MOVING BODY CONTROL DEVICE, MOVING BODY, MOVING BODY CONTROL METHOD, AND PROGRAM

WIPO Patent Application WO/2020/170842

A1

A moving body control device controls a moving body traveling along a predetermined track. The moving body control device is provided with: an information acquisition unit for acquiring moving-body-specific information that includes a bogie position and a vehicle body mass, a moving body position, a moving body speed, and track information that includes curvature for each position of the track; and a feed-forward steering angle calculation unit for calculating a steering angle by using the moving-body-specific information, the moving body position, the moving body speed, and the track information. The feed-forward steering angle calculation unit calculates the steering angle according to the sum of: a kinematic component calculated on the basis of the geometric relationship between the bogie position and the curvature of the track at the moving body position; and a kinetic component calculated on the basis of an equation of motion that includes the bogie position, the vehicle body mass, the moving body speed, and the curvature and the curvature change rate of the track at the moving body position.

OKAZAKI HIROTAKA (JP)
YANAI NORITAKA (JP)

PCT/JP2020/004610

August 27, 2020

February 06, 2020

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MITSUBISHI HEAVY IND ENG LTD (JP)

B61B13/00; B61F5/38; B61F5/44

WO2014128889A1

2014-08-28

JP2002351544A	2002-12-06
JP2002215239A	2002-07-31
US5979581A	1999-11-09
US20070119332A1	2007-05-31
JP2019156387A	2019-09-19

MATSUNUMA Yasushi et al. (JP)

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