To provide a control device which allows a moving body to move smoothly awhile adequately preventing the moving body from approaching an obstacle too closely when the moving body is moved according to an operation of an operator.SOLUTION: A control device 20 modifies a basic move command of a moving body 1 based on an operator's operation according to a positional relation between an obstacle and the moving body and controls moves of the moving body 1 according to the modified move command. The control device 20 is configured to: modify the basic move command as to make the moving body 1 additively generate a yaw rate in a direction to apart from the obstacle when a distance d between the obstacle and the moving body 1 becomes equal to or less than a specified value d1, and also configured to modify the basic move command so as to increase an increasing ratio of the yaw rate amount with respect to a reduction of the distance, as the distance d is nearer to a specified value d1.SELECTED DRAWING: Figure 4

    【課題】操縦者による操縦操作に応じて移動体を移動させているときに、移動体が障害物に接近し過ぎるのを適切に防止しつつ、該移動体の移動を円滑に行わせることを可能とする制御装置を提供する。【解決手段】制御装置20は、操縦者の操縦操作に基づく移動体1の基本移動指令を、障害物と移動体との位置関係に応じて修正し、その修正後の移動指令に応じて移動体1の移動制御を行う。制御装置20は、障害物と移動体1との距離dが所定値d1以下になったとき、移動体1に、障害物から離れる方向のヨーレートを付加的に発生させるように基本移動指令を修正するように構成されていると共に、距離の減少に対するヨーレートの大さの増加率を、距離dが所定値d1に近いほど、大きくするように基本移動指令を修正するように構成されている。【選択図】図4


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    Title :

    MOVING BODY CONTROL DEVICE


    Additional title:

    移動体の制御装置


    Contributors:

    Publication date :

    2021-07-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62K Fahrräder , CYCLES



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