The positional relationship calculation method with respect to the travel path of the vehicle

摘要

PROBLEM TO BE SOLVED: To precisely and accurately detect position relation of a vehicle for a traveling route required for automatic steering of the vehicle especially deviation in horizontal direction and azimuth deviation by assigning a magnetic generation source detecting means on front and rear side of the vehicle. SOLUTION: An automatic traveling vehicle 1 automatically travels while a magnetic nail buried along a specified travel route is detected. On the bottom of a front part and a rear part of the vehicle 1, magnetic nail sensors 2 and 3 (magnetic generation source detection means) are attached respectively, and a wheel pulse sensor 15 outputting pulse for each specified rotation number of a wheel is provided. The sensors 2 and 3, when a magnetic nail is positioned at the lower part of them, output the signal indicating deviation amount in horizontal direction of the magnetic nail from the vehicle 1. A vehicle azimuth/ horizontal-direction deviation calculation part 14 calculates azimuth deviation and deviation in horizontal direction of the vehicle 1 from the traveling route based on the deviation amount in the horizontal direction and traveling distance of the vehicle 1 found with a traveling distance calculation part 16, etc., and these are given to a steering control part 12.