| 摘要 |
PURPOSE:To improve the follow-up performance of the running body to a run projected course by varying the running speed according to the quantity of steering. CONSTITUTION:A steering angle and a running speed obtained by a steering angle determining means 4 and a running speed determining means 5 are converted into a steering angle command signal and a running speed command signal, which are inputted to a steering control means 6 and a running speed control means 7. This steering control means 6 controls a steering mechanism part S and performs steering operation through an actuator on the basis of the steering angle command signal to displace the running body by a steering angle determined by said said steering angle determining means 4. The running speed determining means 7, on the other hand, controls a power mechanism part D on the basis of the running speed command signal and varies the running speed through the actuator to a running speed determined by the running speed determining means 6 to control the running speed when the steering operation is controlled. Consequently, the quantity of steering, i.e. steering angle running speed are controlled relatively, so the running body is guided correctly to the run projected course. |
