JPS6476208A - Device for controlling vehicle traveling - Google Patents

Abstract

PURPOSE:To detect a exact wheel speed without fail and to exactly control a traveling direction by providing a surface condition detecting means to detect a surface condition, with which a wheel contacts, every wheel, a speed operating means and a revolution control means concerning the plural wheels. CONSTITUTION:A left side surface condition detecting part 1 and a right side surface condition detecting part 3 respectively detect the surface condition, with which the wheels contact, every wheel. Next, when a revolution control part 25 inputs the wheel speed, which is calculated by a left side speed operating part 21 and a right side speed operating part 23, based on the detected result from the detecting parts 1 and 3, a speed difference S is calculated and traveling control is executed by a traveling direction command for necessary destination arrival. In case of straightly proceeding, the control part 25 decides the value of the difference S. In case of S=0, a normal straightly proceeding traveling condition is obtained because the wheels of right and left sides are revolved at the same speed and in case of expecting for the S=0, the correspondent wheel is controlled through a left side wheel driving part 27 or a right side wheel driving part 29. Even case of turning to left or to right, the same control is executed by the control part 25. Then, the exact wheel speed can be detected without fail and the traveling direction can be exactly controlled.