Unmanned vehicle control system and method

• US 4,665,487 A
• Filed: 02/22/1985
• Issued: 05/12/1987
• Est. Priority Date: 05/25/1984
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Meidensha (Meidensha Corporation)
• Original Assignee: Kabushiki Kaisha Meidensha (Meidensha Corporation)
• Inventors: Yoshida, Susumu, Ogawa, Hiroshi, Miyazaki, Yasuyuki
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/704,421
• Time in Patent Office: 809 Days
• Field of Search: 364/424, 364/425, 180/167, 180/168, 180/169, 180/141, 180/142, 180/143, 318/587
• US Class Current: 701/24
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

An unmanned vehicle is so controlled as to travel along a guide line in response to command signals transmitted from a fixed host computer. The steering misalignment (offset) of the vehicle is corrected by a steering DC motor driven by an AC current, the duty ratio of which is adjusted by a steering motor chopper circuit. Since dead zones within which the misalignment is no longer corrected and duty ratio calculating expression on which chopper duty ratio is determined according to a detected offset are both classified by vehicle speed, it is possible to stably correct vehicle steering misalignment at high response speed even when the vehicle is travelling at high speed along the guide line. Further, when the dead zone and the calculating expression are both classified by discriminating an initial offset from the succeeding offset, it is possible to not only to prevent the vehicle from travelling zigzag along the guide line, but also to reduce the number of rush currents generated in the chopper circuit.

Claims

1. An unmanned vehicle steering control system for controlling an unmanned vehicle so as to travel along a fixed guide line in response to command signals transmitted from a fixed host computer, which comprises:

(a) steering motor means for steering the unmanned vehicle;

(b) steering motor chopper means for generating a chopped current supplied to said steering motor means, the speed of said steering motor means increasing with increasing duty ratio of the chopped current;

(c) vehicle offset detecting means for detecting an offset value of the unmanned vehicle misaligned away from the fixed guide line and generating an offset signal when the vehicle skews to the guide line;

(d) vehicle speed detecting means for detecting vehicle speed and generating a vehicle speed signal; and

(e) microcomputer means having;

(1) steering control interface means for activating said steering motor chopper means in response to the offset signal generated from said vehicle offset detecting means and the vehicle speed signal generated from said vehicle speed detecting means;

(2) offset calculating means for calculating a magnitude of offset on the basis of the offset signal generated by said vehicle offset detecting means;

(3) vehicle speed comparing means for comparing vehicle speed with a first reference value and with a second reference value greater than the first reference value and generating a low speed signal when the detected vehicle speed is less than the first reference value, a medium speed signal when the detected vehicle speed is more than the first reference value but less than the second reference value, and a high speed signal when the detected vehicle speed is more than the second reference value;

(4) dead zone and duty ratio function setting means for determining a low speed dead zone and a low speed duty ratio function with respect to detected offset values in response to the low speed signal, a medium speed dead zone wider than the low speed dead zone and a medium speed duty ratio function by which a smaller duty ratio can be determined as compared with the low speed duty ratio function in response to the medium speed signal, and a high speed dead zone wider than the medium speed dead zone and a high speed duty ratio function by which an even smaller duty ratio can be determined as compared with the medium speed duty ratio function in response to the high speed signal;

(5) offset comparing means for comparing the calculated offset with the determined dead zone and generating a chopper turn-off signal when the calculated offset is less than the determined dead zone and a chopper turn-on signal when the calculated offset is more than the determined dead zone;

(6) duty ratio calculating means for calculating an appropriate duty ratio of the chopped current supplied to said steering motor means with the determined duty ratio function;

(7) time measuring means for measuring a predetermined time period; and

(8) said microcomputer deactivating said steering motor chopper means in response to the chopper turn-off signal generated from said offset comparing means and activating said steering motor chopper means for the measured time period in response to the chopper turn-on signal generated from said offset comparing means on the basis of a duty ratio calculated by said duty ratio calculating means according to the detected offset value and in accordance with the determined duty ratio function.

2. The unmanned vehicle steering control system as set forth in claim 1, wherein said dead zone and duty ratio function setting means determining, when an initial offset is calculated, a first low speed dead zone and a first low speed duty ratio function in response to the low speed signal, a first medium speed dead zone and a first medium speed duty ratio function in response to the medium speed signal, and a first high speed dead zone and a first high speed duty ratio function in response to the high speed signal;

and when the succeeding offset is calculated, a second low speed dead zone narrower than the first low speed dead zone and a second low speed duty ratio function by which a higher duty ratio can be determined as compared with the first low speed duty ratio function, a second medium speed dead zone narrower than the first medium speed dead zone and a second medium speed duty ratio function by which a higher duty ratio can be determined as compared with the first medium speed duty ratio function, and a second high speed dead zone narrower than the first high speed dead zone and a second high speed duty ratio function by which a higher duty ratio can be determined as compared with the first high speed duty ratio function.

3. A method of controlling an unmanned vehicle along a fixed guide line by means of a steering motor driven by a steering motor chopper in response to command signals transmitted from a fixed host computer, which comprises the following steps of:

(a) detecting an offset value of the unmanned vehicle misaligned away from the fixed guide line;

(b) detecting a vehicle speed;

(c) comparing the detected vehicle speed with a firt reference value;

(d) if the detected vehicle speed is less than the first reference value, setting a low speed dead zone and a low speed duty ratio function with respect to detected offset values;

(e) if the detected vehicle speed is more than the first reference value, comparing the detected vehicle speed with a second reference value greater than the first reference value;

(f) if the detected vehicle speed is less than the second reference value, setting a medium speed dead zone and a medium speed duty ratio function;

(g) if the detected vehicle speed is more than the second reference value, setting a high speed dead zone and a high speed duty ratio function;

(h) comparing the detected offset with the set dead zone;

(i) if the detected offset is less than the set dead zone, turning off the steering motor chopper;

(j) if the detected offset is more than the set dead zone, calculating an appropriate duty ratio of the chopped current supplied to the steering motor according to the detected offset value and in accordance with the set duty ratio function; and

(k) turning on the steering motor chopper for a predetermined time period on the basis of the calculated duty ratio; and

(l) repeating the above steps.

4. The method of controlling an unmanned vehicle as set forth in claim 3, which further comprises the following steps of:

(a) determining whether the detected offset is an initial offset or a succeeding offset;

(b) if the detected offset is an initial offset, setting a first low speed dead zone and a first low speed duty ratio function when the detected vehicle speed is less than the first reference value, a first medium speed dead zone and a first medium speed duty ratio function when the detected vehicle speed is more than the first reference value but less than the second reference value, and a first high speed dead zone and a first high speed duty ratio function when the detected vehicle speed is more than the second reference value; and

(c) if the detected offset is a succeeding offset, setting a second low speed dead zone narrower than the first low speed dead zone and a second low speed duty ratio function by which a higher duty ratio can be determined as compared with the first low speed duty ratio function when the detected vehicle speed is less than the first reference value, a second medium speed dead zone narrower than the first medium speed dead zone and a second medium speed duty ratio function by which a higher duty ratio can be determined as compared with the first medium speed duty ratio function when the detected vehicle speed is more than the first reference value but less than the second reference value, and a second high speed dead zone narrower than the first high speed dead zone and a second high speed duty ratio function by which a higher duty ratio can be determined as compared with the first high speed duty ratio function when the detected vehicle speed is more than the second reference.