| 摘要 |
PURPOSE:To provide a manned travel vehicle with unmanned guiding travel function by detecting guiding marks disposed on the ground, then detecting the displacement of a vehicle body in relation to the specified travel course, and controlling a steering actuator so as to correct this displacement of the vehicle body. CONSTITUTION:When a joint link 8 is inclined forward to pull a pin 9 out of the recessed groove 8a of the link 8 so as to release the linkage between a steering wheel shaft 21 and a connecting plate 5, the manned travel of operating a steering wheel 1 by a driver becomes possible in this state. At the time of performing the unmanned travel of a vehicle, the pin 9 is fitted into the recessed groove 8a of the link 8, and a start switch 19 is operated to place a controller, a steering motor 18, a travel motor, and the like in the starting possible state. Then, on the basis of the output signal of a mark detecting sensor 24 for detecting the displacement of the vehicle in relation to a guiding mark on the road surface, a steering angle command signal for correcting this displacement is prepared, and the steering motor 18 is operated in such a way as to make the deviation zero to perform automatic steering of the vehicle. |
