| 摘要 |
PROBLEM TO BE SOLVED: To provide an external environment map, self-position identifying device, and guide controller capable of reducing the conversion error of external sensor information, ensuring the resolution of the neighborhood of a traveling object without increasing any memory capacity, making it unnecessary to input any CAD before the traveling object travels so that it is possible for even a general user to easily handle it without any special knowledge, extremely simplifying the data calculation of inter-picture correlation calculation, and realizing high speed processing without using any processor exclusive for the picture processing. SOLUTION: In an external environment map where the position relation of a traveling object 101 moving in a plane with a surrounding external environment object 102 in the plane is held as discrete data on a memory, the data are constituted of the set of direction data 104 from the traveling object made discrete with a prescribed interval and distance data 105 to the surrounding external environment object made discrete with the prescribed interval in the direction with a point fixed on the traveling object as an origin 103. |
