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Steering control system for an unmanned vehicle

  • US 4,253,541 A
  • Filed: 10/04/1978
  • Issued: 03/03/1981
  • Est. Priority Date: 10/07/1977
  • Status: Expired due to Term
First Claim
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1. A steering control system for an unmanned vehicle wherein an unmanned vehicle is switched at an intersection of two guide cables from a guided travel by means of one of said two guide cables to a programmed turning along a preset path independent from said guide cables and subsequently switched to a guided travel by means of the other guide cable, said steering control system comprising:

  • programmed turning control means for sequentially reading a steering angle instruction value from a memory storing a preset path represented by a function of a travel distance and a steering angle during turning thereby to control a steering unit of the vehicle in response to the steering angle instruction value;

    means for moving the vehicle straight ahead with a steering angle 0 until the vehicle reaches the other guide cable after completion of the programmed turning;

    guided travelling control means including a vehicle posture angle detection means capable of detecting a posture angle of the vehicle in accordance with a magnetic field of the guide cables and controlling the steering unit of the vehicle in response to the detected posture angle;

    detection means for detecting reaching of the vehicle to the other guide cable regardless of completion of the programmed turning; and

    control means responsive to the output of said detection means for smoothly shifting the vehicle from the preceding travelling mode to the guided travel by means of said other guide cable.

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