Title:
【発明の名称】無人車の走行制御方法
Document Type and Number:
Japanese Patent JP2996009
Kind Code:
B2
Abstract:
PURPOSE:To provide the travel control method for unmanned vehicle which can satisfactorily secure the convergency of steering concerning a geometrical control method. CONSTITUTION:Concerning this travel control method for unmanned vehicle, the vehicle is traveled along a guide line 5 while correcting a shifted amount ys of a car body center line C1 to the gude line based on magnetism sent from the guide line 5 detected by sensors 4a and 4b symmetrically disposed on the right and left sides of the car body center line C1 as the forward and backward center line of a car body 1. Then, a steering angle theta1 of a front wheel 2 is controlled based on an inter-sensor central point P4 as the intersection of the car body center line C1 and an inter-sensor center line C2, and a line segment P3-P1 connecting a point P3, where the convergency of steering calculated by the travel simulation of the unmanned vehicle is most satisfactory, on the car body center line C1 between the car body center line C1 and an inter-rear wheel central point P2 as the intersection with an inter-rear wheel center line C1, and a sensing point P1 as the intersection of the inter-sensor center line C2 and the guide line 5.
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Inventors:
Toshige Masashi
Application Number:
JP13343892A
Publication Date:
December 27, 1999
Filing Date:
May 26, 1992
Export Citation:
Assignee:
KABUSHIKI KAISHA MEIDENSHA
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Domestic Patent References:
| JP62175813A |
Attorney, Agent or Firm:
Toshiro Mitsuishi (1 person outside)