| 摘要 |
PURPOSE:To make self-traveling possible even in the case of cell losing or the like by previously predicting RTS information to be received and using the predicted RTS information when the RTS information to be received is lost. CONSTITUTION:When the RTS information is inputted to an input selecting means 1, this time, it is outputted as RTS. At the same time, the this-time RTS is inputted and stored in a first storage means 2, and it is outputted to a subtracting means 3 as last-time RTS. At the subtracting means 3, a differential value is calculated by taking difference between the last-time RTS and the this-time RTS from the input selecting means 1, and the calculated differential value is stored by a second storage means 4. At a judging means 5, the differential value outputted from the second storage means 4 is outputted to an adding means 6 as a predictive differential value. The adding means 6 calculates predictive RTS by adding the predictive differential value to the last-time RTS from the first storage means 2. When the RTS loss is inputted, the calculated predictive RTS is used as the this-time RTS in place of the lost RTS information. |
