| 摘要 |
1520986 Automatic control of steering DAIMLER-BENZ A G 22 April 1976 [24 April 1975] 16385/76 Heading G3R [Also in Division B7] A road vehicle 1 is automatically guided along a path by a system having at least one radiation emitter and detector mounted on the vehicle and co-operating with a reflecting surface 4 provided along the track. The radiation is ultrasonic and actuates hydraulic steering gear by an undisclosed electrical controller. The devices may be fitted on one side only, in which case the transit time of a radiation pulse is compared with a pre-set reference, or on both sides as shown, when the difference between the respective transit times is measured to indicate deviations from the centre line. They may be mounted at one or both ends of the vehicle, and in the latter case are selectable for forward or reverse motion. They are arranged on a circle whose centre 5 coincides with that of rolling motion and are horizontally disposed, the effective reflecting surface being vertical (the face of a plank 2) to minimize errors due to roll and tilt. At junctions such as in Fig. 3 guidance is by the devices on the side where the reflector is continuous; this may be selected manually or by signalling devices 251, 25r. Alternatively, in a double sided system, the lack of an echo within twice the normal time on one side is used to switch to control from the other. At intersections overhead reflectors may be provided, with transmitters and receivers on the vehicle roof, Figs. 5, 6 (not shown) or pivoted reflectors at the side may be used, Fig. 7 (not shown). The pulses are very short, repeated at less than 16Hz.
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