| 摘要 |
PURPOSE:To perform optional run control with simple constitution by arranging two photodetectors at a bisymmetric point on a car body so that their symmetric point is in the center of the car body, and performing a curve run on the basis of a difference in laser beam photodetection time between those photodetectors. CONSTITUTION:A laser projector 100 while rotating as shown by an arrow Ar at a prescribed period projects a laser beam LB continuously. In the center O of a vehicle 1, an angle between a direction A perpendicular to the direction of the laser beam LB and the moving direction H of the vehicle 1 is regarded as an attitude angle theta. An output pulse P5 from the photodetector 5 of the vehicle 1 and an output pulse P6 from the photodetector 6 are applied to a signal processor 11, which detects which of the pulses P5 and P6 is generated first, thereby determining the sign of the value of the attitude angle. Then, a time difference in generation timing between the pulses P5 and P6 is measured to find the value of the attitude angle, which is applied to a steering controller 12. On the basis of the value of the attitude angle, the controller 12 steers the front wheels, and thus the running direction of the vehicle 1 is set at the attitude angle theta. |
