Abstract: Apparatus and method for controlling an automatically running vehicle over a predetermined course which has guidelines intermittently placed therein. Vehicle commands used to negotiate the course under manual control are stored in a memory. The vehicle has sensors which detect the presence and location of the guidelines as the vehicle passes by. The vehicle travels the course under control of the stored vehicle commands until guidelines are detected indicating the vehicle is off course. Then, vehicle control is switched so that the vehicle returns on course, over the guidelines. When the guidelines are no longer detected, vehicle control is returned to the memorized vehicle commands in such a fashion as to synchronize the actual vehicle position with the memorized data.

Abstract: A running vehicle having control means for judging whether an obstacle detected by a non-contact type obstacle sensor on a front portion of its body is at rest or in motion based on the result of detection and controlling the vehicle body so as to cause the body to detour the obstacle when it is at rest or to automatically stop the vehicle body when the obstacle is in motion.