| 摘要 |
PURPOSE:To find the present position of a vehicle by a crew by constituting a running- state recognizing means of a right-wheel-speed sensor and a left-wheel-speed sensor, and providing a control means for judging whether the moving direction of own vehicle is in advancing direction or the backing direction based on the signals. CONSTITUTION:The pulse output from a left wheel and the pulse output from a right wheel are compared based on the data from a running-state recognizing means 50. When the pulse output from the left wheel is equal to the pulse output from the right wheel, it is judged that there is no direction change. When the pulse output from the left wheel is larger than the pulse output from the right wheel, the output change from a bearing recognizing means 40 is checked. When the output change from the bearing recognizing means 40 is counterclockwise, advance is judged. When the output change from the bearing recognizing means 40 is clockwise, backing is judged. When the pulse output from the left wheel is smaller than the pulse output of the right wheel, the output change from the bearing recognizing means 40 is checked. When the output change from the bearing recognizing means 40 is clockwise, advance is judged. When the output change from the bearing recognizing means as counterclockwise, backing is judged. |
