STEERING AND DRIVE CONTROL METHOD FOR ELECTRIC MOVING VEHICLE AS WELL AS STEERING AND DRIVE CONTROL DEVICE FOR ELECTRIC MOVING VEHICLE, AND ELECTRIC MOVING VEHICLE

摘要

PROBLEM TO BE SOLVED: To smoothly and quickly guide a vehicle to a desired position by quickly and accurately turning or changing the direction of or pulling over the vehicle while adapting it to path constraints specific to facilities when a four-wheel drive electric moving vehicle travels on a path in the various facilities. SOLUTION: A steering mode adaptable to the path constraints of the path in the predetermined facility is determined out of a plurality of types of steering modes (M1,...) having different total patterns for travelling tracks of wheels of the vehicle. In accordance with a conditional expression required for steer and drive in the steering mode, the rotations of a steering motor and a driving motor for steering and driving the wheels are controlled and the steering angles (α1 -α4 ) and the rotating speeds (n1 -n4 ) of the wheels are controlled.