A moving body control device for controlling a moving body, including an information acquisition unit that acquires moving body-specific information including a bogie position and a vehicle body mass, a moving body position, a moving body velocity, and track information including a curvature for each position of the track, and a feedforward steering angle calculation unit that calculates a steering angle by using the moving body-specific information, the moving body position, the moving body velocity, and the track information. The feedforward steering angle calculation unit calculates the steering angle according to a sum of a kinematic component calculated based on a geometrical relationship between the bogie position and the curvature of a track, and a dynamic component calculated based on an equation of motion including the bogie position, the vehicle body mass, the moving body velocity, and the curvature and a curvature change rate of the track.


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    Title :

    Moving body control device, moving body, moving body control method, and program


    Contributors:

    Publication date :

    2024-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / B61F Untergestelle für Schienenfahrzeuge, z.B. Fahrgestellrahmen, Drehgestelle oder Anordnungen der Radsätze , RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES




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