Abstract: An under-cart type guided tractor comprising a frame provided with a driving unit including driving wheels on the underside thereof, the guided tractor being adapted to travel guided by a guide signal sent out from a guide element, such as a magnetic tape laid along a traveling path on a floor surface, and to draw a cart provided with free wheels and loaded with goods, with the guided tractor located under a load-carrying platform of the cart. The frame of the guided tractor has a height that allows the guided tractor to move under the frame of the cart, and a structure that does not allow the vertical load of the cart to act on the guided tractor. The frame of the guided tractor comprises at least two separate frame components that are arranged in line with the travelling direction of the guided tractor and joined by a pin in a manner such that the frame components are allowed to take an upward or downward bent formation.

Abstract: A control apparatus and method for an autonomous traveling vehicle having a teaching mode in which a vehicle position and a vehicle azimuth in respective points on a running path are memorized and a play-back mode in which the vehicle is operated autonomously based on the vehicle position and vehicle azimuth memorized in the teaching mode comprises a virtual traction point establishing means for establishing a virtual traction point located away from a vehicle position by a specified distance in a direction of a vehicle azimuth, a current vehicle position determining means for determining a current vehicle position corresponding to the vehicle position in a play-back mode, a target azimuth calculating means for calculating a target azimuth based on a positional relationship between the current vehicle position and the virtual traction point, a vehicle steering means for steering the vehicle in a direction of the target azimuth in the play-back mode and a vehicle speed control means for controlling a vehicle s

Abstract: An apparatus for vehicle lane following in which a look ahead sensor including a CCD camera and an image processor detects a lane marking on the surface of a roadway. The image processor estimates a lateral displacement of a point at a preview distance in front of a vehicle from a target line. The target line is a line between lane markings defining a lane. An electric motor coupled to the steering mechanism is used to provide a bias (a torque input) to the steering, which may either assist or oppose to the steering torque from the driver. A steering controller is designed to assist the driver to maintain the vehicle's lane position by holding the vehicle at the target line using a biasing torque if the lane following is selected by the driver. In order to reflect the driver preference in the lane following, the controller collects a sufficient number of measures of the vehicle lateral displacement when the lane following is not selected.

Abstract: Magnetic, conformable articles for use with traffic bearing surfaces are disclosed which comprise an organic binder having magnetic particles distributed therein. The articles may be employed in intelligent vehicle guidance systems, and in systems to guide other mobile objects such as farm animals, pets, or visually impaired pedestrians. Methods of making the articles and methods of using the systems to control and/or guide a mobile object using the magnetic field generated from the articles are also described.

Abstract: A device for golfing has a golf caddy having one pair of wheels and an inclined holding bar, and an attachment having a substantially horizontal platform with two opposite ends spaced from one another in a horizontal direction, another pair of wheels located at one end of the platform, and electric motor drive means connected with the first pair of wheels so as to drive the first pair of wheels and therefore to move the platform, and means for connecting the platform with the one pair of wheels of the golf caddy so that in one position the platform is connected with the one pair of wheels of the golf caddy at one side of the one pair of wheels so that the holding bar extends at an acute angle to the platform and a user can stand on the platform and ride, and another position in which the platform is connected with the one pair of wheels of the golf caddy and the holding bar extends at an obtuse angle to the platform so that a user can pull the device.

Abstract: In the back monitoring apparatus for a vehicle, a path loci of a minimum cornering portion and a maximum cornering portion of the vehicle is predicted, superposed on a back image and then displayed simultaneously superposed on the back image. In this configuration, the safety confirmation and operation by a driver can be improved when a vehicle is backed up by displaying a predicted path locus with excellent visibility.

Abstract: In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in accordance with a sensed longitudinal acceleration of the vehicle.

Abstract: A method is provided for controlling movement of a plurality of vehicles over a guideway partitioned into a plurality of guideway blocks. The method uses a control system including an onboard computer (OBC) located on board each vehicle, at least one server for communicating with the OBCs, and a vehicle tracking system. The method including the steps of determining a composite block status for all guideway blocks, broadcasting the composite block status to the OBCs, and controlling movement of each vehicle based on the composite block status.

Abstract: Each of the wheeled worktables 1, which is isolated from the others, travels self-dependently with drive of the motor M and the sensor (optical recognition device) 5 is provided on each wheeled worktable 1 while the optical recognition tape T as the recognition object for the sensor 5 is attached to the predetermined conveyance passage on the floor 11 for inducement of the wheeled worktables 1.

Abstract: A method and apparatus for controlling straight line travel of a tracked machine having a left track and a right track. The method and apparatus includes initiating a straight line travel mode of the tracked machine, determining an initial heading angle of a heading sensor located on the tracked machine, sensing a deviation in heading angle from the initial heading angle as the tracked machine travels, determining a heading angle error in response to the deviation in heading angle, and adjusting the speed of at least one of the left and right tracks to compensate for the heading angle error.

Abstract: A system is disclosed for determining precise locations of the golf carts on a golf course in real time as the carts are in use during play of the course. Each cart is outfitted with a dead reckoning navigation (DRN) system for determining speed and direction, and a compass for determining heading of the cart during play. With these parameters and a known origin of the cart to which the DRN system has been calibrated, such as location of a tee box, the location of the cart relative to a known feature of the course such as a cup or hazard may be calculated. The DRN system uses a magnetic wheel sensor assembly having a magnetic strip with spaced alternating opposite magnetic poles affixed to the rim of an inside wheel well or mounting fixture therefor of the cart, mounted to confront a Hall effect sensor. During rotation of the wheel and the strip when the cart is moving, the sensor detects passage of the alternating poles, to measure speed and forward or backward direction of the cart.

Abstract: A detection system determines the position of an object moving along a first direction. The system includes a magnetic field source generating a magnetic field signal and a magnetic field detection system coupled to the object. The detection system includes a source interface module with magnetic field sensors positioned a known distance apart along a second direction different from the first direction. Each sensor detects the magnetic field generated by the magnetic field source and generates a magnetic field signal. A processing module processes the magnetic field intensity signal produced by the source interface module. The processing module generates data for each sensor in the source interface module, which is made up of points representing peak magnetic field and sensor location along the second direction. The points are compared to determine the distance of the object from the magnetic field source along the second direction.

Abstract: Adding a quantity of metallic shot or particles of other materials having a high dielectric constant to the thermoplastic paint in the mixing pot of ordinary roadway marker fixation equipment, which extrudes the paint and applies same to the roadway surface, enhances the MMW radiometric visibility of the marker without adverse effect to the affixation equipment. Vehicles containing MMW radiometers directed down toward the roadway surface moves along the roadway surface is able to automatically sense microwave/millimeter wave energy from a marker in the vehicles path. In one system, the sensed energy is used in conjunction with other apparatus to assist to guide the vehicle within a traffic lane. In another system, the sensed energy is decoded and displayed as pertinent information for the vehicle's driver.

Abstract: In a vehicle attitude control apparatus, a steering actuator is controlled so that a steering angle matches a target steering angle. In an understeer condition; the braking force on the inside wheels is increased and drive power applied to the outside wheels is larger than applied to inside wheels. In an oversteer condition, the braking force on the outside wheels is increased and drive power applied to the inside wheels is larger than applied to outside wheels. The steering actuator is controlled so that a behavior index value corresponding to the change in the vehicle'behavior, that occurs based on the change in the steering angle, matches a target behavior index value that reflects the amount of operation of an operation member. A vehicle yaw moment and an amount of control of the steering actuator vary due to steer conditions, wheel lateral slip angle and brake force control.

Abstract: In a steering device for a vehicle, the movement of a steering actuator driven by operation of an operating member is transmitted to vehicle wheels, in such a manner that the steering angle changes, without the operating member being coupled mechanically to the vehicle wheels. A first target yaw rate is calculated in accordance with the detected vehicle speed and a first steering angle set value, which corresponds to the detected amount of operation and vehicle speed. A second target yaw rate corresponding to the detected lateral acceleration and vehicle speed is calculated. A second steering angle set value, which corresponds to the difference between the detected yaw rate and a target yaw rate, as which the first target yaw rate or the second target yaw rate whichever has the smaller absolute value is taken, is calculated.

Abstract: The present invention provides methods and devices that enable correction of gyroscope bias and gyroscope bias drift in low-cost, vehicular navigation and positioning systems without using estimates of position and heading, and subsequent correction of heading and position errors resulting from gyroscope bias and bias drift, without relying on assumptions regarding gyroscope bias or predetermined time-dependent gyroscope bias drift profiles. The invention improves over existing GPS/DR systems that do not compensate for actual gyroscope bias instability, but instead correct the heading and position error that is induced by the bias instability and then correct estimates of gyroscope bias based on the corrected position and heading. The inventive methods provided herein can be used with any DR vehicle positioning system that uses a gyroscope.

Abstract: A method and associated device and management system for automatically guiding an aircraft to a parking position in a parking zone. The aircraft is detected by at least one video camera located in the parking zone which outputs video signals. The video signals are then supplied from the video camera to an evaluation unit, in which the current position of the aircraft is determined from the video signals. In addition, correction instructions for direction and speed of the aircraft are determined from the video signals in the evaluation unit. The correction instructions are transmitted to a control of the aircraft. Furthermore, in the evaluation unit, the video signals are processed into video sequences and non-aircraft objects are identified from the video signals. Finally, the correction instructions and the video sequences are displayed on a control monitor together with additional monitoring data.

Abstract: A vehicle speed control apparatus for allowing a host vehicle trailing a preceding vehicle to accelerate and decelerate without causing discomfort to the host vehicle driver. While the host vehicle is trailing the preceding vehicle, the apparatus on board the host vehicle stores the speed of the preceding vehicle entering a curve ahead as well as a headway distance of the host vehicle to the preceding vehicle. Upon reaching the curve, the host vehicle is controlled by the apparatus to enter the curve at a speed not in excess of the stored speed of the preceding vehicle.

Abstract: A system-enabled vehicle entering a crossing warns a driver of the vehicle that a possibility of bumping exists, thereby allowing the driver to brake and stop the vehicle in an emergency in front of the crossing. When the system determines a possibility of bumping with another vehicle entering the crossing exists, the system continuously provides controls for decelerating and stopping the vehicle in a range from a point where the system can decelerate the vehicle in an emergency with time allowance for stopping the vehicle in front of the crossing up to a point in front of the crossing.

Abstract: An automatic steering system for a vehicle is provided which includes a memory section for storing data for a steering angle of a wheel with respect to a distance of movement of a vehicle in correspondence to four parking modes. If a desired parking mode is selected by a mode selecting switch and the vehicle is moved at a creep while depressing a brake pedal, a control section controls the operation of a steering actuator to perform automatic parking control. At this time, an object detector continuously detects the position of an object around or in the vicinity of the subject vehicle, and when there is an obstacle already existing within a locus of movement of the subject vehicle, or when there is a possibility that a moving obstacle may enter into the locus of movement of the subject vehicle, a warning is provided to a driver, and an automatic brake is operated. Thus, it is possible to reliably perform the automatic parking control when there is an obstacle.

Abstract: Disclosed a vehicle speed control system using wireless communications, the system including a driving state detecting unit for detecting a driving state and outputting corresponding signals; a transmitter/receiver for outputting low-strength signals; an electronic control unit for receiving the signals of the transmitter/receiver and establishing an ISA mode if necessary, determining if a present driving state corresponds to a first driving state, determining if the driver has performed deceleration operations and performing control into the first driving state if needed; an engine control unit for outputting signals for control of the throttle valve opening; a throttle valve electronic control unit for outputting electrical signals to a throttle valve to control the same; and a display for displaying a present mode and a vehicle state.

Abstract: A method and apparatus that allows for safely operating a vehicle when an automatic steering control feature of a guidance control system is in operation. One or more sensors are used to determine whether the operator is in the vehicle. If the sensors detect that the operator has left the vehicle, the vehicle is shut off. The safety system includes one or more software programs that operate to determine whether the guidance control system is operating properly. More specifically, a control unit is coupled to the microprocessor and the steering control mechanism for determining whether or not an error condition has occurred. In the event that an error condition has occurred, the guidance control system is disengaged and control of the vehicle is turned over to the operator. In one embodiment, the safety system determines whether the operator is ready to take control of the vehicle prior to disengaging the guidance control system.

Abstract: An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit and a gray scale vision system processor/camera and/or a laser pointer is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views (“TOPES”) and also for guiding equipment through such environments.

Abstract: A selectively configurable storage container for storing and transporting items through various environments includes a housing having a least one surrounding sidewall and a bottom which defines an enclosure. The storage container also includes a motor with at least one drive assembly. The drive assembly is selectively engagable with a first member, e.g., a wheel, and is configured to move the housing relative to a first terrain, e.g., a floor. The drive assembly is also interchangeable with at least one additional member which configured to move the housing relative to a different terrain or environment, e.g., sand, water, grass, etc. A steering control cooperates with the drive assembly to navigate the housing though either the first or the different terrain.

Abstract: In an autonomously navigating robot system orientation is effected on the basis of a current laser projected line pattern (44,48) taken by a camera (20) and on the basis of previous examinations of the course and arrangement of reflected line patterns (44,48) obtained during projection of said line patterns by means of a laser projector (18) in different known directions in the surrounding.

Abstract: In an automatic drive control system in a road environment in which an infrastructure has been constructed so as to automatically steer a vehicle, the automatic steering of the vehicle is performed irrespective of lane markers attached on the road surface. A running command and a running course are determined on the basis of an obstacle detection signal, a vehicle position signal, road data, and traffic information signal for automatic driving. A target running locus is obtained on the basis of the set running course. The vehicle is automatically steered so as to trace and run along the obtained running target locus.

Abstract: A magnetic apparatus for detecting a position of a vehicle, capable of detecting a lateral deviating distance of a vehicle over a lateral deviation width with a high accuracy and at a high speed, wherein a magnetic field component in the direction of advance of the vehicle is detected; or more preferably a three dimensional magnetic sensor (1), which comprises a magnetic sensor element for the direction of advance of the vehicle, and magnetic sensor elements for two directions crossing the first-mentioned direction and provided additionally, is used, whereby it becomes possible to heighten a center retaining capability of the vehicle, widen a lateral deviating distance detecting range around four times from around 25 cm to around 1 m, and detect a magnetic marker (3) reliably even when disturbance magnetic field exerts influence upon this detection operation to thereby start center side guidance reliably.

Abstract: A sensor is provided on the vehicle of a driverless transport system. The sensor is based on the principle of a computer mouse for ascertaining either a drift angle &Dgr;&agr; or the transverse movement is detected as a path difference &Dgr;q whereby lateral drift due, for example, to roadway covering irregularities and to curves, is detected directly. A considerable improvement in the tracking accuracy of driverless transport vehicles is thereby provided.

Abstract: An unmanned vehicle running system, capable of reducing a stop time of a vehicle by immediately judging whether or not an obstacle blocks the passage when detecting the obstacle. For this purpose, the unmanned vehicle running system has a plurality of vehicles (1) running without a driver in a predetermined course (3) while detecting the current position and a central monitor station (2) for monitoring operations of the plurality of vehicles, wherein each of said vehicles is provided with a phototaking device (24) for taking a photo of the course, with a vehicle communication unit (23) for transmitting the taken image to the central monitor station, and with an obstacle detecting unit (5) for detecting an obstacle (4) which blocks the passage, wherein the central monitor station is provided with a central communication unit (8) for receiving the image and with a monitor (9) for displaying the image, and wherein the phototaking device takes a photo when the obstacle detecting unit detects an obstacle.

Abstract: In an automatic drive control system in a road environment in which an infrastructure has been constructed so as to automatically steer a vehicle, the automatic steering of the vehicle is performed irrespective of lane markers attached on the road surface. A running command and a running course are determined on the basis of an obstacle detection signal, a vehicle position signal, road data, and traffic information signal for automatic driving. A target running locus is obtained on the basis of the set running course. The vehicle is automatically steered so as to trace and run along the obtained running target locus.

Abstract: An automatic lane following system for a vehicle is adapted to control the direction of a moving vehicle along a predetermined path. An associated controller estimates the vehicle's lateral position in relation to the lane markings (usually the white painted lines). An optical sub-system or a video camera or equivalent sensor is mounted on a vehicle and used to detect the lane markings. An actuator coupled to the steering mechanism is used to control the steering position of the front road wheels in response to a steering signal from a controller. An interruption switch is closed to enable the steering system actuator. An interruption switch actuator is displaceable between a rest or stored position in which the interruption switch is open and an operable position in which the interruption switch is closed.

Abstract: A method and apparatus which allows for corrections to be made to the path of a vehicle when an automatic steering control feature of a guidance control system is in operation. A sensor is coupled to the steering system detects movement of the steering wheel by the operator. When the operator moves the steering wheel the logic of the correction controller adjusts the travel path of the vehicle to correspond to the movement of the steering wheel. In one embodiment the travel path is adjusted by instructions transmitted to the controller of the guidance control system. Correction of the travel path may also be obtained by the operation of a keypad or a joystick.

Abstract: A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.

Abstract: An interactive transporting system for moving people around in an environment, comprising:

Abstract: The automatic following travel system of the present invention allows processional travel with a leading vehicle and a plurality of succeeding vehicles automatically following the leading vehicle, wherein Each of the vehicles comprises: a vehicle-to-vehicle communicator for communicating with the other vehicles; and a self position detector for detecting the position of the vehicle in which it is mounted, in the self coordinate system which is stored in the vehicle.

Abstract: An apparatus includes means for holding data which pertain to specifications and data of a vehicle, means for obtaining information of a path the vehicle is to travel, which consists of position, orientation, and velocity data, and is given by point information, a path computing section for computing a path equation including equations of continuous straight lines and arcs and a velocity pattern, which pertain to automatic travel, on the basis of the held data and the path information, an absolute position orientation angle detection section for detecting the absolute position and absolute orientation angle of the vehicle, and means for controlling the steering unit to track the path equation on the basis of the path equation, and the absolute position and orientation angle, and controlling the drive unit to track the velocity pattern on the basis of the velocity pattern, and the vehicle velocity.

Abstract: A system for use in guiding a vehicle on a roadway along an elongated guide member emitting a magnetic field includes an upper sensor and a lower sensor connected to the vehicle. The lower sensor detects a magnetic field emitted by the elongated guide member and an ambient magnetic field. The upper sensor detects only the ambient magnetic field. The signals produced by the detectors are processed to subtract the signal from the upper sensor of that of the lower sensor to produce a steering signal for transmission to an automatic steering system on the vehicle.

Abstract: A method and system generate multi-dimensional coupling paths for guiding vehicles to a destination path with a path dynamic unit (13), with a feedback control (11) for a closed loop control of at least one closed loop for sending feedback data (16, 17; 105, 106, 107) to the feedback control (11). A conversion module (15) is provided at the output of the path dynamic unit (13) for calculating destination path values (5) which are fed into the feedback control (11) as input values.

Abstract: A processional travel control apparatus that allows processional travel with a leading vehicle driven by a driver and a plurality of succeeding vehicles automatically following the leading vehicle, each of the vehicles 1-1 is provided with: an input device 1-2 for entering the total number of vehicles in a procession and the sequence number of each vehicle in the procession; a vehicle setting device 1-3 for setting each vehicle 1-1 as either a leading vehicle or a succeeding vehicle according to the sequence number of each vehicle 1-1 in the procession set by the input device 1-2; and a vehicle travelling control device 1-4 for instructing each vehicle 1-1 to travel in a procession according to the set sequence number in the procession. Hence a procession or the like can be formed essentially anywhere, including outside of conventional parking ports.

Abstract: When it is detected that a vehicle is running on a road surface which has a coefficient of friction sufficiently low as to invite ready road wheel slippage, a control which enables the vehicle to automatically follow a preceding vehicle at a predetermined inter-vehicle distance, is inhibited. In one embodiment, when a request for vehicle follow-up is issued by the driver, and the follow-up is inhibited, the driver is informed of the low frictional coefficient of the road and is required to issue a confirmation that follow-up is required before its implementation can be carried out.

Abstract: An automatic following travel system initiates travel in file of a group of vehicles on an inclined path while maintaining a constant distance between the vehicles. During the initiation of travel in file, a travel ECU in a leading vehicle sends a directive indicating that travel in file is to be conducted to the following vehicles. Based on this directive from the leading vehicle, the travel ECUs of each of the following vehicles makes a determination as to the possibility of travel of their own vehicle, and control the movement of their own vehicle so that an approximately constant distance is maintained between their own vehicle and another vehicle positioned in front, thereof. The results of the determination of the possibility of movement are communicated to the leading vehicle. The travel ECU of the leading vehicle sends a directive indicating the release of the parking lock to the following vehicles when determinations that travel is possible have been sent from all following vehicles.

Abstract: The invention includes a method for docking autonomous mobile units. Travel maneuvers are specified with which constricted space conditions can be taken into consideration. Further, different motion paths are recited that are to be sequentially traversed in order to locate a guide beam and in order to be able to dock reliably and dependably at a docking device. Preferably, a slot-shaped guide beam residing perpendicular to a travel surface of the unit is provided, and position-sensitive detectors for this guide beam are present on the unit, these being arranged parallel to the travel surface of the unit. The exact rotation (beta) of the unit relative to the docking device can be identified on the basis of the guide beam and the detectors, whereby the unit knows its approximate configuration in the space on the basis of ultrasound and odometry measurements. The invention can particularly be utilized in household robots or industrial robots.

Abstract: A steering control device in which a level of a magnetic signal given by each magnetic nail buried in a road at intervals is detected by magnetism detecting means, an operation of a steering of a vehicle is controlled in accordance with the detected magnetic signal level, and an operation of the steering is controlled in accordance with a vehicle position and attitude angle of the vehicle detected by a vehicle position and attitude angle detecting means when any magnetic signal level is not detected by the magnetism detecting means.

Abstract: A collision avoidance system including a control module, a first transmitting device connected to the control module, wherein the first transmitting device transmits a signal, a first receiving device connected to the control module, wherein the first receiving device receives a return of the signal transmitted from the first transmitting device and transmits a first return signal representative of the return to the control device, a second transmitting device connected to the control module, wherein the second transmitting device transmits a signal, and a second receiving device connected to the control module device, wherein the second receiving device receives a return of the signal transmitted from the second transmitting device and transmits a second return signal representative of the return to the control device, wherein the control module includes measurement circuitry used to measure the first and second return signals and display means for displaying a transverse location of an object as a function

Abstract: A steering control apparatus prevents interference between a steering operation of a driver and a steering control operation of the steering control apparatus by detecting a steering operation so as to decrease an amount of the steering control operation when the steering operation is performed by the driver. A guide line provided on a vehicle moving lane on which the vehicle is moving is recognized so as to set a target position on the vehicle moving lane based on a result of recognition of the guide line. A steering control operation is performed so that the vehicle moves to trace the target position. An amount of each component of a steering operation applied to a steering wheel is detected by a steering angle sensor and a steering torque sensor. An amount of the steering control operation is corrected so that the amount of the steering control operation is decreased in accordance with the amount of each component of the steering operation.

Abstract: A method for correcting an actual stop position of an AGV for carrying out a task while stopped along a travelling path includes the steps of: a) establishing at least one reference position as a basis for determining an actual stop position of the AGV on the travelling path; b) ascertaining the reference position where the AGV actually stops, based on image data of the actual stop position, and calculating the difference between the reference position and the actual stop position; c) ascertaining whether the difference is within an allowable limit of a predetermined reference value; and d) controlling the AGV to make the difference within the allowable limit of the reference value if the difference is not within the allowable limit.

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed.

Abstract: Interference prediction apparatus is applied when an unmanned vehicle is guided within a course area based on travel position and course data, and comprises a device for inputting the form of the course area, a device for preparing course data, device for estimating error of travel position when the unmanned vehicle is operated according to course data, and a device for predicting interference between the unmanned vehicle and areas outside the course area on the basis of estimated error so that interference can be prevented when unmanned vehicles pass by each other.

Abstract: A guideway transit system which can reduce a scale of an infrastructure while maintaining ride comfort for passengers of a vehicle is provided. The guideway transit system includes a noncontact vehicle guiding system and a contact vehicle guiding system. The noncontact vehicle guiding system detects information relating to a lateral position of a vehicle on a road and steers the vehicle to move along a predetermined path on the road based on the detected information. The contact vehicle guiding system which restricts a lateral position of the vehicle by a contact between a guide wheel which laterally projects from the vehicle and a guide wall provided on a side of the road. The guideway transit system further includes a controller which prohibits steering of the vehicle by the noncontact vehicle guiding system when a lateral position of the vehicle is restricted by the contact vehicle guiding system. An automated vehicle which is used in the guideway transit system is also provided.

Abstract: An apparatus for improving the reliability of a course generator of a moving body and the efficiency of the moving body. When the tangent (53) of a scheduled course (50) at its branch point (PS) is in parallel with a line segment (54) coincident with the traveling direction of the moving body (20) at the end point (PL) of a branch course (52), the branch course (52) is generated from a cubic curve having one extreme coincident with the branch point (PS), and the tangent of the cubic curve at this extreme coincides with the tangent (53) of the scheduled course (50) at the branch point (PS). The other extreme of the cubic curve coincides with the end point (PL) of the branch course (52), and the tangent of the curve at this extreme coincides with a line segment (54) which in turn coincides with an end point traveling direction of the moving body. A ground monitor station (40) guides and travels the moving body (20) along a modification of the branch course.