| 摘要 |
PURPOSE:To obtain steering and stable driving with high accuracy by picking up the image of a road mark at the driving path region by means of an image pickup device before and after the mark and obtaining the forecast drive state amount in front and the history drive state amount at the back to apply steering control. CONSTITUTION:An unattended truck 1 is driven by detecting a road mark 4 adhered onto a line 3 of a drive path 2. The image pickup device 6 is fitted before and after the unattended truck 1, detects the said mark 4 and a driver 8 controls a steering mechanism 7 fitted to a drive wheel 9 and drive wheels 9, 10. Moreover, a steering signal and a drive signal are inputted to a control section of a control panel 11 to control the steering mechanism 7 and the driver 8 and a processing section 12 processes data. In this case, the image pickup device 6a detects the mark 4a in front of the truck 1 to operate the forecast drive state amount and the image pickup device 6b detects the mark 4b at the back to operate the history drive state amount respectively and the forward/reverse steering signal is operated from both the state amounts. |
