| 摘要 |
A vehicle path controller for vehicles whose path is influenced by a moving current and has manual or automatic path steering based on a steering signal (v) supplied to a servo device (102) for executing steering movements. Set path data and actual path data relative to an earth based coordinate system are supplied to the path controller (101), the actual path data being supplied by a navigation system (110). The steering signal (v) is derived from a comparison of the set path data with the actual path data and is based on a control function relating steering value (v) and deviation (DELTAchi) of an actual path azimuth angle (chi) from a set path azimuth angle (chiS). The steering value (v) produces a signal (101b) for a servo device (102). The control function can be represented as a curve relating (v) and (DELTAchi) and which has a negative slope at the point DELTAchi=0 and changes sign at each interval when DELTAchi=pi while within each of these intervals its sign remains the same.
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