SATO KAZUHISA,佐藤 和久,YAMAMURA MAKOTO,山村 誠,MASUBUCHI YOSHINORI,増渕 義則
申请号：
JP2010222642
公开号：
JP2012079023A
申请日:
2010.09.30
申请国别(地区):
JP
年份:
2012
代理人:
摘要：
PROBLEM TO BE SOLVED: To provide a controller for an autonomous-running service vehicle that drives a service vehicle to run according to a predetermined running pattern in a scheduled running area and properly calibrates outputs of an angular velocity sensor.SOLUTION: The controller drives the service vehicle to run straight according to the predetermined running pattern in the scheduled running area based on running directions and running distances calculated based on outputs of a Yaw sensor generating outputs showing angular velocities generated around a vertical axis at a center-of-gravity position of the service vehicle and outputs of a wheel velocity sensor generating the outputs showing wheel velocities. Meanwhile the controller determines whether or not a difference between a scheduled running distance L1 scheduled in the predetermined running pattern and an actual running distance L2 exceeds an allowable error value &alpha in straight running in controlling the autonomous-running service (S10 to S18), and corrects center values of the outputs of the Yaw sensor when the difference is determined to exceed the allowable error value (S22).COPYRIGHT: (C)2012,JPO&INPIT【課題】走行予定領域において予め定められた走行パターンに従って走行すると共に、角速度センサの出力を適正に較正するようにした自律走行作業車の制御装置を提供する。【解決手段】作業車の重心位置の鉛直軸回りに生じる角速度を示す出力を生じるYawセンサと車輪速を示す出力を生じる車輪速センサの出力に基づいて算出される進行方位と走行距離に基づき、走行予定領域において予め定められた走行パターンに従い、作業車を直進走行させつつ、作業させる走行作業制御において、直進走行のとき、予め定められた走行パターンで予定される予定走行距離L1と実走行距離L2の差が誤差許容値αを超えるか否か判定し(S10からS18)、差が誤差許容値を超えると判断されるとき、Yawセンサの出力の中心値を補正する(S22)。【選択図】図9
