| 摘要 |
PURPOSE:To make use of a guide set on a driving path with high efficiency by detecting the positions of >=2 front-back magnetic substance guides through a magnetic sensor set on a vehicle and giving the arithmetic processing to the relative position information on each guide against the magnetic sensor to obtain the drive guide signal of the vehicle. CONSTITUTION:Two magnetic sensors 1 and 1 pass over the front and back guides 2 and 2 approximately at a time and calculate the shift amount and the angle from the geographical position relation between both guides 2. Thus a steering amount is decided for correction of a locus. When the guide 2 is set at the center, '0' is set. While minus (-) and plus (+) are set when the guide 2 is set at the left and the right based on the center position in terms of the driving direction of a vehicle respectively. Here the sensors 1 and 1 are defined as A and B from the front side together with the outputs of both sensors defined as (a) and (b) respectively. As a result, it is decided that the body of the vehicle is turned to the left and the right with (a-b) is equal to plus (+) and minus (-) respectively. Then it is shown that the vehicle is tilted more toward its driving direction as ¦a-b¦ increases. This shift amount is proportional to (a+b) and the right and left shifts are defined with the plus (+) and minus (-) of (a+b) respectively. This can decrease greatly the amount of the ferrite used for guidance of the vehicle.
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