| 摘要 |
An apparatus includes means for holding data which pertain to specifications and data of a vehicle, means for obtaining information of a path the vehicle is to travel, which consists of position, orientation, and velocity data, and is given by point information, a path computing section for computing a path equation including equations of continuous straight lines and arcs and a velocity pattern, which pertain to automatic travel, on the basis of the held data and the path information, an absolute position orientation angle detection section for detecting the absolute position and absolute orientation angle of the vehicle, and means for controlling the steering unit to track the path equation on the basis of the path equation, and the absolute position and orientation angle, and controlling the drive unit to track the velocity pattern on the basis of the velocity pattern, and the vehicle velocity.
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