| 摘要 |
PURPOSE: To surely execute the steering control along a guide cable by a pair of right and left magnetic sensors mounted on an automatic running vehicle. CONSTITUTION: If a pulse signal P1 from a vehicle speed sensor is not detected within a certain time To (S4:no) or the change rate of the pulse signal P1 is higher than a prescribed value (S5:yes), it is judged that the vehicle speed sensor is faulty, and an alarm lamp to inform an operator that the vehicle speed sensor is abnormal is lit (S6), and the change rate (Δe/To) of the detected value of each magnetic sensor is calculated at intervals of the certain time To (S7), and steering control is executed on the calculation result (S8). If the detected value of the vehicle speed sensor is outputted (S4:yes) or the change rate of the pulse signal P1 is low (S5:no), the alarm lamp is extinguished because the vehicle speed sensor is not faulty (S9), and the change rate (Δe/Lo) of the detected value of the magnetic sensor is calculated at intervals of a certain running distance L0 (S10), and steering control is executed based on the calculation result. |
