| 摘要 |
PURPOSE:To correct the running course by obtaining deviations of position and azimuth of a vehicle from a target running course on a basis of two past vehicle relative positions calculated by a vehicle position operating means. CONSTITUTION:If a vehicle is deviated from the vehicle running course at a point P0 in the first section demarcated by reflecting plates 11a and 11b, an extent DELTALn-1 of positional deviation of position information Ln-1 of the vehicle is obtained at the position where the reflecting plate 11b is installed. If the vehicle runs on the target running course at the point, where the reflecting plate 11a is installed, and the extent DELTALn-1 of positional deviation is smaller than a prescribed value K, only the extent DELTALn-1 of positional deviation is corrected in the second section demarcated by reflecting plates 11b and 11c. An extent DELTALn of positional corresponding to the deviation of azimuth and the section interval of the second section occurs at a point Pc where the second section is terminated, and this value is calculated. The extent of positional deviation and the deviation of azimuth are corrected while the vehicle is run in the third section demarcated by reflecting plates 11c and 11d, and the vehicle runs on the target running course at a point Pd. |
