| 摘要 |
<p>PROBLEM TO BE SOLVED: To enhance follow-up accuracy and responsiveness of speed control, in an autonomous travel vehicle in which the mass of the vehicle itself varies.SOLUTION: An autonomous travel vehicle includes: a controller that obtains an output control command value of a prime mover with gain scheduled H∞control using a vehicle mass as a scheduling parameter, on the basis of a predetermined speed profile and a current speed of the vehicle; and a prime mover output adjustment unit that adjusts prime mover output on the basis of the output control command value.</p> |
