AUTONOMOUS TRAVEL VEHICLE

• Main Author: KURIYAMA YASUSHI
• Format: Patent
• Language: English; Japanese
• Published: 02.11.2017
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PROBLEM TO BE SOLVED: To provide an autonomous travel vehicle which can automatically correct an error of a steering angle, and eliminate readjustment of a control amount for steering, to mechanical wobble or characteristic secular change (secular deterioration) of a member which affects occurrence of an error of a steering angle in left/right turn of the autonomous travel vehicle.SOLUTION: An autonomous travel vehicle comprises: front side induction line detection means 2A; rear side induction line detection means 2B; a follower wheel; a drive steering wheel comprising drive means and steering means; and a controller. When the autonomous travel vehicle turns at a cross point according to a travel route, the controller controls the steering means and drive means based on a preset steering angle and a correction angle for correcting the steering angle, corresponding to the cross point of the travel route, for turning at the cross point, and corrects a deviation distance (E2) according to an angle (θe) formed of an induction line on a turn destination, when it is determined that turning at the cross point is finished, and a cross direction of the autonomous travel vehicle 1, based on steering based on the correction angle, in a next cross point.SELECTED DRAWING: Figure 9 【課題】自律走行車の左右のターンの際の操舵角度の誤差の発生に影響を及ぼす部材の機械的なガタツキや特性の経年変化（経年劣化）等に対して、操舵角度の誤差を自動的に補正して操舵用の制御量の再調整を不要とすることができる自律走行車を提供する。【解決手段】前側誘導線検出手段２Ａと、後側誘導線検出手段２Ｂと、従動輪と、駆動手段と操舵手段とを有する駆動操舵輪と、制御装置とを有し、制御装置は、走行経路に従って交差点にてターンする場合は、走行経路の交差点に対応させて予め設定された操舵角度と、操舵角度を補正する補正角度と、に基づいて操舵手段と駆動手段を制御して交差点をターンし、交差点をターンし終えたと判断した際におけるターンした先の誘導線と自律走行車１の前後方向とがなす角度（θｅ）に応じたズレ距離（Ｅ２）を、次回の交差点において、補正角度に基づいた操舵によって補正する。【選択図】図９