| 摘要 |
PURPOSE:To make vertical scanning of the beam light emitted from a light source unnecessary and attach two optical sensors on a vehicle body without a vertical difference by using transmission type optical sensors as two optical sensors which are arranged in the front and the rear on the vehicle body and have a certain length in the breadth wise direction of the vehicle. CONSTITUTION:Output signals of optical sensors 2 and 3 are inputted to an AD converter 60 and are converted to digital information indicating light reception position of the beam light. These information are inputted to a central arithmetic unit 61 to operate an angle theta of displacement of the vehicle body on a basis of beam light reception positions (x) and (y) based on center lines of optical sensors 2 and 3 in accordance with theta=tan<-1>(x+y)/a [(a) is the length between optical sensors 2 and 3]. A positional deviation (z) is obtained in accordance with z=(x+y)/2.costheta. The unit 61 inputs a steering angle command, by which theta and (z) are zero, to a comparator 62 on a basis of calculated angle thetaof displacement and positional deviation (z), and this command is compared with an actual steering angle. A deviation signal which is the output of the comparator 62 is inputted to a steering mechanism 63.
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