Automatic direction control method for mobile object

Abstract

Abstract PURPOSE: To realize the load reduction for the driving device through big reduction of the steering frequency by producing the steering pulse of the other side by the amount equivalent to the integration quantity of one side, if any, to give turn to the other side and at the same time subtracting the pulse number of the other side from the value of integration. CONSTITUTION: When going into the right-drift region, the right-drift signal detected the right-drift going is generated from position detector 1. Thus the right steering pulse is generated from steering pulse generator 3 to secure a right turn like a circular arc. At this moment, the contents of steering pulse integrator 4 is reset to 0 to integrate 1/2 of right steering pulse number n. After this, when going into the neutral point and if the integration quantity of the right steering pulse exists in the contents of integrator 4, and left steering pulse is generated by the amount equivalent to the amount of the right steering pulse to have the left turn. At the same time, the number of the left steering pulse is subtracted from the integration quantity. When going into the left-drift region, the procedure opposite to the right-drift going. Thus nearly a parallel running to the target running lane becomes possible. As a result, the steering frequency can be reduced greatly to lessen the load of the driving device. COPYRIGHT: (C)1980,JPO&Japio

Inventors

• 👤 Yoshihiro Nakajima
• 👤 Sakae Nagamachi

Bibliographic Details