| 摘要 |
<p>On the basis of a driving guiding method which steers a cart (4), when one of marker lines (2) is detected, to the side of another marker line (2) among a plurality of marker lines (2), the method of the invention prevents the driving of the cart (4) from concentrating on the line (2) on the external side when the marker lines (2) are curved. A plurality of lines (1) to be detected, which are extended linearly, are laid down between the marker lines (2) in such a fashion that these lines (1) are in parallel with one another but cross the marker lines (2) on their extension. When the cart (4) equipped with means for detecting the to-be-detected lines (1) moves straight and crosses the to-be-detected lines (1), an angle of entrance of the cart (4) to the to-be-detected lines is calculated when the detection means detects two or more to-be-detected lines (1), and a steering angle is controlled in accordance with the entrance angle so calculated so that an angle of advance to the parallel lines of the to-be-detected lines (1) is always kept at a constant value. <IMAGE></p> |
