| 摘要 |
PURPOSE:To perform high-precise control of steering of a moving body by a method wherein based on the moving speed, the deflection angle, and the change with time of the moving body, fuzzy inference is made on a steering correction angle, and control steering of the moving body is executed. CONSTITUTION:A main steering control device 20 executes control of steering of a moving body according to a steering angle command signal from a steering angle command device 21 by means of a steering executing device 22. In this case, the main steering control device 20 is provided with a steering control device 10, and following control of steering is executed. Namely, the moving speed, the actual steering angle, and the moving direction of the moving body are detected by sensors 11, 12, and 13, respectively. A deflection angle between the actual steering angle and the moving direction is calculated by a circuit 14, and the change with time of the deflection angle is calculated by a circuit 15. Based on the moving speed, the deflection angle, and the change with time of the moving body, fuzzy inference is made on a steering correction angle by means of a device 16. Thereafter, control of steering of the moving body is executed according to the steering correction angle. |
