Abstract: A self-moving device and method for the complete and full automatic examination of floor surfaces of all kind as well as for a particularly efficient suction of dust therefrom. In each case, the robot is controlled so as to explore the adjacent area and to detect the potential obstacles using special sensors before storing them in a data field. The displacement towards a new location is then carried out using the stored data until the whole accessible surface has been covered. One of the main constituent members of the robot includes an extensible arm that rests on the robot and on which contact and range sensors are arranged. When the robot is used as an automatic vacuum cleaner, an air flow is forced into the robot arm and the cleaning effect can further be enhanced by providing one or more circular rotary brushes at the front end of the arm. This device can essentially be used for domestic or industrial cleaning purposes with a view to replace traditional vacuum cleaners.

Abstract: In the lighting control apparatus, according to the present invention, for an automatic following travel system in which a leading vehicle is operated by an operator, and at least one following vehicle automatically follows the leading vehicle, the leading vehicle comprises a light operating device for turning on or off lights of the leading vehicle, and a transmitter for transmitting information indicating the operation of the light operating device, and the following vehicle comprises a receiver for receiving the information from the transmitter, and a light operating device for producing an operation signal for turning on or off a light of the following vehicle, based on the information received by the receiver.

Abstract: A automatic traveling vehicle that may travel at high speed along a predetermined course without colliding or interfering with detected objects within the course. The vehicle radiates a directional medium and analyzes any reflections to determined the presence of objects along the course. The vehicle combines predetermined, stored information with currently detected information to ensure the farthest possible distance for object detection and increased reliability for preventing collision and interference with detected objects.

Abstract: A method of scheduling a vehicle in real-time to transport freight and passengers. A host receives transportation requests (e.g., to deliver freight, transport passengers, reschedule, cancel, etc.) over a network from a freight terminal and/or a passenger terminal. A route is created at the host with destinations based on the received transportation requests. The host predicts an arrival time and a departure time for each destination along the route and generates a route schedule. As the vehicle travels to each destination, the host receives actual arrival and departure times and uses these actual times to update the route schedule. The route schedule is also updated when new destinations are added or a scheduled destination is cancelled. In another embodiment, the predicted arrival and departure times are updated based on vehicle positioning data received from a global positioning system.

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: 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 vehicle guidance system for guiding motor vehicles comprising a central traffic control system, a plurality of roadside equipment, and an on-board vehicle guidance and control system. The central traffic control system includes horizontal memory for storing horizontal coordinates and direction information of a locality, vertical memory for storing vertical coordinates and direction information of the locality, transmitter means for transmitting the horizontal and vertical information of the locality, and a system control unit for controlling the continuous transmission of the horizontal and vertical information of the locality.

Abstract: A device for acquiring data indicative of the path of a lane is provided. The device incorporates a lane detection sensing circuit, an object position sensing circuit that detects at least the distance of an object located in front of the vehicle and its directional angle relative to the direction of vehicle motion, and a sensing circuit for the vehicle's own motion. An estimating device is provided that is supplied with lane recognition measurement data, object position measurement data, and measurement data on the vehicle's own motion. As a function of the vehicle's own motion, the estimating device determines the lane curvature and/or the transverse position of an object ahead of the vehicle relative to the lane by estimation, using a presettable estimation algorithm including a dynamic vehicle motion model. The device preferably includes a Kalman filter for this purpose, and is used, for example, in road vehicles.

Abstract: In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility.

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: 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: A travelling direction correcting apparatus includes: a shift detection device for detecting a shift amount of a vehicle running on a road with respect to the road; a wheel brake pressure control device for pressure wheel brake pressures and controlling a wheel brake pressure distribution; and a cruise control device for commanding a wheel brake pressure distribution control to the wheel brake pressure control device. The wheel brake pressure distribution control includes the following processes: (1) at least one of a yaw rate, a lateral speed and a lateral acceleration is made an index, (2) a value of the index, which appears in the vehicle when its running direction is changed toward a direction along which the shift amount decreases, is added to a value of the index, which appears when the vehicle runs along a curved road, and a summed amount is made an object value and (3) the value of the index, which appears in the vehicle, is coincided with the object value.

Abstract: A navigation system includes a navigation center and a plurality of navigation apparatuses each of which has a data storage that stores various information. In this navigation system, data (coordinate data of each of traveling intersections) concerning a recommended route is transmitted from the navigation center to the navigation apparatus, and then route guidance is carried out in the navigation apparatus using the data received from the navigation center. In the case where the navigation apparatus has intersection data for an intersection specified by the data received from the navigation center, the navigation apparatus extracts the intersection data for the intersection from the data storage. Further, in the case where the navigation center does not have intersection data for an intersection specified by the data received from the navigation center, the navigation apparatus establishes the intersection as a newly-built intersection on the recommended route.

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: An apparatus for guiding a vehicle autonomously to a target point by finding a current position based on radio waives from satellites and comparing the current position with the target point comprises a means for storing a reference position data of a reference point whose accurate position is known, a means for obtaining a position data of the vehicle when the vehicle is located on the reference point, a means for obtaining a correction data by calculating a difference between the reference position data and the position data, and a means for correcting the current position by using the correction data to obtain a real position of the vehicle.

Abstract: The invention relates to a system for simultaneously navigating two or more vehicles over a surface of relatively limited dimensions at relatively high speed and/or densities of the vehicles. A central control unit has a computer with memory and a transmitter/receiver for communication with each of the vehicles. Marker elements are arranged on or above the surface and mark the position relative to the surface. The two or more vehicles have drive elements, steering elements, navigational devices, transmitter/receivers and sensor means for sensing the position relative to the markers. The central control unit uses time as well as the sensed position in controlling the vehicles on the surface to precisely control the traffic.

Abstract: A method for association of anonymous reflectors (R1-R11) to detected angle positions, whereby a) the anonymous reflectors are arranged in positions in a transport area; b) positions of the reflectors (R1-R11) are stored in first memory means (20); c) a beam (B) is emitted from an emission source (13) of a vehicle (10) over a search sector; d) reflected signals from reflecting objects are received on board the vehicle (10); e) an angle position towards reflecting objects in relation to a reference direction (D) of the vehicle (10) is continuously detected by detector means (18) during the sweep of the beam over the search sector, and corresponding angle values are determined; f) at least one angle value determined over the search sector is stored in a second memory means (21). The distances between reflectors (R1-R11) are a reference point on the vehicle (10) is determined continuously by a control means (19).

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 plurality of reflectors are disposed along a travelling path, an automatic guided vehicle is started up at a position where a laser scanner can recognize four or more reflectors, and data on the angles and distances of the reflectors is obtained. When the first reflector is recognized, there are N possible hypotheses that would specify the reflectors. When a second reflector is recognized, the distance to the first reflector is rational, therefore, there are kN possible hypotheses (k is 10 or less). When a third reflector is recognized, the triangle formed by the three reflectors cioncides with that on a reflector map, therefore, there are mN possible hypotheses (m<1). Then, the present position is estimated according to mN possible hypotheses. The fourth reflector is recognized and the conformity is checked, the present position of the automatic guided vehicle is specified.

Abstract: A method of scheduling a vehicle in real-time to transport freight and passengers. A host receives transportation requests (e.g., to deliver freight, transport passengers, reschedule, cancel, etc.) over a network from a freight terminal and/or a passenger terminal. A route is created at the host with destinations based on the received transportation requests. The host predicts an arrival time and a departure time for each destination along the route and generates a route schedule. As the vehicle travels to each destination, the host receives actual arrival and departure times and uses these actual times to update the route schedule. The route schedule is also updated when new destinations are added or a scheduled destination is cancelled. In another embodiment, the predicted arrival and departure times are updated based on vehicle positioning data received from a global positioning system.

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.

Abstract: A system assists the driver of a motor vehicle to travel within a designated driving lane defined by one or more lane boundaries. The lane boundary is sensed as the vehicle moves within the lane while monitoring the position of the vehicle relative to the lane boundary. The operation of the vehicle is then adjusted as a function of the proximity of the vehicle to the lane boundary. In one embodiment, the operation of the vehicle is affected by adjusting the functioning of the steering wheel, preferably by providing tactile feedback which causes the driver to experience a virtual change in lane elevation as the vehicle approaches the lane boundary. In the preferred embodiment, the tactile feedback causes the vehicle operator to experience the lane as having a depression with sloping sidewalls. Where the lane boundaries are defined by visual lane markers, the lane-boundary sensor preferably takes the form of a video camera to image the lane markers.

Abstract: A method and apparatus for providing autoguidance for a plurality of agricultural machines. Each agricultural machine has a work implement attached to it. The method includes the steps of determining a reference path by a first agricultural machine, communicating the location of the reference path to each remaining agricultural machine, and determining a plurality of desired paths parallel to the reference path by each of the plurality of agricultural machines. Each plurality of desired paths is determined as a function of the width of the corresponding work implement for each respective agricultural machine.

Abstract: A teaching method includes dividing an automatic traveling course (96) into a plurality of zones before teaching, conducting teaching for each zone of a plurality of zones at the time of teaching so as to generate position coordinate data for each zone as course data for each zone, and combining course data for respective zones and store the same after teaching. An apparatus includes a teaching zone designating function section (41) for designating a zone inside an automatic traveling course (96) divided into a plurality of zones, a position coordinate data function section (42) of an unmanned vehicle (3), zone-specific traveling course data memory means (43), a teaching course data writing function section (44) for writing the position coordinate, a teaching data edit instruction function section (45) for outputting an instruction after the completion of teaching route, and a total traveling course data edit function section (46) for combining and editing the traveling course data.

Abstract: A computer-implementable method for ordering destinations to be visited in a computationally-efficient manner and which achieves an acceptable level of optimization of the order for those destinations is disclosed. The computer-implementable method orders destinations to be visited by identifying the position in an existing order of destinations where the insertion of a new destination will result in the shortest increase to the straight-line length of the route. More specifically, a single, continuous line connects each of the destinations to be visited. The continuous line is composed of multiple “links.” Each link is a straight line connecting two destinations. The total length of the continuous line is the sum of the lengths of each link. The order of the destinations defines the order in which the continuous line visits each destination.

Abstract: A navigation system for automotive vehicles generates navigation routes between an initial location and a desired destination using a route criteria including a statistical risk index, such as a CAP crime index score. A user of the navigation system can customize their own desired risk threshold to be used in optimizing the navigation route. A particular route segment with a risk index above a risk threshold can be eliminated from potential routes except when the route segment contains the destination or is a freeway segment. In another embodiment, the weight or cost associated with including a route segment in a navigation route is adjusted according to its statistical risk index.

Abstract: Method suitable for optimizing an operation of a self-guided vehicle. The method includes steps for incorporating a self-guided capability as part of the operation of the vehicle, the operation further including a mapping technique for soliciting information required for vehicle motion from a first to a second predetermined location. The method then requires dynamically assessing a global optimal path referenced to the first and second locations, and dynamically affecting vehicle motion, by actions premised upon re-evaluating the global optimal path in light of instantaneous vehicle motion, by refining the global optical path so that the vehicle can follow a localized path trajectory which optimizes the refined global path.

Abstract: A method is provided for computer-aided mapping of geographically referenced measurements which are collected in association with individual measuring positions. The method is checked by computer with test circles for all pairs of adjacent measuring positions, to determine whether further measuring position falls within them. All such measuring positions in which said test criterion is fulfilled are declared as boundary positions. Furthermore, the inner/outer location is determined and the best possible approximation to the boundary path is determined from the sequence of boundary positions.

Abstract: In one embodiment of the present invention, an apparatus and method for establishing the perimeter of a work site for a mobile machine capable of operating autonomously or semi-autonomously includes activating a learning mode, positioning the mobile machine at a plurality of locations on the perimeter, and recording position data at each location from a sensor system, such as GPS, that provide signals corresponding to the position of the mobile machine. The position data is stored and a data processor associated with a control system generates a display of the perimeter so that an operator may visually verify the size, location, and shape of the work area bounded by the perimeter. Means to allow the operator to modify the entered position data is also provided.

Abstract: In carrying out an automatic steering control for the vehicle, a deviation between an actual locus of movement of a vehicle and a standard locus of movement is corrected, so that the vehicle can be accurately guided to a target position. An automatic steering system for a vehicle is designed so that a steering actuator is driven based on a previously stored standard steering angle, to automatically guide the vehicle to a target position. In this automatic steering system, if the deviation between an actual steering angle of the vehicle which is detected and the standard steering angle, exceeds a predetermined value, the standard steering angle is corrected, so that the deviation is decreased. If the steering actuator is driven based on the corrected standard steering angle, the actual steering angle is corrected, whereby the vehicle can accurately reach the original target position.

Abstract: A method and system for controlling the movement of one or more automatic guided vehicles includes a system controller, a number of non-wire automatic guided vehicles (AGV's) and location markers positioned on a floor. The system controller serves as a dispatcher and traffic controller for the system, providing, in one embodiment, two way wireless communication to each AGV in the system. Each AGV is equipped with a navigation and guidance system for controlling the AGV's movement along a predefined guidepath. Differential X, Y-coordinates from a path point database stored in the system controller are communicated to a given AGV which can then follow the predefined guidepath. Communicating just the differential X, Y-coordinates allows for improved control over systems utilizing a large number of AGV's.

Abstract: A vehicle trip information manipulation device capable of collecting and recording travel related data from a motor vehicle and receiving broadcast data enabling computation of real time factors. The data collected and recorded includes the time and date of each trip, the beginning and ending odometer reading of each trip, the maximum, minimum, and average speed of the trip, and the fuel and maintenance information for the vehicle. The received information may include traffic reports, connecting travel information such as flight status, and various other business data. The invention also includes a means for downloading the collected data to an external device, such as a computer or a printer.

Abstract: In one embodiment of the present invention, a method for transitioning a mobile machine from a first path to a second path within a work area includes selecting from among one or more transition schemes, wherein the transitions schemes are composed of one or more interim paths between the first path and the second path. The desired transition scheme is chosen by evaluating one or more performance criteria including whether the interim paths overshoot the second path and whether the interim paths remain within a perimeter surrounding the work area. Additional performance criteria that may be evaluated include the number of interim paths the mobile machine must follow to transition from the end of the first path to the beginning of the second path, the number of heading changes required by the candidate transition scheme, and the amount of the first path and the second path that is traversed by the mobile machine as a result of the candidate transition scheme.

Abstract: A robot is provided to run so that a trace of the robot efficiently covers a given area according to the detection of a boundary of the area. A spiral pattern running, wherein a radius of the spiral is gradually increased, is started at a desired location in the area and is paused upon the detection of a boundary wall by sensors. Then, a random pattern running, which includes turning to depart from the wall and running forward, is conducted. After the turning has been repeated a predetermined number of times through simulations, the spiral pattern running is resumed at a location spaced from the last turning spot by a predetermined distance or a predetermined length of running time.

Abstract: The present invention is a method and apparatus for planning an alternate path in response to detection of an obstacle by a mobile machine at a work site. The work site includes a fleet of mobile machines and a fleet manager. The method includes the steps of determining the presence and location of an obstacle in a primary path of the mobile machine, determining an alternate path around the obstacle, and delivering a signal to the fleet manager with the location of the obstacle and the alternate path.

Abstract: A pickup sensor for picking up an image on a floor is installed on a mobile body with a working machine mounted thereon in order to correct for the position deviation of a working machine due to possible deviation in the stop position of a mobile body to always ensure accurate working without increasing the working time of the overall system at the time of stopping the mobile body at a predetermined position and allowing said working machine to perform predetermined operation according to previously given teaching data. At the time the teaching data is given, the pickup sensor picks up an image (reference picked image) including a regular pattern and a predetermined identification mark formed on a floor. At the time the working machine works, the pickup sensor also picks up an image (on-pause picked image) on the floor surface at the stop position.

Abstract: A typical pathfinding system provides a user with a set of directions for following a path from an origin to a destination in a network. If the user deviates from the path, the system for recalculating a path determines a new path which directs the user from the user's new location, which is off the original path, to the destination. To decrease the amount of time needed to determine the new path to the destination, the system adds links to the network. Each of the added links connect nodes from the original path directly to the destination. A new path is determined from the new location to the destination using the augmented network.

Abstract: This present invention makes use of a method for automatically finds collision-free part removal paths. The system sparsely samples the high-dimensional state space and maps the rest of the space using proximity assumptions (assumptions about states near the samples). The present invention is less complex and faster than previously known methods.

Abstract: The desired course line or rhumb line of a ship is predetermined just before the ship leaves a harbor and is inputted to the autopilot of a ship's automatic course control unit. When the ship is underway a gyro compass indicates the course of the ship during its movement out of the harbor and a position receiver in the control unit generates signals responding to the actual position of the ship (its heading) and supplies the signals to a computer unit which senses any deviation of the ship due to its lateral drift from the predetermined course line. In response to the signals the autopilot computes a new course necessary to correct the course of the ship, and automatically adjusts the heading of the ship to the new course to return the ship to the predetermined course line.

Abstract: A motor vehicle is automatically steered to run along a running path on a road while detecting magnetic nails that are arranged on the road at spaced intervals along the running path. The motor vehicle has a pair of magnetic nail sensors on respective front and rear portions thereof for detecting lateral deviations of magnetic nails with respect to the motor vehicle at the respective front and rear portions thereof. The magnetic nail sensors are spaced from each other by a distance which is substantially an integral multiple of the interval between adjacent two of the magnetic nails. An azimuth deviation or a lateral deviation of the motor vehicle with respect to the running path is calculated based on lateral deviations of the magnetic nails which are detected substantially simultaneously by the magnetic nail sensors, respectively.

Abstract: The invention serves to take account of the reaction time of an item of equipment to be driven which, when a travel reference value, serving as a way-mark, is reached on a travel of an item of equipment in an industrial plant, is intended to be activated or deactivated, the travel being able to be covered at different speeds.

Abstract: This invention relates to a swivel caster fitted with rotational and swivel angle measurement sensors mounted to a driverless vehicle so that the lateral motion of the vehicle can be detected and accounted for by the vehicle's navigation and guidance system. A preferred embodiment of the present invention is a driverless vehicle comprising a navigation and guidance system having an angular motion sensor and a track wheel caster assembly equipped with a caster pivot sensor and a wheel rotation sensor to determine the relative position of the vehicle by taking into account substantially all movement of the vehicle along the surface upon which the vehicle is travelling. These sensors enable the navigation system to more accurately determine the vehicles current position and enable the guidance system to better guide the vehicle.

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 method for determining the relationship between the heading of a machine and the course of machine travel is provided. The method includes the steps of determining a previous and current course of machine travel, and a current and filtered heading. An indicator is used to represent the relationship between the heading of the machine and the course of machine travel. The previous and current course of machine travel are compared and the indicator is responsively updated. The current and filtered heading are compared and the indicator is again responsively updated, and then the filtered heading is updated.

Abstract: A method of controlling interlinked vehicles in mining and tunnelling operations with at least one of the vehicles having a travelling mechanism is disclosed. Distance measurements to adjacent wall surfaces which define a path of movement are taken on opposite sides of the vehicles, and on each side at least two ultrasonic sensors are arranged to be offset in the direction of movement in determining the distances. Signalling lines of the sensors are fed to an evaluation and control circuit via vehicle couplings. The control circuit is formed by an autoadaptive learning microcomputer.

Abstract: Maneuvers of a vehicle, in the presence of obstacles, are planned using a three-dimensional configuration space. Axes of the configuration space correspond to x and y coordinate locations of the rear differential of the vehicle and angle of the vehicle. The configuration space is filled with cost to goal and direction arrows values using an exhaustive search strategy. The direction arrows values point to a least cost path to a goal for the vehicle. The exhaustive search strategy involves searching a bow-tie shaped neighborhood of a goal state, and then a bow-tie shaped neighborhood of each state in the first neighborhood, iterating until all reachable states are searched. A precedence order is established so that states which are blocked are not searched.

Abstract: The present invention provides a method and a system for proximate field orientation of an autonomous device and utilizes a transmitted wave having a first frequency of slow propagation, whereby reflections from obstacles within a proximate area are detected. According to the present invention receivers are arranged in a slanted plane or preferably along a curved base-line to, in a simple way, obtain a three-dimensional direction to an obstacle reflecting the frequency of slow propagation. Additionally, an absorber or a screen or a combination thereof is arranged above at least one receiver to act as an "eyebrow" attenuating undesired reflections which at the receiver come from overhead.

Abstract: A vehicle navigation system and guidance method for effectively guiding a driver through a traffic circle; the driver is given instructions to exit at the given turnoff, but if the driver misses the proper turnoff, the system does not indicate the situation as "off-route" but continues to direct the driver around the circle and then again provide the exit instruction as the proper turnoff is again approached.

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.

Abstract: Method and apparatus providing supplementary navigation data to be used w a vehicular navigation system. The supplementary navigation data can be superimposed over primary navigation data on a navigation system display or can be presented as a split-screen display. The supplementary navigation data may contain information such as locations of local facilities, local road information, types of local facilities. The supplementary navigation data is received by the vehicle when the vehicle is coupled to a station, such as a battery recharging or a refueling station, and is transmitted to the navigation system. An on-board controller can store the data and/or display the data. The navigation system could use the supplementary data to determine routes or locations for specific local facilities selected by the user. In an interactive or two-way communications system, the user can select predetermined types of supplementary data to be received.