To provide a technique capable of achieving high direct advance performance of a vehicle.SOLUTION: A carrier vehicle includes: a mechanism section capable of steering left and right steering wheels separately; and a control section for controlling the mechanical section. The control section calculates a first steering angle of a carrier vehicle of a steering wheel on the other side where the steering torque becomes minimum, when the other steering wheel is steered while the one steering wheel is fixed in a direct advance state which is a state when traveling straight, and a second steering angle of the steering wheel on the one side where the steering torque becoming minimum, when the one steering wheel is steered while the other steering wheel is fixed in a direct advance state, and controls the mechanism section to correct each steering angle under a direct advance state, using the first steering angle and the second steering angle.SELECTED DRAWING: Figure 3

    【課題】車両の直進性能を向上できる技術を提供する。【解決手段】搬送車両は、転舵輪を左右個別に転舵できる機構部と、機構部を制御する制御部と、を備える。制御部は、一方の転舵輪を直進する場合の状態である直進状態に固定して他方の転舵輪を転舵した場合における、操舵トルクが最も小さくなる他方の転舵輪の搬送車両の第1転舵角と、他方の転舵輪を直進状態に固定して一方の転舵輪を転舵した場合における、操舵トルクが最も小さくなる一方の転舵輪の第2転舵角と、を算出する制御部と、第1転舵角と第2転舵角とを用いて、直進状態における各転舵角を補正するよう機構部を制御する。【選択図】図3


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    Title :

    CARRIER VEHICLE


    Additional title:

    搬送車両


    Contributors:

    Publication date :

    2024-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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