Autonomous forklift truck control system and method for drivng the forklift truck

A control system for a lift truck vehicle, the control system being mounted on the lift truck vehicle and comprising:

• human-control devices generating manual guidance signals for one or more actuators of the vehicle, the human-control devices including a hydraulic steering system;
• a control module including an automatic-control submodule generating autonomous guidance signals intended for the one or more actuators of the lift truck vehicle, depending on setpoint signals;
• a switching module designed to select one or more manual guidance signals generated by the human-control devices and/or one or more autonomous guidance signals generated by the automatic-control submodule;
• an electrohydraulic valve enabling conversion of the one or more manual guidance signals and/or the one or more autonomous guidance signals into a signal intended for the hydraulic steering system;
• and
• a servo controller of the electrohydraulic valve comprising a proportional-integral controller and an on/off controller, wherein the servo controller is configured to activate the proportional-integral controller when a speed of the lift truck vehicle is less than a speed threshold of the lift truck vehicle, the speed threshold being greater than zero, and activate the on/off controller when the speed of the lift truck vehicle is greater than the speed threshold.