| 摘要 |
A system for accurately guiding a vehicle along a predetermined driving course. The deviation of a vehicle position in a direction perpendicular to the course is calculated on the basis of coordinates position data (Xi, Yi) and direction data (i) selected by selection means and the actual coordinates position (X, Y) detected by position detection means. Next, the steering angle of the vehicle is so calculated as to decrease with the increase in the actual speed of the vehicle on the basis of this deviation and the detected speed (V) so that the deviation may become zero. The steering angle of the vehicle is controlled on the basis of the vehicle steering angle, and the vehicle can be accurately guided and driven on the predetermined driving course. Alternatively, the vehicle steering angle is so calculated as to decrease with the increase in the actual speed of the vehicle on the basis of the deviation obtained from deviation calculating means, the deviation obtained from integrating means and the actual speed calculated by speed detection means so that the deviation quantity may become zero.
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