| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for controlling the straight forward traveling of a crawler machine having right and left side crawlers. SOLUTION: In this method and device, the straight forward traveling mode of the crawler machine is started, the initial heading angle of a heading sensor disposed on the crawler machine is determined, a deviation of the heading angle from the initial heading when the crawler machine runs is detected, a heading angle error is obtained according to the deviation of the heading angle, and the speed of at least one of right and left side crawlers is adjusted so that the heading angle error can be compensated.
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