| 摘要 |
A travelling control apparatus used for the guided travelling of a vehicle, such as a dump truck. According to this apparatus, first, second and third synchronized radio waves (m1), (m2), (m3) are transmitted from different predetermined positions on the ground. These radio waves (m1), (m2), (m3) are received by a vehicle (20), and the position and attitude angle of the vehicle are detected on the basis of differences in the time of reception between the radio waves. A steering command for moving the vehicle along a preset travelling path is determined on the basis of the preset travelling path and the position and attitude angle of the vehicle, and a vehicle steering angle is controlled to a level which is in conformity with this steering command. |
