Control method and control system

Abstract

To provide a control method and a control system for a vehicle having high followability relative to a target route.SOLUTION: A control system 1 for causing a vehicle to travel using a magnetic marker 10 disposed on a road surface that forms a pathway 100 of a vehicle 2 comprises: a magnetic sensor array which identifies a horizontal deviation relative to the magnetic marker 10; a control unit which converts the horizontal deviation relative to the magnetic marker 10 into a horizontal deviation of a control point relative to a target trajectory, and controls a steering angle of the vehicle 2 so that the horizontal deviation of the control point reaches zero. The control point is set at a position in front of the magnetic sensor array in a longitudinal direction of the vehicle by a distance obtained by adding an offset distance to a distance obtained by multiplying the speed of the vehicle 2 by a predetermined time.SELECTED DRAWING: Figure 1

Images