CONTROLLER FOR AUTONOMOUS-RUNNING SERVICE VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a controller for an autonomous-running service vehicle that drives a service vehicle to run according to a predetermined running pattern in a scheduled running area and properly calibrates outputs of an angular velocity sensor.

SOLUTION: The controller drives the service vehicle to run straight according to the predetermined running pattern in the scheduled running area based on running directions and running distances calculated based on outputs of a Yaw sensor generating outputs showing angular velocities generated around a vertical axis at a center-of-gravity position of the service vehicle and outputs of a wheel velocity sensor generating the outputs showing wheel velocities. Meanwhile the controller determines whether or not a difference between a scheduled running distance L1 scheduled in the predetermined running pattern and an actual running distance L2 exceeds an allowable error value α in straight running in controlling the autonomous-running service (S10 to S18), and corrects center values of the outputs of the Yaw sensor when the difference is determined to exceed the allowable error value (S22).

COPYRIGHT: (C)2012,JPO&INPIT