| 摘要 |
<p>A vehicle control and guidance system in which a desired route for the vehicle is stored in the vehicle in the form of co-ordinates in a ground reference frame. The "vectors" between these junction points are divided by successive reference points into incremental vectors, the reference points being generated ahead of the vehicle at regular intervals. A dead reckoning system predicts the position of the vehicle at the end of each interval and this estimate is corrected, using a Kalman filter, by an independant fixed-target detection system using a scanning laser. The error between the estimated vehicle position and the local incremental vector provides a steering angle correction for the vehicle and the vehicle speed is dependent upon the lag of the vehicle behind the generation of reference points.</p> |
