JPS60112110A - Induction control device for unattended car - Google Patents

Abstract

PURPOSE:To attain smooth movement while changing smoothly a mobile speed and turning angle of an unattended car by changing little by little a value of a control amount set to a driver in a shorter time interval thant the time required for control operation. CONSTITUTION:A control operation means 5 of a running controller 3 samples information of the running state measuring device 1 of an unattended car at each discrete time and operates a set amount to drive a driver 4 so as to correct the shift from a set course by a running command device 2 based on the information. A drive amount operating means 6 of the controller 3 changes little by little the control variable set to the driver 4 in a time interval shorter than the time interval as the result of sampling and operation of the operating means 5 for the running state so as to prevent rapid change of the drive amount of the driver 4 from being caused. Thus, smooth running without sudden change in the drive amount is attained in this way.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a guidance control device for an unmanned moving vehicle.

In this type of unmanned vehicle, a control method is widely used in which a microcomputer or the like is used to control the running of the vehicle, and calculations are performed at certain time intervals, and the results are set as control variables in the drive device. There are various types of driving means for such unmanned vehicles, but basically they perform arbitrary movements by combining movements with two degrees of freedom: movement in one direction and turning to change the direction of movement. There is. In the above-mentioned control method for entering a vehicle, the calculated control variables are the moving speed and turning angular velocity, or the steering angle of the steered wheels and the rotational speed of the driving wheels calculated from these, and these values are Travel control was performed by setting each calculation time interval. However, according to such a control method, the value set in the drive device changes discontinuously at each calculation time interval, so if the calculation takes a long time, the moving speed or turning angular speed of the unmanned vehicle may be suddenly changed. This had the disadvantage that the movement would not be smooth. Therefore, in order to make the movement smooth, it is necessary to use a high-performance computing device for the control calculation, and when the system is started, stopped, or accelerated/decelerated, it is necessary to There is a possibility that the value set in the drive device changes greatly and the drive device becomes unable to follow it, and in the worst case, it deviates significantly from the d path. Also, even if the drive device is
Even if it were able to follow the set value, a shock would be applied to the unmanned vehicle and the loaded luggage, so it was necessary to prevent such sudden changes in speed from occurring.

One way to prevent such sudden changes in the set value of the drive device is to change the travel speed in small increments in advance if a situation where the set value of the travel speed changes suddenly, such as when starting or stopping. It is common practice to prepare a pattern for the control amount to be set so as to perform m control by setting the control amount according to this pattern. In this method, the program for calculating the control amount becomes complicated because the control calculations are changed depending on the start, stop, etc., and 74 turns of movement speed are generated2. There were drawbacks. In addition, even with this method, if calculation time is required and the time interval for setting the control amount becomes long, the acceleration or deceleration cannot be large enough to avoid large changes in the set value, resulting in insufficient control. However, it also had the disadvantage of not being able to increase movement speed.

Another method is to apply a Ronosos filter to the calculated control amount and set it in the drive device, but with this method, the time delay until the control amount calculated by calculation is actually driven. This will increase the number of elements,
There was a risk that the control would become unstable, causing the vehicle to drift or impair driving control performance.

That is, in the driving control of an unmanned vehicle in this 1, if only the deviation from the route is corrected, the time interval for changing the set value for the drive device may be lengthened, but conversely, the time interval for changing the set value for the drive device may be lengthened. The accompanying speed fluctuations caused jerky movements. In order to suppress this, speed fluctuations are suppressed by controlling at short time intervals by sacrificing control performance as described above or using a computing device with more computing power than necessary, which is extremely wasteful as a travel control device. It had a structure with many.

The present invention enables a conventional travel control device to set a set value of 4 to a drive device.
This was done in order to solve these deficiencies that had arisen because the time interval for running the vehicle and the time interval for running control calculations based on the running state were the same. In order to achieve this, by gradually changing the value of the control amount set by the drive device r at time intervals shorter than the time required for control calculations performed based on information regarding the driving state of the unmanned vehicle, the moving speed and turning angular velocity of the unmanned vehicle can be adjusted. In addition to making smooth movements by making small changes, it also prevents large changes in travel speed and turning angle speed (which the drive device would not be able to follow if the control amount was set at the time interval required for calculation). Set it up in small changes,
The present invention aims to prevent deviation from the route caused by the difference between the control amount set in the drive device and the actual drive amount by making the drive device follow this, thereby realizing accurate running. This is the purpose of

Furthermore, while performing a predetermined movement, the movement acceleration and turning angle acceleration are determined by control calculation so that the absolute value thereof does not exceed a predetermined value, and the rate of change obtained by integrating these is determined as a movement speed that is limited. In order for the unmanned vehicle to be driven at a turning angular velocity of 1, the driver can be driven smoothly by setting the value of the control variable corresponding to the moving speed and the turning angular velocity that change for this purpose at sufficiently short time intervals for the drive device. It is another object of the present invention to provide an unmanned vehicle that can move with ease and travel with less speed change, that is, less shock during acceleration and deceleration.

The basic configuration of the travel control device according to the present invention will be explained using the drawings. FIG. 1 shows the basic configuration and first aspect of the present invention, and the travel control device 3 is composed of a control calculating means 5 and a movement amount calculating means 6. As shown in FIG.

The control calculation means 5 samples the information of the driving state measuring device 1 of the unmanned vehicle at each discrete time, and based on the information, the drive device 4 corrects the deviation from the course set by the driving command device 2. It has the function of calculating the set amount for driving the motor. The driving amount calculating means 6 is shown in FIG.
Based on the calculation result of the control calculation means 5 as shown in a), the control amount to be set in the drive device 4 is calculated by sampling the running state as shown in FIG. 3(b). The driving amount of the driving device is changed little by little at time intervals shorter than the interval to prevent sudden changes in the driving amount of the driving device. As a result, unmanned vehicles can
Since it is possible to run smoothly without sudden changes in the amount of drive, there is no need to use a computing device with excellent computing power for this purpose and to shorten the time interval for control calculations to make the movement smooth. Furthermore, the cost of the arithmetic device can be reduced.

Furthermore, in the first aspect of the present invention, the control calculation means 5 calculates the travel acceleration by sampling the running state in order to correct deviation from the course set as the value set in the drive amount calculation means 6. and the turning angle acceleration. Then, the driving amount calculating means 6 calculates the moving speed and turning angular velocity that change continuously over time obtained by integrating the moving acceleration and the turning angular acceleration, and calculates the unmanned vehicle using the moving speed and the turning angular velocity. A control amount to be set in the drive device 4 for driving is determined. Accordingly, the unmanned vehicle is driven by the movement acceleration and turning angle acceleration calculated by means 5 as control variables. Therefore, the control calculation means 6 determines how the moving speed and turning angular velocity of the unmanned vehicle will change based on the set values for the driving amount calculating means 6, and also determines the position and orientation of the unmanned vehicle driven by the moving speed and turning angular velocity. Since it is possible to easily predict these running conditions, such as what will happen to the vehicle, it is possible to easily calculate the moving acceleration and turning angle acceleration that will cause the device to follow the set route. Control performance can be improved.

FIG. 2 shows a second aspect of the present invention, in which the absolute values of the moving acceleration and turning angle acceleration calculated by the control calculation means 5 are limited if they exceed a predetermined value. A set value limiting means 7 is provided to drive the unmanned vehicle at the moving speed and turning angular velocity obtained by integrally calculating the moving acceleration and turning angular acceleration whose absolute values are limited by the drive amount calculating means. The control amount to be set in the drive device 4 is determined as follows. With this configuration, the movement of the unmanned vehicle is limited in its movement acceleration and turning angle acceleration, which not only reduces the impact when starting or stopping, but also allows the unmanned vehicle to move within the range of the driving force of the drive device. Since it can be driven, it is possible to prevent deviation from the path caused by the inability of the driving device to follow the value of the control amount set by calculation.

As described above, according to the present invention and its aspects, it is possible to smoothly start, run, and stop an unmanned vehicle without the need for complex calculations such as acceleration, deceleration, and turns. In addition, the constraints on the calculation time for calculating the control amount are relaxed, and good driving performance can be obtained with a relatively simple calculation device.

Examples of the present invention will be described in detail below.

FIG. 4 is a block diagram showing the configuration of an unmanned vehicle guidance control system according to an embodiment of the present invention.

As shown in the figure, this device includes a driving condition measuring device 1 that detects the driving condition of an unmanned vehicle and outputs the information, and a driving command device 2 that outputs driving command data that determines the operation of the unmanned vehicle.
Based on the respective outputs of the driving condition measuring device 1 and the driving command device 2, a driving control device 3 outputs a control amount to smoothly perform operations according to the commands, and It consists of a drive device 4 that drives the unmanned vehicle according to a set control amount.

The driving state measuring device 1 includes a measuring wheel rotation amount detecting device 11 that detects the rotation of a measuring wheel provided on an unmanned vehicle, a position/azimuth calculation circuit 12 that calculates the position and orientation of the unmanned vehicle from the detected amount of rotation, and a current driving state measuring device 1. A speed calculation circuit 13 calculates the moving speed and rotational angular speed of the drive unit 4 from the set amounts for the drive device 4.

The travel command device 2 includes a travel command data storage device 21 that stores travel command data such as the route to be traveled and the travel speed. A driving command data setting circuit 22 that reads and sets driving command data to be output to the driving control device 4' from a driving command data storage device 21, and the driving command data held in the circuit 22 and the output of the driving state measuring device 1. and a driving state comparison circuit 23 which compares the information and determines when to set the next set amount of driving command data.

The running control device 3 includes a control calculation circuit 31, a set value limit n-way 32, and a drive amount calculation circuit 33, and receives information about the driving condition from the driving condition measuring device 1, that is, the moving speed measured while driving. It receives measurement data such as turning angular velocity, position, and direction, and also receives travel command data such as automatic travel along a set route, or stopping and turning at a set point from the travel command device 2.

The control calculation circuit 31 samples these measurement data and travel command data at every time interval T, calculates the error between the travel command data and the travel state from the sampled information, and further calculates the travel acceleration and the travel command data to correct the error. The turning angle acceleration is calculated according to a predetermined formula. That is, the moving speed error calculation circuit 301 calculates the difference ΔV between the moving speed set in the travel command data and the measured moving speed,
The movement acceleration calculation circuit 305 calculates the movement acceleration av by multiplying the above ΔV by a predetermined constant kv. That is, the movement acceleration calculation circuit 305 calculates av=kv・AV
・・・・・・・・・・・・We will take the time to calculate (1).

Further, the turning angular velocity error calculation circuit 302 calculates the difference Δω between the set turning angular velocity and the measured turning angular velocity, and the route error calculation circuit 303 calculates the error e between the set route (see FIG. 7) and the measured position. The direction error calculation circuit 30
Step 4 calculates the difference Δθ between the set tangential direction and the measured direction. The turning angle acceleration calculation circuit 306 obtains Δω.

From e and Δθ, perform the calculation shown in the following formula to obtain the turning angle acceleration aω
get.

aω = ω・Δω+k (e+ has θ・Δθ・・・・・・
(2) However, 'kljJ' + k6 + kθ is a predetermined constant. The moving acceleration av and turning angle acceleration aω determined by the control calculation circuit 31 are output at the time interval T, and are outputted from the absolute value limiting circuits 321 and 322. The set value limiting circuit 32 is configured to limit their absolute values so that they do not exceed predetermined values AV and Aω. A
V and Aω are determined from 1 to 1 in consideration of the performance of the drive device and the permissible range of impact on the vehicle and the loaded object.

The drive amount calculation circuit 33 calculates the movement acceleration and the turning angle acceleration whose values are limited by the time interval T(
(see Fig. 3(, )) at a shorter time interval (see Fig. 3(b)).
) Reference ゛) The moving speed V and the turning angular velocity ω are determined by performing integral calculations by the integral calculation circuits 332 and 331, respectively. Furthermore, this moving speed V and turning angular velocity ω
Absolute value limiting circuits 334 and 333 respectively limit the magnitude so that it does not exceed predetermined values V and Ω,
The drive wheel rotation amount calculation circuit 335 uses this limited movement speed V. and turning angular velocity ω. It also calculates the amount of rotation of the drive wheels that drive the unmanned vehicle. Note that ■ and Ω are set in consideration of the performance of the drive device and the danger during driving.

Is the rotation amount information outputted by the drive wheel rotation amount calculation circuit 335 the server of the drive device 4? 7'41, and the drive motor 42 is driven by its output.

It should be noted that each circuit in this embodiment can be easily constructed by suitably combining various known analog arithmetic circuits or digital logic circuits according to the content of the operation using a well-known method. For example, the absolute value limiting circuit 321
, 322, integral calculation circuit 331. , 332 and the drive wheel rotation amount calculation circuit 3350 can be configured as an analog calculation circuit as shown in FIG. That is, absolute value limiting circuits 321 and 322 which are amplitude limiting circuits constituted by Zener diodes and operational amplifiers for voltage signals corresponding to moving acceleration av turning angle acceleration aω
an integral calculation circuit 331 whose amplitude is limited by a resistance capacitor, a Zener diode, and an operational amplifier;
3'32, the magnitude of the absolute value is converted into a limited moving speed and turning angular velocity, and the driving wheel rotation amount calculation circuit 335, which is an addition/subtraction circuit constituted by a resistor and arithmetic intensifier, calculates the left and right rotational speed. This can be achieved by generating a voltage signal corresponding to the drive wheel rotation speed.

Further, instead of performing the various calculations described above using a hardware configuration using a dedicated calculation circuit, it is practically advantageous to use a microcomputer and perform the calculations using a program therefor.

Below, an embodiment of a rust control device for an unmanned vehicle using the microcomputer will be described.

FIG. 6 is a block diagram showing the functional configuration of an embodiment using the microcomputer.

The control calculation means 5 receives position and orientation information from a program that calculates the position and orientation based on the amount of rotation of the measurement wheel, route and speed information from the travel command data setting program, and also receives information about the route and speed from the travel control device. Information on the moving speed and turning angular velocity is obtained from the program that implements the drive amount calculating means 6, and based on this information, the moving speed error ΔV and the turning angular velocity error Δω are calculated.
, a route error e, and an azimuth error Δθ, and execute a program that calculates a moving acceleration av and a turning angle acceleration aω from these errors.

In the control calculation program of the travel control device, first, travel command data and travel state information are compared, and the difference ΔV between the travel speed set by the travel command data and the travel speed measured from measurement 1 to 1 is determined.
, the difference Δω between the similarly set turning angular velocity and the measured turning angular velocity, the error e between the set route t and the measured position shown in FIG. 7, and the difference between the tangential direction of the set route and the measured azimuth. Calculate Δθ. Meda AV by calculation
, Δω.

e, Δθ, the movement acceleration av according to the above equations (1) and (2).

Turning angle acceleration a. Calculate.

In other words, the moving acceleration a calculated based on equation (1)
y'+ and turning angle acceleration a calculated based on equation (2). If you drive an unmanned vehicle by If the measured angular velocity is smaller than the angular velocity, it will be accelerated, and if it is larger, it will be decelerated, so it will turn at the set turning angular velocity.If it deviates from the path to the right, it will turn to the left, and if it deviates to the left, it will turn to the right. The moving acceleration av and the turning angle determined by the error calculation are generated by generating an angular acceleration in a direction that corrects the azimuth error Δθ so that the direction of travel is along the route. This is achieved by executing a set value limiting program having a flow as shown in FIG. 8, which limits the absolute value of the acceleration aω so that it does not exceed predetermined values AV and Aω, respectively. AV,
Aω is determined based on the performance of the drive device and the permissible range of impact on the vehicle and the loaded object. By calculating such a set value restriction program, it is possible to restrict the absolute value of a y r &ω so that it does not exceed AV and Aω.

The drive amount calculation means 6 performs the operations according to the flow chart shown in FIG. This is realized by executing the program shown below and changing the values set in the DA converters 43L and 43R to the servo amplifiers 41L and 41R that drive -E-1' 42L and 42R. In the drive amount calculation program, the absolute value obtained by the set value limitation program is used as the limited movement acceleration av
and the turning angle acceleration aω to determine the current moving speed V.

and turning angular velocity ω. The products of av, aω and τ are added and integrated, and the moving acceleration av and the turning angular acceleration aω are integrated to calculate the moving speed V and the turning angular velocity ω. V is limited so that the absolute value of V and ω obtained by the calculation is smaller than a predetermined value of V and Ω. .

Driving wheels 45L arranged on the left and right drive the unmanned vehicle in this embodiment so that it can be driven at ω0.

Calculate the rotation amount of 4'5R and use servo amplifier 41L.

41R via DA converters 43L and 43R.

(2) Ω gives the limit values for the moving speed and turning angular velocity, and is set in consideration of the performance of the drive device and the danger during running.

Now, in the operating system 8 of this travel control device, the calculation of the control calculation program, the set value limit program, and the calculation of the drive amount calculation program are performed in different cycles. That is, the control calculation program is calculated with a period T, and the drive amount calculation program is calculated with a period τ. τ is smaller than T, and even when the control calculation program is being executed, the execution is interrupted by a certain interrupt process, and the drive amount calculation program is executed. That is, as shown in Fig. 10, the period τ
The drive amount calculation program is executed periodically at , and during the time when the drive amount calculation program is not being executed, the control calculation program is executed at a cycle T, and when the calculation is completed, the set value limit program is executed subsequently. Ru. this,
As a result, control calculations are performed by Kawaaki T with one 74-chrome computer 9.
However, the setting value for the drive device can be changed at the cycle τ, and the drive amount can be changed smoothly.

FIG. 11 shows a configuration example of an unmanned vehicle according to an embodiment of the present invention. This unmanned vehicle uses a storage battery 201 as its power source and has left and right drive wheels 205L and 205Ri deceleration mechanisms.

A rotation transmission system 204L consisting of a clutch, brake, etc.

%-1203L and 203R are rotated independently through 204R. Drive wheel 205L.

The rotation speed of 205R is determined by rotary encoder 206L.
, 206R so that the rotation speed matches the set value.
Controls the rotation speed of 03L and 203R. Driven wheel 211
The so-called caster structure makes it possible to freely change the direction of the wheels.

The driving wheels 205L and 205R are connected to respective axles 215.
L and 215R, the axis of which coincides with the center line of the unmanned vehicle 216, and the left and right wheels can rotate independently. In this unmanned vehicle, the left and right drive wheels are rotated in the same direction 1 (at the same number of rotations to move straight ahead), and by rotating the left and right drive wheels in the opposite direction at the same number of rotations, the vehicle can turn on the spot around the center point 212 of the unmanned vehicle. In other words, the left and right drive wheels 2
15L.

The vehicle moves by an amount proportional to the sum of the rotational speeds of the 215R and turns by an amount proportional to the difference in rotational speed, so controlling the rotation of the left and right motors satisfies the function of driving the vehicle for movement and turning. The arithmetic device 209 and the storage device 210 are so-called micro-
It constitutes a computer 9. Measuring wheel 207L,
2o7R is axle 217'L.

217R, and its axis coincides with the axis of the drive wheel. The measurement wheels 2o7L and 2o7R rotate independently of the drive wheels 205L and 205R, and their rotation speeds are detected by rotary encoders 208L and 208R, respectively. Measuring wheel 207L.

The rotation speed of 207R is sent to the arithmetic unit 209.

Measuring wheels 207L, 207R'i'l These are used to generate data to determine the position and direction of the unmanned vehicle and to calculate the deviation from the route.Although drive wheels can be substituted, In view of errors caused by slips between the two, it is better to provide them separately as in this embodiment.

By causing the microcomputer 9 of the unmanned vehicle in this embodiment to execute the functions shown in FIG. 4 using a program to determine set values for the drive device, the absolute values of the moving acceleration and turning angle acceleration are limited, and furthermore, they are Since the vehicle is driven with a drive amount that changes small over short time intervals, such as traveling at the integral movement speed and turning angular velocity, these changes smoothly and not only do not cause any shock to the unmanned vehicle. By setting these limit values in advance within the range of the driving force of the motor, this drive amount calculation means can calculate the rotation speed of the left and right drive wheels set in the drive device and the rotation speed of the drive wheels actually obtained. It is possible to reduce the error with respect to the servo device, and it is possible to prevent errors related to running caused by the followability of the servo device.

In addition, even when starting or stopping, the vehicle is driven with such limited movement acceleration and turning angle acceleration, so it is possible to start and stop smoothly without using special movement speed or turns. can.

Additionally, if the speed conversion function is operated and calculated in a relatively short cycle, smooth running can be achieved even if the control amount calculation is performed in a long cycle, which has the advantage of not requiring high performance from the microcomputer. 〇Also, in this embodiment, an example of application of the present invention to an unmanned vehicle that realizes movement and turning by rotation of left and right drive wheels is shown, but this is a subject of the present invention.

The driving means is not limited to this, for example, the first
As shown in Figure 2, a three-wheeled vehicle may be used, with the front wheels serving as driving and steering wheels. That is, the steering angle φ and the drive wheel moving speed V have the following relationship with the moving speed V and the turning angular speed ω, respectively. However, b' is the distance between the front wheel and rear wheel axles.

v””v'cosφ V = V' v2+b/2,
,．． 2 Therefore, VL, V in the flow of FIG.
The present invention can be applied as is by replacing the relevant parts with the drive wheel movement speed calculation and steering angle calculation based on the above equation. Now, in this embodiment, the moving acceleration and turning angle acceleration for correcting path errors etc. are determined by control calculation, and integral calculation is performed using the drive amount calculation means to determine the moving speed and turning angular velocity, and the rotational speed of the left and right drive wheels is determined. Converted to . Here, the integral transformation that converts the moving acceleration and turning angular acceleration into moving speed and turning angular velocity, and the conversion into the rotational speed of the left and right drive wheels are both so-called linear conversions, and due to their nature, the order of conversion is Even if you replace them, you will get the same result. That is, in the unmanned vehicle according to this embodiment, the rotational speed of the left and right driving wheels can be determined by calculating the rotational angle relationship of the left and right driving wheels based on the movement acceleration and the turning angle acceleration, and performing an integral calculation of this.

That is, as shown in FIG. 13, the drive amount calculation means first calculates the moving acceleration ay, the turning angle acceleration aω, and the rotational acceleration a1, +11R of the left and right drive wheels, and then performs an integral calculation to calculate the left and right wheels. Determine the rotational speed of the drive wheel, D/
It may also be configured to be set in the drive device via the A converter.

However, as shown in FIG. 14, it is also possible to directly determine the rotational acceleration of the drive wheel to correct path errors etc. by control calculation, and omit the calculation of the drive wheel rotational acceleration by the drive amount calculation means.

[Brief explanation of drawings]

FIGS. 1 and 2 are block diagrams showing the basic configuration of the present invention. FIG. 3 is a diagram showing the calculation period (a) of the control amount calculation and the calculation period (b) of the drive amount calculation means. FIG. 4 is a block diagram of an embodiment of the present invention, and FIG. 5 is a block diagram of an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of a circuit in a part of the diagram; FIG. 6 is another embodiment of the present invention, which is a block diagram of an apparatus using a microcomputer. FIG. 7 is a diagram showing various quantities representing the relationship between the set route and the unmanned vehicle. Figure 8 shows the flowchart 1- of the set value restriction program.
FIG. 9 is a flowchart of the drive amount calculation program. 1. FIG. 10 is a diagram showing the temporal relationship of each program. FIG. 11 is a diagram showing an example of the configuration of an unmanned vehicle, and FIG. 12 is a diagram showing another example of the configuration of the unmanned vehicle. FIG. 13 is a diagram showing a modification of the driving amount calculation means. FIG. 14 is a block diagram showing another embodiment of the present invention in which drive wheel rotational acceleration calculation is omitted. 1... Traveling state measuring device, 2... Traveling command device, 3
... Traveling control device, 4... Drive device, 5... Control calculating means, 6... Driving amount calculating means, 7... Setting value limiting means. Figure 7 Figure 8 Figure 1 o Figure T Figure 12 Figure 11 @

Claims (3)

[Claims] (1) In an unmanned vehicle that moves to a target position by combining actions such as traveling along a set route or turning and stopping at a set point, a travel command that outputs travel command data that determines the operation of the unmanned vehicle. a driving condition measuring device that detects the driving condition of the unmanned vehicle and outputs the information; a driving device that moves and turns the unmanned vehicle; and driving command data from the driving command device and the driving condition measuring device. control calculation means for calculating the magnitude of the deviation between the route indicated by the driving command data and the driving condition based on information about the driving condition sampled at discrete time intervals, and also calculating and outputting an amount to correct the deviation; and drive amount calculation means for calculating the set value of the control amount to be output to the drive device at time intervals shorter than the time intervals at which the control calculation means outputs the calculation results. Features of an unmanned vehicle guidance control device. (2) The control calculation means outputs a movement acceleration signal and a turning angle acceleration signal as a correction amount for the final contribution, and the drive amount calculation means performs an integral calculation on the acceleration signal and outputs it as a speed signal. A guidance control device according to claim (1), characterized in that: (3) A restriction that inputs the travel acceleration and turning angle acceleration from the 1-control calculation means to the travel control device, limits the magnitude of these absolute values so that they do not exceed a predetermined value, and outputs them to the drive amount calculation means. The guidance control device according to claim 2, further comprising means.