| 摘要 |
PROBLEM TO BE SOLVED: To smooth the operation of an automatic vehicle guidance system using an automatic traveling car without causing malfunction of a safety device by detecting an obstacle recklessly. SOLUTION: An obstacle sensor 2 detecting obstacle around a vehicle is arranged. A coordinate system converting means 24 which calculates the travel range of a vehicle traveling along a travel route on the basis of travel route coordinate data stored in a map data storing part 23 is arranged. A detection range deciding means 25 which defines a range where a travel range and the detectable range of the sensor 2 overlap each other as a detection range is arranged. An obstacle detecting means 12 which detects the existence/absence of an obstacle in the detection range defined by the means 25 on the basis of a detection signal from the sensor 2 is arranged. A map data rewriting means 29 which prepares a detour route avoiding the detected obstacle, writes detour route coordinate data in the travel route coordinate data of the part 23 and rewrites a travel route is arranged.
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