| 摘要 |
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. In a travel controlling apparatus of an unmanned vehicle provided with a GPS receiver (13) receiving a GPS signal so as to position a position of a vehicle, an autonomous navigation computing device (14) positioning a position and an azimuth of the vehicle on the basis of a traveling direction and distance of the vehicle, a position measuring portion (11) calculating a present position and azimuth on the basis of the respective measured results of the GPS receiver (13) and the autonomous navigation computing device (14), and a travel controlling portion (17) controlling the vehicle travel on the basis of a result of comparison between a previously set traveling path (4) and the calculated position and azimuth the travel controlling apparatus is provided with a roadside zone distance measuring device (15) for measuring a distance from the vehicle to a roadside zone (5) provided in a side of the traveling path (4), and the position measuring portion (11) compensates at least one of a position positioned by the GPS receiver (13) and/or a position and an azimuth positioned by the autonomous navigation computing device (14) on the basis of the roadside zone distance measured by the roadside zone distance measuring device (15) so as to determine the present position and azimuth.
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