To provide a technique for precisely moving a vehicle to a target position with high precision in automatic drive.SOLUTION: A vehicle 1 includes a wheel 3 having tire wheels 4a, 5a, 6a and 7a and viscoelastic bodies (a tire) 4b, 5b, 6b and 7b provided around the tire wheels 4a, 5a, 6a and 7a and in contact with a road surface. The vehicle 1 autonomously controls tire wheel steering angles θ of the tire wheels 4a, 5a, 6a and 7a to run on a predetermined route. The predetermined route includes curves at least partially and when the vehicle runs on the predetermined route at a first speed, the tire wheel steering angle takes a first steering angle pattern. When the vehicle runs on the predetermined route at a second speed lower than the first speed, the tire wheel steering angle takes a second rudder angle pattern. At a predetermined point on the predetermined route, the tire wheel rudder angle in the second steering angle pattern is larger than the tire wheel steering angle in the first rudder angle pattern.SELECTED DRAWING: Figure 7

    【課題】自動運転において車両を目標位置へ精度よく移動させるための技術に関する。【解決手段】車両1は、タイヤホイール4a、5a、6a、7aと、タイヤホイール4a、5a、6a、7aの周囲に配置され路面と接する粘弾性体(タイヤ)4b、5b、6b、7bと、を備える車輪3を有する。タイヤホイール4a、5a、6a、7aのタイヤホイール舵角θを自律的に制御し、所定の経路を走行可能である車両1であって、所定の経路は、少なくとも一部にカーブを含み、所定の経路を第1の速度で走行した場合、タイヤホイール舵角は第1の舵角パターンであり、所定の経路を、第1の速度より遅い第2の速度で走行した場合、タイヤホイール舵角は第2の舵角パターンである。所定の経路の所定の地点において、第2の舵角パターンのタイヤホイール舵角は、第1の舵角パターンのタイヤホイール舵角より大きい。【選択図】図7


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    Title :

    VEHICLE AND AUTOMATIC STEERING GEAR


    Additional title:

    車両及び自動操舵装置


    Contributors:

    Publication date :

    2020-01-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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