| 摘要 |
PROBLEM TO BE SOLVED: To continue automatic steering traveling without recklessly stopping a vehicle when any obstacle through which the vehicle is able to pass is present on a vehicle traveling path. SOLUTION: A magnetic marker 2 group is laid in a line on an exclusive vehicle traveling path 1 set on a road surface in state in alignment with this. A vehicle control ECU mounted on a vehicle 3 maintains such state that the center of a sensor unit 7 is positioned just above a magnetic marker 2 in an automatic steering traveling, and when an obstacle Q appears in front of the vehicle 3, decides whether or not the vehicle 3 is able to pass through the obstacle Q at the time of changing the above mentioned state to such state that the end part of the sensor unit 7 near the obstacle Q is positioned just above the magnetic marker 2, and at the time of deciding that the vehicle 3 is able to pass through, changes a steering state to such state that the end part of the sensor unit 7 near the obstacle Q is positioned just above the magnetic marker 2, and makes the vehicle 3 travel while avoiding the obstacle Q. COPYRIGHT: (C)2005,JPO&NCIPI |
