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Automatic steering control for driverless vehicle - maintains rotational axis of vehicle at required point along reference horizontal axis
Automatic steering control for driverless vehicle - maintains rotational axis of vehicle at required point along reference horizontal axis
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机译：无人驾驶车辆的自动转向控制-将车辆的旋转轴保持在沿参考水平轴的所需位置
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摘要
The vehicle has a chassis mounted on at least three wheels with an integral drive unit and a transmission coupling the drive to at least one of the wheels. One wheel mounting for one or two of the wheels maintains the latter so that theri geometric axis extends in a given horizontal direction relative to the chassis, while a second mounting for the remaining wheels is pivoted to the chassis and allows the wheels to be positioned so that the vehicle can rotate about a vertical axis intersecting the previous geometric axis under direction of a steering control. At least one measuring wheel monitors the position of the rotational axis and contacts the ground beneath the vehicle. The measuring wheel lies in the same vertical plane as the horizontal axis and is coupled to a signal generator providing a signal representing its rate of rotation. An output signal is obtained from this representing the forwards direction and the velocity of the horizontal axis relative to the ground at a point denoting the required position of the rotational axis, the steering control used to maintain the axis in this position.
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