Increasing the Speed of a Lateral Guided Vehicle with a Sensor Steering Mechanism Using 1kHz Intelligent Camera(Drift Control by Changing of Steering and Arm Length Ratio)
Yoshihiro Takita, Yumiko Sakai, Takeshi Takahashi, Hisashi DATE, Naohisa Mukouzaka · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2006
The previous paper proposed a SSM (Sensor Steering Mechanism) for a lateral guided vehicle which follows the guideway. The SSM achieves high-speed moving on a straight line, but the cornering stability is influenced by the approach speed and the slip angle of the tires. For the conventional SSM, the steering ratio (the ratio of a sensor arm angle and a steering angle) is set at 2 to 1. In order to reach high speeds while moving, this paper proposes the variable steering ratio and the sensor arm ratio (the ratio of the sensor arm length and the wheel base). For the experiment, the steering ratio of the RR (Rear motor Rear drive) type SSM vehicle with 1 kHz smart camera is changed to 1 to 1.5. Experimental and simulated results of running on the test track are presented and demonstrated the advantage of this method.