METHOD AND DEVICE FOR STEERING VEHICLE HAVING NO CONTACT WITH TRACK

摘要

A vehicle having no contact with a track has wheels, a vehicle main body supported by the wheels, and a steering control system. The steering control system has a controlling section for non-mechanically controlling the steering of the wheels and a driving section for mechanically driving the steering of the wheels. The controlling section has a first detector for detecting one-dimensional coordinate values of a target travel route, a steering angle-retaining section for retaining a target steering angle corresponding to the one-dimensional coordinate values, a second detector for detecting a current deviation between the target travel route and a current position of the vehicle main body, and a control steering angle-calculating section for generating a control steering angle corresponding to the current deviation and to the target steering angle.