| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a steering control method for performing steering control so that a vehicle can run in parallel with another vehicle side by side. <P>SOLUTION: A slave vehicle M1 and a master vehicle M2 include distance detection means F1 and F2 for detecting the distance of an object existing in an external environment, the slave vehicle M1 transmits detected distance data to the master vehicle M2, and the master vehicle M2 calculates the vehicle's position and direction of the master vehicle M2 seen from the slave vehicle M1 from its own and the partner's distance data by using an ICP algorithm, and returns the vehicle's position and direction to the slave vehicle. The slave vehicle M1 can detect the direction of the partner vehicle even if moving in a non-road environment. The slave vehicle M1 calculates the position of a virtual target from the position and direction of the master vehicle M2 and steers so as to follow the virtual target. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
