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Method and device for steering vehicle having no contact with track

  • US 7,757,608 B2
  • Filed: 10/30/2003
  • Issued: 07/20/2010
  • Est. Priority Date: 10/30/2002
  • Status: Active Grant
First Claim
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1. A vehicle guided along a running route without contact with a guide rail, comprising:

  • wheels;

    a cart supported by said wheels;

    a vehicle main body supported by said cart; and

    a steering control system which comprises a control section and a drive section, andwherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle,said control section comprises;

    an optimization calculating section configured to convert said provisional target steering angle to a target control steering angle by adding a correction steering angle based on a steering angle prediction correction to minimize vibration of said vehicle resulting from a steering of said vehicle, andsaid drive section mechanically steers said cart based on said target control steering angle.

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