| 摘要 |
PROBLEM TO BE SOLVED: To suppress an abrupt stop due to the deviation of the unmanned vehicle from its course at the time of an automatic travel and to secure travel safety and travel track precision without lowering operation efficiency. SOLUTION: A steering angle command is outputted so as to reduce the quantity of the position shift of a current position at automatic travel time from a target position on the predetermined travel course 6 of the unmanned vehicle, this steering angle command is compared with the steering angle of a steering wheel to performs steering control on the basis of found steering angle deviation and steering control gain and also control the speed so that the unmanned vehicle automatically travels at a predetermined vehicle speed, and if the quantity of the position shift is larger than a specific threshold valueα(α1 andα2) at the time of the automatic travel of the unmanned vehicle along the travel course 6, either of speed control that reduces the vehicle speed value and steering control that increases the steering control gain is performed.
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