| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling running of a truck in a variable running speed control system to flexibly cope with fluctuation of running speed and to realize smooth running trace by assuming a virtual diagram having a distance part according to the running speed of the truck from a prescribed center position, calculating a position of an intersection between a target route and the virtual diagram on the side of the running direction and controlling a steering angle of a steering wheel according to the position of the intersection. SOLUTION: When the running speed V of the carrier truck 1 is V1, V2 (V2>V1) to the preset target route 4, a collating position at a distance according to the running speed from the center position O2 of a front steering wheel 2 of the front steering wheel 2 is calculated as a circle C1 with radius R1 in the running speed V1 and as a circle C2 with radius R2 (R2>R1) in the running speed V2 respectively, steering anglesθ1,θ2 of the front steering wheel are controlled according to positions of intersections Pt1, Pt2 on the side in the running direction among intersections between the circles C1, C2 and the target route 4.
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