JPS6443406U - - Google Patents
Info
- Publication number
- JPS6443406U JPS6443406U JP13814587U JP13814587U JPS6443406U JP S6443406 U JPS6443406 U JP S6443406U JP 13814587 U JP13814587 U JP 13814587U JP 13814587 U JP13814587 U JP 13814587U JP S6443406 U JPS6443406 U JP S6443406U
- Authority
- JP
- Japan
- Prior art keywords
- wheel steering
- front wheel
- calculating
- steering angle
- trajectory
- 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
- 238000001514 detection method Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の一実施例を示す全体構成図、
第２図は制御ブロツク図、第３図および第４図は
、それぞれ異なる従来の自動走行の態様を示す平
面図である。
１……自動走行車、２……車速センサ、３……
前輪舵角センサ、４……後輪舵角センサ、５……
前輪アクチユエータ、６……後輪アクチユエータ
、７……モータ、１０……制御ユニツト、１１…
…軌跡演算部、１２ａ……軌跡メモリ、１２ｂ…
…車速メモリ、１３……軌跡演算部、１４ａ，１
４ｂ……フイードバツク回路。
FIG. 1 is an overall configuration diagram showing an embodiment of the present invention;
FIG. 2 is a control block diagram, and FIGS. 3 and 4 are plan views showing different conventional automatic driving modes. 1... Autonomous vehicle, 2... Vehicle speed sensor, 3...
Front wheel steering angle sensor, 4... Rear wheel steering angle sensor, 5...
Front wheel actuator, 6... Rear wheel actuator, 7... Motor, 10... Control unit, 11...
...Trajectory calculation unit, 12a...Trajectory memory, 12b...
...Vehicle speed memory, 13...Trajectory calculation section, 14a, 1
4b...Feedback circuit.
Claims (1)
の信号に基づいてあらかじめ設定される走行軌跡
を演算する軌跡演算手段と、該演算手段の演算結
果を記憶する記憶手段と、該記憶手段に記憶され
た走行軌跡から前輪舵角を演算し前輪操舵アクチ
ユエータに出力する前輪舵角演算手段と、前記各
検出手段からの実走行信号と前記記憶手段に記憶
された走行軌跡とを比較演算して前記前輪操舵ア
クチユエータおよび車両駆動装置にフイードバツ
ク信号を出力するフイードバツク手段とを設けた
ことを特徴とする自動走行車。 (2) 後輪舵角検出手段を設け、その検出信号に
基づいて後輪操舵アクチユエータの作動を制御す
ることを特徴とする実用新案登録請求の範囲第１
項記載の自動走行車。[Scope of Claim for Utility Model Registration] (1) Trajectory calculating means for calculating a travel trajectory set in advance based on signals from the vehicle speed detecting means and the front wheel steering angle detecting means, and a memory for storing the calculation results of the calculating means. means for calculating a front wheel steering angle from the traveling locus stored in the storage means and outputting the calculated front wheel steering angle to the front wheel steering actuator; and actual driving signals from each of the detection means and the driving information stored in the storage means. 1. A self-driving vehicle, characterized in that it is provided with feedback means for comparing and calculating a trajectory and outputting a feedback signal to the front wheel steering actuator and the vehicle drive device. (2) Claim 1 of the utility model registration, which is characterized in that a rear wheel steering angle detection means is provided and the operation of the rear wheel steering actuator is controlled based on the detection signal thereof.
Self-driving car as described in Section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13814587U JPS6443406U (en) | 1987-09-11 | 1987-09-11 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13814587U JPS6443406U (en) | 1987-09-11 | 1987-09-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6443406U true JPS6443406U (en) | 1989-03-15 |
Family
ID=31400213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13814587U Pending JPS6443406U (en) | 1987-09-11 | 1987-09-11 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6443406U (en) |
-
1987
- 1987-09-11 JP JP13814587U patent/JPS6443406U/ja active Pending
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