| 摘要 |
PURPOSE:To follow up always accurately boundaries of a running ground even if the conditions of the running ground are bad, by performing the steering control of a steering wheel on the basis of the combination of boundary detection results of both following-up sensors. CONSTITUTION:A left following-up sensor A or a right following-up sensor A' on the side of which boundaries of the running ground are placed is preliminarily set by a boundary arrangement position setting circuit 1, and a table to be used in a combination discriminating table 2 of boundary detection results of sensors A and A' is determined. A flag F, which controls a car so that it is steered left or right or goes straight in accordance with contents of the table 2, is determined on the basis of the combination of boundary detection results of sensors A and A'. By this flag F, a steering wheel 4 is steered by a prescribed quantity. |
