POSITION CONTROL DEVICE, METHOD, AND POSITION CONTROL SIMULATOR OF OFF-ROAD VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a position control device and method of an off-road vehicle capable of establishing a technique to perform position control appropriately and at real time in a point.;SOLUTION: The position control device of an off-road vehicle includes a vehicle body 4 supported by trackless wheels 2 and 3, a suspension unit 5 placed between the trackless wheels 2, 3 and the vehicle body 4, a distance measuring unit 6 mounted on the vehicle body 4 to measure the relative distance L between a light receiving point P and reflecting point Q by emitting measurement light and receiving reflected light incoming after reflected from a front target road surface 10, and a vehicle state detector 8 mounted on the vehicle body 4 to detect an angle θ of the vehicle body 4 with respect to the horizontal plane and detect a vehicle speed v. The binary component of the relative distance L is calculated based on the angle θ, and a time row tj when the vehicle 4 reaches the target road surface 10 is calculated based on the vehicle speed v and the relative distance L. The position of the vehicle body 4 made proper on the actual road surface where the vehicle body 4 reaches is controlled. Prior to the time row tj, a control signal is outputted to a lifting and lowering driver unit 9. It is thereby possible to perform the position control appropriately at real-time in this point, and suppress generation of vibration due to the control.;COPYRIGHT: (C)2004,JPO&NCIPI