MEASURING METHOD AND AUTOMATIC RUNNING CONTROL METHOD FOR VEHICLE BODY ON CIRCULAR ROAD

• Main Authors: IIJIMA GOHEI, SUGIMASA TETSUYA, NOZAKI SHIGERU, MISUMI TAKANARI
• Format: Patent
• Language: English
• Published: 01.09.1989
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PURPOSE:To perform the automatic running control by fixing an inclinometer to a vehicle body running on a circular road and obtaining the position of the vehicle body based on the output of the inclinometer by operation. CONSTITUTION:A vehicle body 1 is provided with four wheels W1-W4 in positions symmetrical with respect to a point, and front wheels W1 and W2 are steered by a steering means 2 and rear wheels W3 and W4 are driven by a driving means 3 to run the vehicle. This vehicle body 1 is freely run on a circular road like a circular waterway, and an inclinometer M1 is fixed to the vehicle body 1 and its axial line 5 is made parallel with an axial line 4 of the vehicle body 1. For the purpose of automatically running the vehicle, a steering angle S of the steering means 2 is obtained in accordance with the position and the angle of the vehicle body 1. An output value betafrom the inclinometer M1 passes a filter 12 to calculate the time variation by a differentiating circuit 13, and a target angle beta11 is led out from a subtracting circuit 14 and a setting circuit 15 and is given to a subtracting circuit 17 through an amplifying circuit 16. The steering angle S is given to the steering means 2 from the subtracting circuit 17, and the vehicle body 1 is freely run so that the difference between the inclinometer output beta and the set value beta11 is zero.