Automatic travelling apparatus.

摘要

Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle by an image pick-up device attached to the vehicle; determining a permissible travelling area in the X-Y coordinates having the X-axis corresponding to the vehicle's running direction on the basis of dot unit data sampled from the taken image; setting a target course by a sequence of dots in the permissible travelling area; setting a target point on the target course at a specified distance in the X-axis direction and steering the vehicle so as to bring it to the target point, and also characterized by the possibility to convert the discontinuous dot pattern of target course into a continuous curve and to accurately set thereon the target point. <IMAGE>