| 摘要 |
PURPOSE:To obtain the controller of a mobile body, which can travel the mobile body on a smooth mobile route by means of following a target route and which can obtain especially the followup ability to the target route at a high speed. CONSTITUTION:A target point P is decided on the target route M. A target point arrival yaw rate gammaP with which a vehicle W can arrive at the target point P is obtained. An angle DELTAthetaP deviation between the inclination angle thetaPW of the vehicle W and the inclination angle thetaPW of the target route M is obtained. A value obtained by subtracting the correction amount of a yaw rate from the target point arriving yaw rate gammaP is obtained as a target yaw rate. A target rudder angle generating the target yaw rate is obtained. A rudder angle is corrected so that the rudder angle of the vehicle W becomes the target rudder angle. |
