JPS6165510U - - Google Patents
Info
- Publication number
- JPS6165510U JPS6165510U JP14918784U JP14918784U JPS6165510U JP S6165510 U JPS6165510 U JP S6165510U JP 14918784 U JP14918784 U JP 14918784U JP 14918784 U JP14918784 U JP 14918784U JP S6165510 U JPS6165510 U JP S6165510U
- Authority
- JP
- Japan
- Prior art keywords
- respect
- lateral displacement
- vehicle
- unmanned vehicle
- displacement distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006073 displacement reaction Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の無人車両の操舵制御装置の一
実施例を示すブロツク図、第２図は第１図に示し
た本考案の無入車両の操舵制御装置の一実施例と
、無人車両の操舵機と、無人車両系とからなるル
ープを伝達関数で示すブロツク図、第３図は無入
車両の走行を説明するための概略図である。
１，３……入力端子、２，４……アナログ・デ
ジタル変換器、５，６……遅延器、７，８，１０
……掛算器、９……加算器、１１……除算器、１
２……掛算器、１３……ｌ値設定器、１４……入
力端子、１５……引算器、１６……加算器、１７
……目標設定器、１９……比較器、２０……デジ
タル・アナログ変換器、２１……補償器、２２…
…増幅器、２３……出力端子。
FIG. 1 is a block diagram showing an embodiment of the steering control device for an unmanned vehicle according to the present invention, and FIG. 2 is a block diagram showing an embodiment of the steering control device for an unmanned vehicle according to the present invention shown in FIG. FIG. 3 is a block diagram showing a loop consisting of a steering gear and an unmanned vehicle system using a transfer function, and FIG. 3 is a schematic diagram for explaining the running of an unmanned vehicle. 1, 3... Input terminal, 2, 4... Analog-to-digital converter, 5, 6... Delay device, 7, 8, 10
... Multiplier, 9 ... Adder, 11 ... Divider, 1
2... Multiplier, 13... l value setter, 14... Input terminal, 15... Subtractor, 16... Adder, 17
...Target setting device, 19...Comparator, 20...Digital-to-analog converter, 21...Compensator, 22...
...Amplifier, 23...Output terminal.
Claims (1)
位距離および車速を検出するとともに該検出した
横変位距離を時間で微分し、該微分値と前記車速
との比から前記基準軌道に対する該無人車両の姿
勢角を算出し、該算出した姿勢角と前記検出した
横変位距離とにもとずき車両の操舵角を制御する
ようにしたことを特徴とする無人車両の操舵制御
装置。 Detecting the lateral displacement distance and vehicle speed of a traveling unmanned vehicle with respect to the reference trajectory, differentiating the detected lateral displacement distance with respect to time, and determining the attitude of the unmanned vehicle with respect to the reference trajectory based on the ratio of the differential value and the vehicle speed. A steering control device for an unmanned vehicle, characterized in that the steering angle of the vehicle is controlled based on the calculated attitude angle and the detected lateral displacement distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14918784U JPS6165510U (en) | 1984-10-02 | 1984-10-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14918784U JPS6165510U (en) | 1984-10-02 | 1984-10-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6165510U true JPS6165510U (en) | 1986-05-06 |
Family
ID=30707375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14918784U Pending JPS6165510U (en) | 1984-10-02 | 1984-10-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6165510U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01220007A (en) * | 1988-02-29 | 1989-09-01 | Komatsu Ltd | Guided travel controller for moving body |
-
1984
- 1984-10-02 JP JP14918784U patent/JPS6165510U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01220007A (en) * | 1988-02-29 | 1989-09-01 | Komatsu Ltd | Guided travel controller for moving body |
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