Moving body control device, moving body, moving body control method, and program

A moving body control method which controls a moving body including a bogie and an actuator that is a steering mechanism of the bogie and traveling along a predetermined track, the method comprising:

• a step of acquiring moving body-specific information including a bogie position and a weight of the moving body, a moving body position, a moving body velocity, and track information including a curvature for each position of the track;
• a step of calculating a feedforward steering angle by using the moving body-specific information, the moving body position, the moving body velocity, and the track information;
• and
• a step of outputting a steering angle command based on the calculated feedforward steering angle to the actuator of the moving body, wherein
• the step of calculating the feedforward steering angle includes a step of calculating the feedforward steering angle according to a sum of a kinematic component calculated based on a geometrical relationship between the bogie position and the curvature of the track at the moving body position, and a dynamic component calculated based on an equation of motion including the bogie position, the weight of the moving body, the moving body velocity, and the curvature and a curvature change rate of the track at the moving body position.

A non-transitory computer-readable medium that stores a program causing a computer of a moving body control device which controls a moving body including a bogie and an actuator that is a steering mechanism of the bogie and traveling along a predetermined track to execute:

• a step of acquiring moving body-specific information including a bogie position and a weight of the moving body, a moving body position, a moving body velocity, and track information including a curvature for each position of the track;
• a step of calculating a feedforward steering angle by using the moving body-specific information, the moving body position, the moving body velocity, and the track information;
• and
• a step of outputting a steering angle command based on the calculated feedforward steering angle to the actuator of the moving body, wherein
• the step of calculating the feedforward steering angle includes a step of calculating the feedforward steering angle according to a sum of a kinematic component calculated based on a geometrical relationship between the bogie position and the curvature of the track at the moving body position, and a dynamic component calculated based on an equation of motion including the bogie position, the weight of the moving body, the moving body velocity, and the curvature and a curvature change rate of the track at the moving body position.