| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To derive a target location using simply constituted maps and a vehicle body resultant force making the maximum value for arriving at the speed direction at the target location minimum. <P>SOLUTION: The vehicle body resultant force is derived using: the first map defining the relation among a first parameter defined from the ratio of the x-component X<SB>e</SB>and the y-component Y<SB>e</SB>of the stored distance between own vehicle and the target location, a second parameter defined from the ratio of the x-component v<SB>x0</SB>and the y-component v<SB>y0</SB>of the speed of the own vehicle, and a first introducing parameterν<SB>1</SB>introduced for determining the target location and the vehicle body resultant force making the maximum value for arriving at the speed direction at the target location; the second map defining the relation among the first parameter, the second parameter and a second introducing parameterν<SB>2</SB>; the third map defining the relation among the first parameter, the second parameter and the time t<SB>e</SB>to arrive at the target location; and the first and second parameters computed on the basis of the current distance between the own vehicle and the target location and the speed of the own vehicle. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
