| 摘要 |
PURPOSE:To simplify greatly the formation of a guide route by having the external guidance at the specific parts including the curve parts, crossing parts, branch parts, etc. of a driving route and performing driving control at the rectilinear parts of the route in the form of self-guidance. CONSTITUTION:Laser beam detectors 31 and 32 detect a laser beam L when they are put on an external quide route, and this detection output is supplied to an arithmetic unit 4. The device 4 calculates the variance of a traveling object on the ground from the center of the route from said detection output. If some variance is detected, the steering angle signal needed for correction is supplied to a drive/steering controller 5. Thus the traveling object is controlled to always travel at the center of an external guide route E. An input switch circuit 6 works at the entrance and the exit of the route E to switch the input of the device 4 to the output of a direction detector 8 from the output of the detector. When the traveling object is kept on a self-guide route I consisting of a rectilinear part, the device 4 always compares the output of the detector 8 with the reference data given from a memory 7 and also controls the controller 5 so that the difference is set at zero between the output of the detector 8 and said reference data. Thus the traveling object is self-guided straight with no external guidance. |
