Abstract: A robot which incorporates a body, two arms, two legs, several sensors, an audio system, a light assembly, and a video device. The sensors located throughout the body of the robot combined with an edge detection sensor allows the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. The audio system allows the robot to detect and transmit sounds. The video device allows a user to remotely view the area in front of the robot. Additionally, the robot may operate in a plurality of modes which allow the robot to operate autonomously. The robot may operate autonomously in an automatic mode, a security mode, a greet mode, and a monitor mode. Further, the robot can be manipulated remotely.

Abstract: A mobile robot capable of recognizing its location and adjusting its direction in response to an obstacle in its way includes a running device, an obstacle detecting device for detecting the presence of an obstacle, a location recognizing device, a controlling portion, and a power supply. The location recognizing device includes a first vision camera directed toward the ceiling of a room and a first vision board. The first vision camera recognizes a base mark on the ceiling. The first vision board processes an image from the first vision camera and transmits the image data to the controlling portion. The obstacle detecting device includes a line laser for emitting a linear light beam toward the obstacle, a second vision camera for recognizing a reflective linear light beam from the obstacle, and a second vision board for processing image data captured by the second vision camera.

Abstract: An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the functional robot during task performance. The navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the navigator robot remains stationary while controlling and moving the functional robot in order to simplify localization calculations. In one embodiment, the navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the functional robot is not equipped with sensors or hardware employed for these purposes.

Abstract: An autonomous vehicle, such as a robotic cleaning device, includes wheels which support the vehicle and allow the vehicle to traverse a surface. Downward looking wheel sensors sense the presence of a surface in front of the wheels. Another sensor is provided at or near a leading edge of the vehicle for sensing the presence beneath the leading edge of the vehicle. The vehicle is arranged so that movement of the vehicle is possible if the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, provided that the wheel sensors indicate that there is a surface adjacent to the wheel. When the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, the vehicle performs an edge following routine.

Abstract: There is provided a control apparatus adapted to easily and securely plural robots in an individual manner so that they can be controlled. In more practical sense, when one robot unit is controlled, a slide button 52 is switched to the module A side. When the other robot unit is controlled, such button is switched to the module B side. When a button 51 caused to correspond to sound name is operated, sound corresponding to that sound name is outputted at sound pitch corresponding to switching position of the slide button 52, and robot is controlled by that sound. Respective robots take thereinto only audio signals of sound pitches corresponding thereto.

Abstract: A method and apparatus for controlling the steering of an automatic guided vehicle (AGV) includes simultaneously correcting the vehicle's heading and position errors. The vehicle may include first and second steering control loops that determine the vehicle's position and heading errors, respectively. Separate commands are generated from these control loops to steer the vehicle in a manner that tends to reduce these errors. The vehicle may include a forward and a rearward pair of wheels. For correcting position errors, the first control loop issues the same steering command to both the forward and rearward pair of wheels. For correcting heading errors, the second control loop issues a steering command to the rearward pair of wheels that is summed together with the first control loop's steering command prior to being applied to the rearward pair of wheels.

Abstract: A user can place the multifunctional mobile appliance in a work area bounded by a set of impulse radio, or GPS, transceivers. The appliance independently and accurately maps the work area and proceeds to perform one or more tasks over that area, as directed by the user. These tasks include, but are not limited to, mowing, vacuuming, scrubbing, waxing, and polishing. The user may control, through the World Wide Web, what tasks are performed where and when. Both the user and the appliance can make use of services that are provided on the Internet to enhance the performance of the appliance. The appliance is safe, silent, self-sufficient, nimble, and non-polluting. It is equipped with sensors to enable it to avoid obstacles and other less than optimal operating conditions.

Abstract: Four wheels are provided to four corners of a frame of an automatic guided vehicle. One of the wheels is mounted to the frame and remaining three wheels are mounted on a swing frame that is movably fixed upwardly and downwardly to the frame with a shaft and bearings in order that all wheels are touched to a floor surface always. In addition, a cylinder unit is provided. Its cylinder tube is connected to the swing frame and its rod connected to a piston in the cylinder tube is connected to the frame through a universal coupling. In addition, valves are provided to communicate with the both sides of the piston in the cylinder tube through ports of the cylinder tube. When a robot arm provided to the automatic guided vehicle is operated, the valves are closed to inhibit the incompressive fluid to enter and exit the cylinder tube to lock the swing frame.

Abstract: A search system for a tool. A border cable separates inner and outer areas. A generator feeds the border cable with current, whose magnetic field affects a sensing unit on the tool, and the sensing unit emits signals to a control unit that directs the tool's motion. The current contains at least two components of different frequency. A search cable is placed within the inner area so that it separates a search area, and is fed by a signal generator with an adapted current (e.g., the current direction alternates to be either in phase or out of phase in relation to the current direction in the border cable) so that the magnetic fields in the different areas provide at least three patterns. Accordingly, the control unit can separate the inner, outer, and search areas.

Abstract: A mobile robot placed on an automatic production line is provided. The mobile robot collects information on operating conditions of other mobile robots placed around it and flow of workpieces on the production line and determines action to be taken next based on the formation. A production system using such a mobile robot and a system inputting an operation program corresponding to a workstation into a mobile robot automatically are also provided. This enables measures to be taken quickly against a change in production, thereby providing a system which achieves high efficiency production.

Abstract: A motor vehicle position recognizing system which can ensure high accuracy for an arithmetic processing for determining a vehicle position in a transverse direction of a road by minimizing error involved in the arithmetic processing by suppressing occurrence of discontinuity even when a magnetic sensor whose output is destined for the arithmetic processing is changed over to another one.

Abstract: An autonomously movable cleaning robot comprising a platform and motive force to autonomously move the robot on a substantially horizontal surface having boundaries. The robot further has a computer processing unit for storing, receiving and transmitting data, and a cleaning implement operatively associated with the robot. The robot receives input data from an external source. The external source may be physical manipulation of the robot, remote control, or by triangulation from at least three external transmitters.

Abstract: A computer-assisted method for determining a position and orientation a sensor relative to a scene. The sensor has a plurality of degrees of freedom in position and orientation relative to the scene. The method includes sensing an image of the scene, the sensed image having a plurality of regions such that a sum of degrees of independent constraint of the plurality of regions equals or exceeds the degrees of freedom in position and orientation of the sensor relative to the scene, comparing the plurality of regions of the sensed image to a plurality of regions of a first image of the scene stored in a map, the first stored image representative of a position and orientation of the sensor relative to the scene, and determining sensor position and orientation based on the comparing.

Abstract: In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.

Abstract: Each of the wheeled worktables 1, which is isolated from the others, travels self-dependently with drive of the motor M and the sensor (optical recognition device) 5 is provided on each wheeled worktable 1 while the optical recognition tape T as the recognition object for the sensor 5 is attached to the predetermined conveyance passage on the floor 11 for inducement of the wheeled worktables 1.

Abstract: The present invention is a method and apparatus for controlling a steer center position of an automatic guided vehicle (AGV) of the type that follows a wire. As the automatic vehicle follows a wire, the distance of the AGV from the wire is monitored over a given distance, and an average distance from wire calculated. This value is used to determine a steer center position adjustment, which adjusts the steer center position to maintain the AGV within a predetermined distance of the wire or other path. The present invention is useful in accounting for variations between AGV's based on mechanical linkages and manufacturing differences; differences in steer center position when an AGV is driven in a forward or reverse direction; and changes due to environmental conditions.

Abstract: A power assist apparatus includes an autonomously mobile base on which a manipulator for holding a load is mounted. The movement of the mobile base is controlled such that when the manipulator tip is within a prescribed operating region relative to the mobile base, the mobile base is maintained stationary, but when the manipulator tip moves outside the operating region, the mobile base is moved to decrease the distance between the mobile base and the manipulator tip. The power assist apparatus assists with the carrying of loads by amplifying an operational force applied to the manipulator.

Abstract: A communication system architecture (SA) for a vehicle which may be integrated into the vehicle's multiplexed electronic component communication system, and a process for communicating with the vehicle to provide information for and about the vehicle's operational status and coordinating the vehicle's activities. The communication system will include a multi-functional antenna system for the vehicle that will have the capability to receive AM/FM radio and television signals, and transmit and receive citizens band (CB) radio signals, satellite and microwave and cellular phone communications. The antenna may be installed as original equipment or as a back-fit part in the after-market. In either case the multi-functional antenna will be integrated with the vehicle's multiplexed electronic component communication system.

Abstract: The invention provides a travel controlling apparatus of an unmanned vehicle which can maintain a high accuracy of travel guiding even in the case that an accuracy of positioning of a GPS navigation or an autonomous navigation is deteriorated and a state that a positioning can not be executed is invited.

Abstract: An automatic steering system for a vehicle is provided which includes a memory section for storing data for a steering angle of a wheel with respect to a distance of movement of a vehicle in correspondence to four parking modes. If a desired parking mode is selected by a mode selecting switch and the vehicle is moved at a creep while depressing a brake pedal, a control section controls the operation of a steering actuator to perform automatic parking control. At this time, an object detector continuously detects the position of an object around or in the vicinity of the subject vehicle, and when there is an obstacle already existing within a locus of movement of the subject vehicle, or when there is a possibility that a moving obstacle may enter into the locus of movement of the subject vehicle, a warning is provided to a driver, and an automatic brake is operated. Thus, it is possible to reliably perform the automatic parking control when there is an obstacle.

Abstract: A method for the drive coordination of a rail-guided vehicle with individual-wheel drive traveling on straight track, including the steps of determining a differential speed (&Dgr;n) of opposite track wheels and a control value (&Dgr;M) by a controller as a function of a set point, whereby the set point is ideally zero and the frequency and the damping of the control value (&Dgr;M) can be dynamically adjusted by controller parameters. The invention further comprises a method for the drive coordination of a rail-guided vehicle with individual-wheel drive, in particular when the vehicle is traveling over curves, in which at least one axle is fastened so that it can rotate with respect to the underbody, whereby the angular position (&ggr;st) of the axle with respect to the underbody is regulated so that the track wheels are tangential to the rail by setting the angular position (&ggr;sl) of the axle by means of the torque set points (MSet,l MSet,r) of the individual wheel drives.

Abstract: A system for operating an autonomous robot for performing tasks, such as lawn mowing, includes an indicator and a robot configured for detecting the indicator and generating a map of the working area bounded by the indicator and correcting the position of the robot in accordance with the generated map of the working area.

Abstract: Some automobiles have mechanisms for adjusting the height of accelerator and brake pedals, and any clutch pedal, so that drivers large and small can adjust the pedals to the best height. All pedals are adjusted by a single reversible electric motor having a shaft connected directly or by a flexible shaft to the adjusting mechanisms. If any fault develops in any mechanism, the pedals may not be adjusted to the same height, which is hazardous to the driver. A safety switching system detects any serious misalignment of the pedals and de-energizes the motor. The system comprises separate switches which are operable by adjustment of the pedals, and are electrically connected in series with the power supply circuit for the motor. When the pedals are aligned, the bridging contactors of the switches are aligned and are effective to maintain the electrical continuity of the motor circuit. Each contactor has three contact sliders which successively engage staggered tabs on contact strips for the respective pedals.

Abstract: An automatic cart for transporting golf clubs or other objects and accessories. The cart has at least one electric drive motor connected to at least one wheel of the cart, at least one electronic controller for controlling the motor, and a plurality of sensors peripherally disposed on the cart. The sensors are used to detect the presence of obstacles in the path of the cart and to sense the signals coming from an external signal source associated with the user. A microcomputer control unit analyses information from the sensors and coordinates movement of the cart so that it stays near the user.

Abstract: A synchronous control unit receives data describing robot motion and speed along a pathway. A storage unit stores the data. In accordance with an internal clock or encoder equivalent internal to the robot, an output unit outputs the data to a positioning controller thereby synchronizing the robot movement with the data.

Abstract: System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection o

Abstract: The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters.

Abstract: The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters.

Abstract: Acceleration information, rotation angle information and rotation angular velocity information are detected by an acceleration sensor and a rotation angle sensor, and detected signals are stored into a storage section in time series. Specific information such as dispersion is calculated from the stored time series signals, and the state of the robot device is determined from the specific information. When it is detected as the state of the robot device that the robot device is lifted up, the movement of a predetermined movable part which acts to the outside is stopped.

Abstract: An automatic steering system for a vehicle is provided which includes a memory section for storing data for a steering angle of a wheel with respect to a distance of movement of a vehicle in correspondence to four parking modes. If a desired parking mode is selected by a mode selecting switch and the vehicle is moved at a creep while depressing a brake pedal, a control section controls the operation of a steering actuator to perform automatic parking control. At this time, an object detector continuously detects the position of an object around or in the vicinity of the subject vehicle, and when there is an obstacle already existing within a locus of movement of the subject vehicle, or when there is a possibility that a moving obstacle may enter into the locus of movement of the subject vehicle, a warning is provided to a driver, and an automatic brake is operated. Thus, it is possible to reliably perform the automatic parking control when there is an obstacle.

Abstract: An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit and a gray scale vision system processor/camera and/or a laser pointer is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views (“TOPES”) and also for guiding equipment through such environments.

Abstract: An automated guided vehicle system and method includes providing at least one automated-guided vehicle (AGV) and a pathway for the AGV. A sensor assembly on the AGV senses magnet assemblies on the pathway as the AGV is transported over that magnet assembly. A navigation and guidance system determines the location of the maximum magnitude of the magnetic field by mathematically fitting a curve to the magnitude of portions of the magnetic field sensed by said magnetic sensors and determines a maximum value of the curve. At least some of the said magnet assemblies each produce a bipolar magnetic field extending generally transverse to the pathway and the sensor assembly produces an output indicative of magnitude and polarity of respective portions of the bipolar magnetic field. The navigation and guidance system determines a location of maximum magnitude of the opposite polarities of the bipolar magnetic field and a correction factor.

Abstract: The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters.

Abstract: A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases.

Abstract: A speed controller for a self-traveling vehicle, capable of traveling at high speed along curves, downhill roads, and uphill roads without colliding with an object detected by an object detecting means, is provided.

Abstract: A modular articulated robot structure (FIG. 4) composed of a series of independent modules (10,100,300) releasably connected to each other to form various configurations. The modules (10,100,300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally formed of first and second substantially U-shaped structural members (12,14) pivotally attached to one another by means of a pair of axles or pivot pins (26) adapted to support a workload exerted on the module (10). A motor (48) is mounted internally of the module (10) for pivoting the second structural member (14) relative to the first structural member (12). The motor (48) is connected to the second structural member (14) in such a way that it is not submitted to outside loads exerted on the module (10).

Abstract: A sensor is provided on the vehicle of a driverless transport system. The sensor is based on the principle of a computer mouse for ascertaining either a drift angle &Dgr;&agr; or the transverse movement is detected as a path difference &Dgr;q whereby lateral drift due, for example, to roadway covering irregularities and to curves, is detected directly. A considerable improvement in the tracking accuracy of driverless transport vehicles is thereby provided.

Abstract: A modulation control type of AC motor includes a modulator and a modulation motor. The modulation motor has the structure in which a DC field power source of a two-phase synchronous motor is replaced by a load and a DC main magnetic flux is replaced by an alternate main magnetic flux. There is no interference between the frequency of an AC power source and the frequency of a modulation signal. Therefore, the synchronous torque and the rotation speed can be controlled separately and independently. The controllable range is wide.

Abstract: An apparatus for controlling a model railroad locomotive includes a Digital Command Control (DCC) decoder and a power switch. The power switch selectively connects the railroad locomotive's motor to either the decoder or directly to an energy source, such as the tracks, but not both the decoder and the energy source simultaneously. When the motor is connected directly to the energy source, rather than through the decoder, the model railroad locomotive speed and direction is determined by the magnitude and polarity of the voltage applied. The motor may alternatively be powered through the decoder by actuating the power switch. The decoder receives electrical energy as an input, and converts the energy to deliver as an output a variable electric motor drive power source. In addition to receiving energy as an input, the decoder also receives electrical signals representative of an operator's control instructions.

Abstract: A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.

Abstract: The invention relates to a method of connecting a mobile, electronic control and/or monitoring unit (9) to at least one machine or at least one machine component in a group or a plurality of machines (2) or machine components to be controlled and/or monitored. During a connection or log-on procedure between the control and/or monitoring unit (9) and a co-operating distant point on the respective machine (2), a clear link or log-on connection is set up either by means of interfaces (14, 15) to the selected, wireless direction-finder of the co-operating distant point or alternatively by means of transmitters and/or receivers (16, 17) tuned to a restricted, localized functional or operating range (21).

Abstract: A method for position finding of an automated guided vehicle using detection of angle positions for anonymous reflectors (R1-R11). The anonymous reflectors are arranged in positions in a limited transport area, and the positions are stored. A concentrated beam (B) is emitted from a vehicle (10) and is made to pass over a search sector. The angle position in relation to a reference direction (D) of the vehicle (10) in reflective objects is continually detected during the sweep of the beam over the search sector, and corresponding angle values are determined.

Abstract: An electronic bordering system for a working tool in which a border cable is placed above, under or on ground or floor, so that it separates an inner area within the border cable from an outer area. The working tool is preferably intended for attendance of ground or floor. A signal generator feeds the border cable with current, whose magnetic field affects at least one sensing unit located on the working tool, so that the sensing unit emits signals to a control unit, which in cooperation with an engine control, or a signal system for a driver, and at least one driving source directs the tool's movement in order to prevent it from remoting from the inner area. The signal generator feeds the border cable with current containing at least two alternating-current components of different frequency, and the components are lying in a known relation of time to each other.

Abstract: In an adaptive speed control system for a vehicle, a method and system for automatically adjusting a selected following interval for the vehicle based on driving conditions is provided. The method includes determining a driving surface coefficient of friction based on a driven wheel speed of the vehicle, and adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction. The system includes a receiver capable of receiving a signal indicative of a driven wheel speed of the vehicle, and a controller capable of determining a driving surface coefficient of friction based on the driven wheel speed, and capable of adjusting the selected following interval for the vehicle based on the driving surface coefficient of friction.

Abstract: A processional travel control apparatus that allows processional travel with a leading vehicle driven by a driver and a plurality of succeeding vehicles automatically following the leading vehicle, each of the vehicles 1-1 is provided with: an input device 1-2 for entering the total number of vehicles in a procession and the sequence number of each vehicle in the procession; a vehicle setting device 1-3 for setting each vehicle 1-1 as either a leading vehicle or a succeeding vehicle according to the sequence number of each vehicle 1-1 in the procession set by the input device 1-2; and a vehicle travelling control device 1-4 for instructing each vehicle 1-1 to travel in a procession according to the set sequence number in the procession. Hence a procession or the like can be formed essentially anywhere, including outside of conventional parking ports.

Abstract: The vehicle surroundings monitor detects the sizes and positions of obstacles, ditches and humans as well as the depths of the ditches to provide the driver with sufficient information to secure safety during driving. The pattern light projector receives an incoming laser beam and projects a light spot matrix in the form of a regular grating onto the monitored area. The camera photographs the light spot pattern on the monitored area and sends image signals to the data processor which processes the image signals to detect the presence of any obstacle, ditch or human. Based on the steering angle detected by the steering angle sensor, the path the car will take is predicted and a possible contact or collision of the car with the obstacle is detected beforehand. The buzzer, voice synthesizer and display device are used to alert the driver and indicate the presence of the obstacles, the possible contact with them and the location where the possible contact will occur.

Abstract: A device for controlling the steering angle of a vehicle over a wide range maintaining improved control precision. The device controls the steering angle &thgr;d through a steering drive device 10 so as to come in agreement with a target angle &thgr;0. A steering angle detection device includes a first potentiometer 11 that produces a first angle detection value &thgr;1 and a second potentiometer 12 that produces a second angle detection value &thgr;2. A target torque operation means 20 includes an angle operation unit 22 for operating the steering angle based on the first and second angle detection values, and the angle operation unit 22 produces the first angle detection value as the steering angle outside the second angular range, and produces the second angle detection value as the steering angle inside the second angular range.

Abstract: An automatic steering system for a vehicle is provided which includes a memory section for storing data for a steering angle of a wheel with respect to a distance of movement of a vehicle in correspondence to four parking modes. If a desired parking mode is selected by a mode selecting switch and the vehicle is moved at a creep while depressing a brake pedal, a control section controls the operation of a steering actuator to perform automatic parking control. At this time, an object detector continuously detects the position of an object around or in the vicinity of the subject vehicle, and when there is an obstacle already existing within a locus of movement of the subject vehicle, or when there is a possibility that a moving obstacle may enter into the locus of movement of the subject vehicle, a warning is provided to a driver, and an automatic brake is operated. Thus, it is possible to reliably perform the automatic parking control when there is an obstacle.

Abstract: A vehicle test apparatus having a rotationally supported steer member and a steer arm assembly including a steer arm operable coupled to the steer member and movable therewith. The steer arm is coupled to the steer member in a first position to form a forward steer arm connectable to a forward steer unit and orientable in a second position to form a rear steer arm connectable to a rear steer unit for front and rear steer testing. A steer actuator is coupled to the steer member and operable between forward and rear actuation modes for forward and rear steer testing.

Abstract: A speed control device for an electric motor fed by a direct voltage source, the device comprising a controlled switch by which the motor voltage is alternately switched on and off under the control of a modulated switching pulse sequence. The switching frequency is higher than the frequency corresponding to the time constant of the electric motor. The switched motor voltage is regulated to a voltage set value corresponding to a desired motor speed by influencing the modulated switching pulse sequence.