| 摘要 |
PURPOSE:To allow a vehicle to travel continuously while avoiding colliding against an obstacle and to eliminate an unnecessary traveling as much as possible. CONSTITUTION:An arithmetic part 8 inputs signals from photosensors S1-S4, switches 5a-5d of obstacle detecting sensors 5, switches 6a and 6b, and 7a and 7b of left and right distance sensors 6 and 7, and a solenoid valve 9 is operated on the basis of those signals to operate an actuator 10, driving steering wheels 3 and a variable speed gear 11. Once an obstacle is detected, the sensors 5 check which of the switches 5a-5d the obstacle collides against; when it collides against the center members 5b or 5d, the vehicle body is moved back temporarily, but when it collides against only either of the left and right members 5a and 5d, steering in the opposite direction to the direction of the member is carried out for forward movement. When the distance sensor 6 or 7 provided a side part of the vehicle body senses an obstacle by said forward movement, a profile traveling is started from the point of time. |
