| 摘要 |
PURPOSE:To guide the vehicle smoothly to a constant target position by operating and determining the radius and angle of vehicle rotation to a target position. CONSTITUTION:Angles phi and theta of the front center C of the vehicle to reference points S1 and S2 provided across a target position 0 are detected and distances to the reference points S1 and S2 are calculated. Then the angle xsi where the longitudinal axis of the vehicle meets an x axis is calculated from the angles phiand theta and distances l and (r). Then the distance Qx between the center C2 of the axle of the vehicle and a y axis which passes the target position 0 and crosses the x axis at right angles is calculated from the angles phi, theta and thetaand distances l and (r). Then a 1st vehicle rotational radius R1 and a 1st vehicle rotational angle phi1 are set and the vehicle is turned according to them. Then a 2nd vehicle rotational radius R2 and a 2nd vehicle rotational angle phi2 are calculated from the rotational radius Ra, rotational angle phi1, angle xsi, and distance Qx and the vehicle is turned according to them. Then the vehicle is put in a straight moving state to reach the target position. |
