069
Kind Code:
B2
Abstract:
The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.
More Like This:
Inventors:
Masaki Goto
Shinya Shirokura
Makoto Hasegawa
Shinya Shirokura
Makoto Hasegawa
Application Number:
JP2019234133A
Publication Date:
May 11, 2022
Filing Date:
December 25, 2019
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
G05D1/02; B60L15/20; B62K17/00
Domestic Patent References:
| JP7110711A | ||||
| JP2012090409A | ||||
| JP2005293154A | ||||
| JP2014193691A |
Foreign References:
| KR1020080099535A |
Attorney, Agent or Firm:
Creation International Patent Office