Abstract: An automatic steering system that can detect the steering operations of a driver during an automatic steering control operation in order to reliably discontinue the automatic steering control operation. The automatic steering control operation is discontinued if the driver spontaneously carries out a steering operation during an automatic steering control operation and if a steering torque equals to or is larger than a reference steering torque. When the steering torque equals to or is larger than the reference steering torque for at least a predetermined time, the automatic steering control operation is discontinued. Interruptions to the automatic operation by an instantaneous increase in steering torque due to a factor other than the steering operation provided by the driver, such as noise, can be eliminated.

Abstract: A programmable utility vehicle assembly 10 comprises a carriage 20 for moving over a plot, and a mobile transceiver 30 attached to the carriage 20 for transmitting a signal. The assembly 10 includes a power unit 22 for driving the carriage 20 over the plot, and a steering unit 24 for steering the carriage 20 over the plot. The assembly 10 further includes a plurality of locating stations 40 each having a stationary transceiver 42 for receiving a signal from the mobile transceiver 30 and transmitting a return signal to the mobile transceiver 30. The assembly 10 is characterized by a central processing unit 60 (CPU) on the carriage 20 for preprogramming a desired vehicle path having a counter 62 for counting two way propagation time between the mobile transceiver 30 and said remote locating stations 40 to determine said vehicle location and guide said vehicle along the programmed path.

Abstract: According to the present invention, when the traveling of an automatic guided vehicle is optically controlled, a traveling controlling means containing a luminescent compound satisfying the following formula (1) is placed in a predetermined range for traveling of the automatic guided vehicle: A−B≧150 nm  (1) wherein, A represents the minimum wavelength end (nm) of the luminescent compound, and B represents the maximum wavelength end (nm) of an irradiation light used for the traveling controlling.

Abstract: A unique transit system incorporates at least one internally powered, wheeled, transport vehicle having both manual controls enabling a user to drive the vehicle on a surface street and an on-board computer (OBC) system enabling software control of at least vehicle steering and velocity. A controlled roadway system having a roadway surface upon which the transport vehicle runs on its internal power on the same wheels as on surface streets is provided as well. On surface streets off the controlled roadway the manual controls are active, and on the controlled roadway the software controls are active. Manual or computer control depends on whether the vehicle is on the controlled roadway or surface streets. The OBC communicates with a Master computer for the controlled roadway, providing a range of functions. The transport vehicles operate at a fixed and constant speed on the controlled roadway system.

Abstract: An adjacent vehicle approach prohibition region is set before and after a to-be-converged moving target (MT) on a main line with reference to the to-be-converged MT. The to-be-converged MT corresponds to a converging MT assigned to a converging vehicle which is about to enter and converge onto the main line from a branch line. When a preceding non-MT-controlled vehicle or a following non-MT-controlled vehicle, which is a to-be-converged vehicle running on the main line onto which the converging vehicle is to converge, and which preceding or following vehicle is not subjected to a control by a MT method, has entered the adjacent vehicle approach prohibition region, the to-be-converged MT is accelerated/decelerated, whereby the entering to-be-converged vehicle is excluded from the adjacent vehicle approach prohibition region.

Abstract: A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases.

Abstract: In an adaptive speed control system for a vehicle, a method and system for continued vehicle braking at a vehicle speed below a minimum operating speed threshold when a sensed target disappears. The method and system determine whether the vehicle speed is less than the minimum operating speed threshold, determine whether a sensed target has disappeared if the vehicle speed is less than the minimum operating speed threshold, and generate a phantom target having a range and range rate corresponding to a last known range and range rate, respectively, of the sensed target if the sensed target has disappeared. The method and system also control the vehicle speed based on the range and range rate of the phantom target.

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: An automotive golf caddy has a high frequency position finder and an ultrasonic position finder. When the caddy is placed in readiness by means of a manual transmitter, it first determines whether it receives ultrasonic signals from the manual transmitter. If that is not the case, it determines by high frequency position finding the direction of the manual transmitter and approaches the transmitter on a straight path at a relatively high speed. When the caddy enters the ultrasonic position finding range, it is automatically switched to ultrasonic position finding, follows the manual transmitter even in curves and continuously determines its distance from the transmitter. When a predetermined minimum distance is reached, the motors of the caddy are switched off. It will only follow the transmitter automatically once again when the transmitter reaches a predetermined distance from the caddy.

Abstract: An automatic travel controlling device capable of reliably guiding a vehicle along a lane even if the white lane lines cannot be detected. A laser radar device for detecting the distance to a side wall of the lane is provided to the left and right in addition to a CCD camera for detecting the white lane lines. An image from the CCD camera is supplied to a image processor ECU, and an extracted white line is supplied to a vehicle controlling ECU. A vehicle controlling ECU drives a steering actuator to perform steering control based on two white lines of the lane when detected. However, when the white lines cannot be detected, steering control based on the distances to the side walls is performed. If an obstacle is detected ahead by the laser radar device, the vehicle position is detected based on the distances to the side walls and a lane change is performed to evade the obstacle.

Abstract: A hybrid personal vehicle capable of holonomic omni-directional self-locomotion. The vehicle may be programmed to navigate to a specified location in a crowded household environment. Additionally, sensors are provided for accurate docking and tight mating with fixtures such as a toilet or bed. A controller determines a docking trajectory to a specified fixture and behaves with arbitrary stiffness in each degree of freedom about a determined center of compliance.

Abstract: A magnetostrictive resonator detection apparatus includes a transmission section for transmitting a resonance frequency of a magnetostrictive resonator, and a reception section for detecting a resonance frequency oscillated by the magnetostrictive resonator.

Abstract: The driverless vehicle system and method of control therefor includes a fixed camera fixedly mounted to a vehicle and a movable camera movably mounted to the vehicle. A control unit selectively inputs an image from one of the fixed camera and the movable camera, determines a trace angle based on the input image, and controls a steering angle of the vehicle based on the trace angle. The control unit also compares the trace angle to a first reference angle when the control unit inputs images from the fixed camera, and if the trace angle is greater than the first reference angle, the control means generates a desired angular position for the movable camera. A camera moving mechanism moves the movable camera to the desired angular position. Thereafter, the control means selects the movable camera from which to input images.

Abstract: An apparatus and method is shown for determining the position of a rowcrop in a field being traversed by a mobile machine. The apparatus and method includes a ground penetrating radar (GPR) assembly located on the mobile machine, a processor for receiving a GPR receive signal from the GPR assembly and determining the position of the rowcrop, and a work implement attached to the mobile machine and adapted to move in a direction transverse the longitudinal direction of the mobile machine in response to the location of the rowcrop.

Abstract: A system which accurately detects a position of a vehicle on a road regardless of weather is disclosed. Radio wave reflecting bodies are placed on a road, and transmitter-receiver which can transmit and receive radio waves of wavelength is longer than a millimeter are placed on a vehicle. Based on a ratio of reception strength of the transmitter-receiver in the right and left of the vehicle, a displacement of the vehicle relative to the radio wave reflecting body is detected. The radio wave reflecting bodies have apertures or notches in a predetermined interval so that the radio wave signals reflected thereby has periodicity, and can be distinguished from other objects on the road.

Abstract: A vehicle running management system manages running states of vehicles on a predetermined lane of a road, the predetermined lane being provided for automatically driven vehicles each of which has a communication function and a running control function, the vehicle running management system comprising a vehicle entrance detecting unit for detecting movement of a vehicle from a lane adjacent to the predetermined lane to the predetermined lane, and a control information communication unit for, when the vehicle entrance detecting unit detects the vehicle which has entered the predetermined lane, transmitting control information based on existence of the detected vehicle to an automatically driven vehicle behind the detected vehicle, so that the automatically driven vehicle can perform the running control based on the control information.

Abstract: A three phase control arrangement is employed after visual detection of a target at greater range than otherwise available. The first and last phases employ an optimization criterion for which errors do not vary with distance from a target; limiting the initial error and process error in an intermediate phase which controls approach trajectory to the intended docking location and yielding repeatable high accuracy docking. The three phase approach with different control criteria and control gain parameters makes feasible a docking maneuver that begins at a much greater range and potentially greater lateral separation from the destination than would otherwise be possible, while providing control of both the final location and final orientation of the vehicle. A preferred visual thresholding technique provides consistency of results over a wide range of illumination and contrast conditions while limiting the computation burden for target image acquisition and tracking.

Abstract: A vehicle driving controller for reducing a feeling of incompatibility of a driver is disclosed. Such a vehicle driving controller has a first detecting section for detecting a drive environment of a vehicle, a second detecting section for detecting a throttle opening of the vehicle, a driving control signal calculating section for outputting a driving control signal through calculations based on an output signal relating to the drive environment of the vehicle from the first detecting section in response to an output signal of the second detecting section relating to the throttle opening of the vehicle, and a driving control section for controlling driving of the vehicle on the basis of the driving control signal outputted from the driving control signal calculating section.

Abstract: Apparatus for automatic transverse vehicle guidance is provided for the automatic transverse guidance of a vehicle along a traffic lane. The apparatus can be activated in such a way using an activating actuation of an operating element that the actual transverse-position value present at the activation instant serves as a desired transverse-position value for subsequent automatic transverse guidance operation.

Abstract: In a steering angle correcting system, a steering amount required to maintain a positional relationship of a subject vehicle to a road lane ahead of the subject vehicle is calculated in a steering amount calculating device based on outputs from a first detecting device for detecting the state of a lane of a road ahead of the vehicle or which the vehicle is traveling, and a second detecting device for detecting a current positional relationship of the subject vehicle to the road lane. A steering device is driven by a driving device mounted between a grasping portion of a steering wheel and the steering device so as to decrease the difference between a steering amount detected by a steering amount detecting device and a steering amount calculated in the steering amount calculating device. Whenever a driver's intention and the determination by the system are different from each other, a driver can operate the steering wheel to intervene in the steering.

Abstract: A vehicle steering system includes a first steering mechanism for a manual steering mode and a second steering mechanism for an automatic steering mode. A controller steers the vehicle in accordance with information on driving environment, with the second steering mechanism when the automatic mode is selected with a mode selector. There is further provided a holding device for holding the steering angle of the first steering mechanism when the automatic steering operation of the second steering mechanism is under way. In response to selection of the automatic mode, the controller performs the automatic steering control only when a sensor senses a straightforward neutral position of the first steering mechanism.

Abstract: A method and system for navigating automatic guided vehicles (AGVs) through a workplace having intelligible areas provides multi-vehicle traffic control. A guidance apparatus conveys a plurality of guidance signals, and a plurality of radio frequency tags (RF tags) are provided along the path over which the vehicle travels. Each RF tag is capable of conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields. A controller mounts on the vehicles, and includes an AGV computer, a sensor, a radio frequency identification (RFID) reader, and an RF modem for broadcasting messages to other vehicles to facilitate multi-vehicle traffic control. RF tags positioned for identifying characteristic area conditions related to the path of the vehicle reduce the need for custom modifications to guidance software on the host or AGV computers when operating in new environments, e.g., a new factory floor layout.

Abstract: An apparatus and a method for fleet control when manned and unmanned vehicles travel together, and prevents mutual interference when manned vehicles simultaneously travel with unmanned vehicles on the same traveling course. To this end, in the apparatus, the unmanned vehicle includes an unmanned vehicle position detecting device, an unmanned vehicle transmitter/receiver, and an unmanned vehicle controller. The manned vehicle includes a manned vehicle position detecting device, a manned vehicle transmitter/receiver, a manned vehicle controller), and an alarm device. The manned vehicle controller compares unmanned vehicle position data and manned vehicle position data, and outputs an alarm signal for avoiding the unmanned vehicle when the unmanned vehicle travels ahead of the manned vehicle and the distance up to the unmanned vehicle is shorter than a predetermined value.

Abstract: A target motor vehicle is established for a platoon of motor vehicles running on a road, and motion information of the target motor vehicle is transmitted to the motor vehicles which follow the target motor vehicle through intervehicular communications. Each of the following motor vehicles controls itself to run in platoon based on the transmitted motion information.

Abstract: A method for use in vehicles using lanes of an automated highway to avoid collisions with obstacles. A set of decision rules are embodied in a processor that are used in each vehicle to determine whether affected vehicles should change lanes or brake to minimize the expected impact with an obstacle. The presence of an obstacle in one of the lanes is detected by a lead vehicle or by sensors on the highway. The processor in the lead vehicle, or at a traffic management facility, probabilistically estimates the position of the obstacle at each of a plurality of times subsequent to detection. At each of the times, a course of action for all affected vehicles is determined by the processor in the lead vehicle based upon the best current estimate of position of the obstacle, knowledge of any previous action that has been taken, positions and velocities of the affected vehicles, and the geometry of the highway.

Abstract: The operational fitness of a magnetic sensor for detecting buried magnets can be tested from time to time by an electromagnet installed in proximity to the sensor. The electromagnet is a small coil of wire mounted near the sensor, such as a Hall effect device, which when energized, generates a test magnetic field. The analog output of the sensor is compared with preestablished values when the electromagnet is energized to verify the proper operation of the sensor; it is also compared with preestablished values when sensing buried magnets to confirm operation of the sensor, the strength of the buried magnet, and the alignment of the sensor with respect to the magnet. A threshold detector senses the output of the sensor to indicate when a magnetic field is detected, and the peak analog output of the sensor is stored and compared to a reference after the sensor passes the magnet.

Abstract: A programmable lawn mower assembly (10) including a carriage (12) supporting a mower central processing unit (CPU) (24) for controlling the drive motors (18) to control the direction of movement of the carriage (12). The assembly (10) includes first and second locating transmitters to be disposed on posts in spaced positions about the lawn with each locating transmitter simultaneously transmitting a radio frequency signal which travels at a first velocity and an audio signal which travels at a second velocity slower than said first velocity. A carriage receiver (50, 52) is disposed on the carriage (12) for receiving the radio and audio signals from the locating transmitters and for providing signals to the CPU (24) for determining the position of the carriage (12) relative to the locating transmitters by measuring the time between said radio and audio signals from each locating transmitter.

Abstract: A driving force control apparatus for moving a vehicle by a desired distance includes an input section for input a desired move distance, a throttle controller section for setting a throttle actuator of the vehicle at an opening degree, an actual moved distance detecting section for detecting an actual moved distance of the vehicle, and a braking section for stopping the vehicle by braking when the vehicle moved the desired distance. Therefore, a slight movement of the vehicle is simplified and therefore the load to a vehicle driver is decreased.

Abstract: A vehicle positioning apparatus (10) includes a sensor (34), light source (32) and adjustment mechanism (30). The light source (32) projects a light beam (192) toward a vehicle (196) when the sensor senses the operation of a garage door opener (16). When the vehicle (196) is in a desired parking location, the light beam (192) can be adjusted to hit a reference point on the vehicle. Thereafter, when pulling into the garage, the driver is signaled to stop when the light beam (192) reaches the predetermined reference point.

Abstract: An automatically guided vehicle that runs guided by guide signals transmitted from guiding material laid on the floor. The wheels at the four corners of the chassis of the vehicle are casters that can be switched over between free and fixed modes. A steering drive unit which can move by itself in longitudinal direction is mounted on the lower surface of the chassis at approximately the center thereof. Sensors that detect guide signals are provided at the front and rear parts of the steering drive unit. The steering drive unit changes its operating position automatically as the vehicle switches over between forward and backward running modes. The casters change modes in such a manner that, as the automatically guided vehicle switches over between forward and backward running modes, the casters at the front function as free wheels while the casters at the rear function as fixed or pivot-restrained wheels.

Abstract: An apparatus for automated vehicle lane-keeping in which a laser sensor is used to detect three points on a retroreflective paint stripe, and the three points are used to estimate the position of the lane centerline relative to the vehicle, as well as the geometry of the roadway. The position of the lane centerline and the curvature of the roadway are then used to determine a lateral error signal for feedback control, and the roadway curvature for feedforward control, both of which are combined to produce a steering control signal for the vehicle.

Abstract: An improved automated, self propelled lawn mower (14) utilizing a rotating directional loop antenna (36) that determines its position within the cutting area by measuring the angle between transmitters(20A, B, & C) placed in a known configuration beyond the cutting area, and by calculating the solution of simultaneous circle equations (96 & 98) defined by that configuration. Orientation is determined by comparing present and previous positions. Stored path information is compared with the calculated position to determine steering signals which direct the mower to move directly toward the next point in the desired path. When the mower reaches that point the next coordinates are retrieved from memory and the process is repeated similarly for all successive points in the path. The simplicity of programming the path makes this automated lawn mower very versatile and flexible.

Abstract: A automatic guided vehicle which drives drive wheels differentially to change its traveling direction applies braking by imposing reverse torque to wheel drive motors when cornering or when rapid braking is demanded. This braking corrects the traveling direction of the automatic guided vehicle when the vehicle is apt to depart from its intended path, enabling a automatic guided vehicle even having a large inertia to make a smooth turn at a sharp corner.

Abstract: A robotic golf caddy apparatus (21) movably supported on a steering assembly (28) and including a communications assembly (41) for communicating with a GPS system (61) and a central control station in order to guide and steer the apparatus around designated accessible areas of a golf course. The apparatus (21) also includes a dead reckoning system with distance determination device (83) and compass (85) for determining the distance the caddy travels should the communications assembly (41) lose communications with a predetermined minimum number of satellites in the GPS system (61). Also, a sensor (72a) is provided for detecting a guide tape or line (126,130), provided in preselected areas of the golf course. The caddy apparatus (21) is steered along the guide tape (126,130), rather than by the GPS system (61), in certain areas of the course where the GPS system (61) may be inadequate for maximum safe operation of the caddy apparatus.

Abstract: A swathing guidance display for accurately guiding and navigating an agricultural product application vehicle is described. The invention aids in precision guidance of the application of agricultural products such as fertilizers and herbicides to reduce application overlap. The invention further provides assistance in planting operations without requiring the use of traditional markers, provides parallel swath guidance of an agricultural product application vehicle, and provides an apparatus which providing a vector for navigating an agricultural product application vehicle to a desired application location. The swathing guidance device includes a circular display having a plurality of illuminating radial vectors to indicate the direction of the desired course and course correction. Both guidance and navigational functions are provided.

Abstract: An autonomous running control system capable of guiding a lawn-mowing work vehicle to a target point unmanned with high accuracy. Normally, the vehicle runs autonomously according to the D-GPS/dead reckoning navigation method. When the vehicle runs in an area where obstacles and ups-and-downs exists, the running control is switched to a magnetic guidance and the vehicle moves along the magnetic rail underground. When the vehicle comes into a normal operation again, the running control is shifted to the G-GPS/dead reckoning navigation method again. Further, when the vehicle comes near a target points, the running control is switched to the dead reckoning navigation method capable of guiding the vehicle accurately to the target point. When the vehicle arrives at the work area, it conducts a lawn mowing work according to the trace running control, finding the boundary between mowed and unmowed areas.

Abstract: A computer-implemented vehicle controller (VCON) is positioned in the passenger compartment of a vehicle on a test track. The VCON communicates with a base computer for receiving commands therefrom. In response, the VCON, which includes a servo controller and associated servos that are coupled to the controls of the vehicle, operates the controls of the vehicle to drive the vehicle around the test track.

Abstract: A transport system which includes a communications network and one or more vehicles each having an on-board control and data exchange unit, wherein the communications network includes a transport control unit; and a plurality of road units arranged in series along a vehicle travel route, each road unit being adapted for communication with the transport control unit so as to exchange data therewith, and being further adapted for direct communication with at least two road units positioned adjacent thereto, wherein the on-board control and data exchange unit includes transceiver apparatus for communicating with each of the plurality of road units in series while traveling therepast; data processing apparatus connected to the transceiver apparatus; and control apparatus, connected to the data processing apparatus for selectably controlling and sensing any of a predetermined plurality of vehicle operating functions in response to signals received by the transceiver apparatus from the road units.

Abstract: A powered toy vehicle with containment system that includes a powered toy vehicle that can be driven by a child in a forward and in a reverse direction that includes a direction control switch for selecting from a forward drive capacity or a reverse drive capacity of a reversible electric drive motor; and a containment system including a radio antennae perimeter defining system including at least one radio antennae, for transmitting a perimeter defining signal at a first predetermined frequency, and a radio receiving circuit, tuned to receive the first predetermined frequency and detect the perimeter defining signal and that includes a control output in controlling connection with a motor control relay circuit, the motor control relay circuit disabling the forward drive capacity of the reversible electric drive motor during the entire period when the radio receiving circuit detects the perimeter defining signal and enabling the forward drive capacity of the reversible electric drive motor when the perimeter d

Abstract: A automatic guided vehicle travels on a prearranged travel path established by a path guide and detects lateral deviation of the vehicle from a path guide to control the direction of travel of the vehicle by steering the vehicle according to a prescribed relationship between steering angle and lateral deviation which is installed in the form of ruling maps in the vehicle.

Abstract: A pavement-vehicle convoy for applying a cover layer of a paving material on a traffic area, such as a roadway. The convoy has at least two independently driven units with at least one of the units being a road-surface finisher and each other unit in the convoy being either a finisher or a charger. One of the units is a command unit that has a remote control used to help maintain a predetermined desired longitudinal distance between the convoy units and which can be used to help maintain a predetermined desired lateral distance from a reference line. The remote control includes a speed correcting device that utilizes signals from a distance sensor on at least one of the units that is used to detect changes from the desired distance so that speed correction signals can be generated and provided to an operation control device on at least one of the units.

Abstract: An automatic travel control method for a unmanned vehicle system is performed on the basis of signals indicating the existence of the curvature of a guide path and right and left digital signals indicating the degree of the curvature of the guide path. In the method, (1) where the guide path is straight, the steering of the vehicle is controlled based on both the right and left digital signals; (2) where the guide path is curved to the right, the steering of the vehicle is controlled based on the right digital signal; and (3) where the guide path is curved to the left, the steering of the vehicle is controlled based on the left digital signal. The curvature existence detecting operation is performed according to the levels of the voltage signals induced to a pair of voltage generating devices located at the right and left sides of the vehicle after generating a magnetic field by applying alternating current to the guide path.

Abstract: An automatic steering control apparatus automatically steers a motor vehicle to run along a predetermined running path having path markers. The path markers are detected with a marker sensor on the motor vehicle, and positional relationships between a present position of the motor vehicle and the running path are successively determined based on a detected output signal from the marker sensor. Positions of the motor vehicle on map data stored on the motor vehicle are successively determined based on the positional relationships and the map data. Curvature information of portions of the running path on the map data is attained through communications with a travel information providing facility disposed outside of the motor vehicle, and curvature information of the running path ahead of the recognized present position of the motor vehicle is acquired based on the curvature information attained through communications with the travel information providing facility.

Abstract: A system for correcting the steering force of a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of the steering wheels of the vehicle through a steering mechanism. The system is provided with sensors including a CCD camera for detecting the condition of the road ahead having at least one traffic lane on which the vehicle is traveling and a position of the vehicle with respect to the traffic lane. In the system the desired steering force is determined to be generated by the steering mechanism necessary for keeping the detected position of the vehicle with respect to the traffic lane based on the detected parameter and the steering mechanism is biased such that the steering mechanism generates the desired steering force. Conditions on the next adjacent lanes are monitored and the degree of danger is estimated to determine the biasing force. The system can be realized on muscular-energy steering systems or power-assisted steering systems.

Abstract: An automatically guided vehicle includes a single-wheel unit including a first wheel, a paired-wheel unit including second and third wheels, a sensor for detecting a track, a control unit, etc. The first and second wheels are drive wheels that are rotated by motors, individually, while the third wheel is an idler wheel. The control unit executes an angle steering mode during a forward movement or the like and a speed difference steering mode during a sidewise or slantwise movement. In the angle steering mode, the steering angle of that wheel unit, out of the single- and paired-wheel units, which is situated on the rear side in the moving direction is fixed, and the steering angle of the wheel unit on the front side is controlled. In the speed difference steering mode, the guided vehicle is steered along the track by differentiating the respective rotational speeds of the first and second wheels with the respective steering angles of the individual wheels fixed.

Abstract: An automatically driven motor vehicle automatically follows a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle. A speed of the following motor vehicle, and a speed of the front motor vehicle are recognized. The difference between the speed of the following motor vehicle and the speed of the front motor vehicle is compared with a predetermined value, and acceleration/deceleration correcting data to adjust an intervehicular distance between the following motor vehicle and the front motor vehicle are adjusted depending on the speed of the following motor vehicle or the speed of the front motor vehicle based on a result of comparison. The acceleration/deceleration correcting data are generated based on the speed of the front motor vehicle if the difference is smaller than the predetermined value, and the acceleration/deceleration correcting data are generated based on the speed of the following motor vehicle if the difference is greater than the predetermined value.

Abstract: The invention relates to a method for protecting against unauthorized use of a vehicle which has bidirectional communication with a master station, whereby it is possible not only to transmit exclusively a position message of the vehicle to the master station or to transmit exclusively enabling signals to the vehicle from the master station, but also to make the communication appropriate to requirements. The necessary transmission of information is substantially reduced in that the enabling signal is broadcast only when requested by the vehicle. On the other hand, it is still not possible for the enabling to be carried out at the vehicle end only.

Abstract: A conformable magnetic article for underlayment beneath a traffic-bearing surface which sends a magnetic signal to a sensor traveling over the traffic-bearing structure. The magnetic article comprises at least one conformable magnetic layer comprising a binder and a sufficient amount of magnetic particles dispersed within the binder to provide a magnetic signal through the traffic-bearing structure to a sensor.

Abstract: A transportation system has several guide strips for unmanned vehicles. The guide strips define an intersection, and a mark warning of the intersection is disposed adjacent each guide strip before the intersection. Each of the vehicles has a detector for the respective mark, a signal transmitter, a receiver for signals coming from the other vehicles, and a timer for measuring a timed interval shorter than the time required to travel from the respective mark to the intersection. The transmitters and timers begin to operate in response to detection of the respective marks. After a selected vehicle passes the respective mark, its receiver attempts to pick up signals from the other vehicles. If no other vehicles are detected before the selected vehicle reaches the intersection, the selected vehicle passes through the intersection without stopping.

Abstract: A traveling-path temporary-setting unit 21 sets a plurality of temporary traveling paths with different curvatures, and a calculation unit 22 calculates distances between the temporary traveling paths and preceding vehicles detected by a radar unit 1. In case of a properly-set temporary traveling path, the path and running loci of the preceding vehicles are on a concentric circle. In this case, the preceding vehicles are running along this temporary traveling path, and a time change amount of calculated distances is approximately "0". A traveling-path determination unit 23 determines, one temporary traveling path having the minimum time change amount in the distances, as a traveling path of the vehicle.