Automatic guiding system for vehicle - generates command signals from sensor arrangement detecting deviations from reference path

摘要

A guided vehicle has a sensor arrangement to detect side tracking from a reference path continuing at least one straight and one curved section. Command signals are formed according to measured signals provided by the sensor arrangement for the generation of steering and command signals. The latter vary an angular deviation and lateral displacing of the sensor arrangement from the reference path when they correspond to a predetermined function. A steering arrangement controls the direction of travel in dependence upon the command signals. A steering monitor modifies the steering command signals as long as the vehicle travels along the curved section of the reference path. The modification value is essentially the reciprocal of the radius of curvature of the curved section.