| 摘要 |
PURPOSE:To determine an exact running course basing on picture element data being judged as correct data by excluding defective picture element data influenced by dirt near the running line, electric noise, irregular reflection etc. CONSTITUTION:When an image pickup device 3 photographed a running line 6, the first judging means 11 encodes picture element signals of a picture image photographed by the image pickup device to make picture element data. Then, a storing means 12 stores each picture element of the encoded picture image as picture element data, and an arithmetic means 11 calculates the position of center of gravity of a line having width photographed in the picture image basing on picture element data of the picture image stored in the storing means 12. Then, the second arithmetic means 11 calculates the distance between positions of adjoining center of gravity, and the second judging means 11 compares the distance and the reference distance stored in the second storing means 13. A controlling means 20 controls a steering mechanism 19 basing on the position of center of gravity only when it is judged to be equal to or smaller than the reference distance basing on the result of judgement of the second judging means 11.
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