SELF-GUIDANCE CONTROL METHOD OF AUTOMATIC RUNNING BODY

摘要

PURPOSE:To allow a running body to guide itself without any discrimination between an on-road and an off-road state by providing a self-guidance system composed of a course guidance system and a course run guidance system and a self-guidance control system which controls it. CONSTITUTION:Data on the set running speed Vc and minimum running speed Vmin in a section course wherein the running body follows up an expected run course currently are read out of a course data storage means 1 and inputted to a running speed determining means 5. A steering angle and a running speed obtained by a steering determining means 4 and a running speed determining means 5 are converted by a steering angle command signal and a running speed command signal, which are inputted to a steering control means 5 and a running speed control means 6. The running body which deviates from the section course is guided to the follow-up section course and when the position data on the running body coincides with the point coordinates of the final point of the expected run course, it is judged that the course guidance is finished and the running body is stopped, thereby ending a self-guidance control program.