| 摘要 |
PROBLEM TO BE SOLVED: To provide a scanning position controller which improves the follow-up accuracy to a running path and does not easily cause a system down by using a detection means to detect plural different self-positions, selecting one of these self-positions that is supposed to be most certain and using the selected self- position to the control of a self-running vehicle. SOLUTION: A path input device 15 inputs the running path of a self-running vehicle 1, and a detection means a8 detects successively all self-positions in order to prevent the delay due to an operation. Based on these detection information, the self-position is calculated by means of every arithmetic means a12. The means a12 compares the self-positions with the running path in the preceding loop processing based on the changed variable of azimuth and the distance of run which are detected by the means a8 to calculate the position coordinates and the running direction of the vehicle 1 with the preceding self-position that is supposed to be most certain defined as the reference value. Thus, a self- position and a running locus are calculated at a current point of time in a map coordinate system, and these calculation results are outputted to a comparison means 14.
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