JPS59105113A - Automatic guiding method of vehicle - Google Patents
Automatic guiding method of vehicleInfo
- Publication number
- JPS59105113A JPS59105113A JP57215050A JP21505082A JPS59105113A JP S59105113 A JPS59105113 A JP S59105113A JP 57215050 A JP57215050 A JP 57215050A JP 21505082 A JP21505082 A JP 21505082A JP S59105113 A JPS59105113 A JP S59105113A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- point
- guide
- map
- objective
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000005259 measurement Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、車両を出発地点から目的地点まで自動誘導す
る方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically guiding a vehicle from a starting point to a destination point.
自動車等の車両を出発地点から目的地点まで自動誘導す
る方法については、既に種々の方法が提案されているが
、一般的には、何らかの地上設備を設置するのが通例で
あシ、例えば車両の通路に治って誘導用のガイド（誘導
ケーブル、ランドマーク等）を設けるとか、車両と地上
のコンビーータとの間に交信設備を設け、車両に対して
交差点の手前で地上のコンビーータからその交差点にお
ける進行方向を指示する等の方法が用いられている。し
かしながら、このような地上設備を用いる方法では、シ
ステム全体が大規模なものとなり、例えば広い対象域に
おける車両の通路に誘導用のガイドを設けるためには多
大の設備費を必要とし、また車両と地上のコンビーータ
との間で交信する場合にも地上設備の設備費が嵩み数少
ない車両の誘導を行うのでは地上設備が著しく無駄なも
のとなる。結局、とれらの設備を有効に利用するだめに
は、多数の車両の走行誘導が必要となる。Various methods have already been proposed for automatically guiding vehicles such as cars from their starting point to their destination point, but generally speaking, it is customary to install some kind of ground equipment. Install guides (guidance cables, landmarks, etc.) along the passage, or install communication equipment between the vehicle and the convener on the ground, and communicate with the convener on the ground before the intersection. Methods such as indicating the direction are used. However, with this method of using ground equipment, the entire system becomes large-scale, and, for example, providing a guide for guiding vehicles in a wide target area requires a large amount of equipment cost, and Even when communicating with a ground-based conveter, the cost of ground equipment increases, and the ground equipment becomes extremely wasteful if it only guides a small number of vehicles. In the end, in order to make effective use of these facilities, it is necessary to guide a large number of vehicles.
本発明は、車両上において走行誘導のだめの必要な処理
を行うことにより、上記地上設備を全く不要とし、それ
によって多大の設備費等を必要とすることなく、単に車
両の位置や進行方向の測定装置及び簡単な演算装置等を
車両上に搭載するだけでその車両の走行誘導を可能とし
、単一の車両だけでも走行誘導を行うことができるよう
にした自動誘導方法を提供しようとするものである。The present invention eliminates the need for the above-mentioned ground equipment by performing the necessary processing for travel guidance on the vehicle, thereby simply measuring the position and direction of the vehicle without requiring a large amount of equipment costs. The purpose of the present invention is to provide an automatic guidance method that makes it possible to guide the running of a vehicle by simply installing a device and a simple calculation device on the vehicle, and that allows running guidance to be performed even with a single vehicle. be.
このような目的を達成するため、本発明の自動誘導方法
は、出発地点と目的地点を入力するための入力装置と車
両の現在位置と方位を計測可能な位置・方向測定装置と
を接続した制御装置を車両上に備え、上記制御装置にお
いては、交差点、及びその交差点の手前や出発地点、目
的地点となり得る設定点と、それらの間の距離の情報を
含む地図をメモリ内に記憶して、この地図に基づき、入
力装置によって与えられた出発地点から目的地点までの
最適経路を演算して、その最適経路を各分岐点において
車両が進行すべき方向によって示す表、及び各分岐点に
おける進行によシ車両が到達可能な設定点についての表
を、メモリ内に保有し、これらの表に基づいて、車両が
最適経路を走行しているときには前者の表による交差点
での車両の進行方向を指示し、車両が最適経路から外れ
たときには、前記地図に基づいて改めて最適経路を演算
し、その最適経路に応じて上記表を書き変えたうえで同
様の制御を繰り返し、車両を目的地点まで誘導すること
を特徴とするものであるっ以下、図面を参照ｌ〜て本発
明の方法をさらに詳細に説明する。In order to achieve such an object, the automatic guidance method of the present invention uses a control system that connects an input device for inputting a starting point and a destination point and a position/direction measuring device capable of measuring the current position and direction of the vehicle. A device is provided on the vehicle, and the control device stores in a memory a map including information on intersections, set points that can be before the intersections, starting points, and destination points, and distances between them; Based on this map, calculate the optimal route from the starting point given by the input device to the destination point, and create a table showing the optimal route by the direction in which the vehicle should travel at each junction, and a table showing the direction in which the vehicle should proceed at each junction. It also maintains in memory tables of set points that the vehicle can reach, and based on these tables, when the vehicle is traveling on the optimal route, the former table directs the vehicle at the intersection. However, when the vehicle deviates from the optimal route, the optimal route is calculated again based on the map, the above table is rewritten according to the optimal route, and the same control is repeated to guide the vehicle to the destination point. Hereinafter, the method of the present invention will be explained in more detail with reference to the drawings.
本発明によって走行誘導を行う有人まだは無人の自動車
等の車両は、その車両上に第１図に例示するような誘導
制御装置が搭載される。この誘導制御装置における演算
装置には、それに付設したメモリ内に走行誘導を行う対
象域の坏ノドワークの情報を記憶させるが、このネット
ワークの情報即ち地図は、例えば第２図に示すように対
象域における交差点Ａ、 −Ｈ及び設定点１〜１８の位
置的関係とそれらの間の距離の情報等を含むものである
。A vehicle such as a manned or unmanned automobile that performs travel guidance according to the present invention is equipped with a guidance control device as illustrated in FIG. 1 on the vehicle. The arithmetic unit in this guidance control device stores information on the route of the target area for travel guidance in the memory attached to it, and the information of this network, that is, the map, is stored in the memory attached to it. This includes information on the positional relationships between intersections A and -H and set points 1 to 18, and the distances between them.
上記設定点は、゛通路の分岐点（交差点）の手前の適当
な地点、及び出発地点や目的地点となシ得る点であって
、予め設定される。The above-mentioned set point is an appropriate point before a branch point (intersection) of the path, and a point that can be used as a starting point or a destination point, and is set in advance.
上記演算装置は、入力装置を通して入力される出発地点
（現在位置）及び目的地点、並びに位置・方向測定装置
から送られる車速、走行距離、走行方向等のデータに基
づき、目的地点までの最適経路を求め、進行方向指示装
置等を通じて分岐点における進行方向を指示するもので
ある。これをさらに具体的に説明すると、まず、上記入
力装置は、出発地点と目的地点を予めコード化された地
点コードにより入力するものであり、また位置・方向測
定装置は、車輪の回転速度や回転量によって走行速朋や
距離を計測する速度計あるいは距離計、及びジャイロ等
の走行方向検出装置を備え、出発点からどの方向へどれ
だけ走ったかを積算することにより、常に車両の現在位
置を計測できるようにしたものである。これらのデータ
が与えられる演算装置は、上記入力装置によって与えら
れた出発地点と目的地点との間の最適経路を、例えばダ
イクストラ法として知られている最適経路決定法によっ
て求め、その経路を進向方向指示装置により分岐点の手
前で逐次運転者に知らせるか、分岐点において自動操舵
装置を駆動するように制御する機能を有するものである
。また、運転者は必ずしも指示された進行方向に向かう
とは限らず、例えば右折すべきところを直進してしまう
こともあ）、この場合には制御装置において改めて最適
経路を決定し、その経路に沿うように進行方向を指示さ
せることが必要である。The arithmetic device calculates the optimal route to the destination point based on the starting point (current position) and destination point input through the input device, as well as data such as vehicle speed, travel distance, and direction sent from the position/direction measurement device. The direction of travel at the branch point is indicated using a direction indicating device or the like. To explain this more specifically, first, the input device inputs the departure point and destination point using pre-coded point codes, and the position/direction measurement device inputs the rotation speed and rotation of the wheels. Equipped with a speedometer or distance meter that measures speed and distance based on speed, and a driving direction detection device such as a gyro, it constantly measures the current position of the vehicle by integrating the distance traveled in which direction from the starting point. It has been made possible. The arithmetic device to which these data are given determines the optimal route between the starting point and the destination point given by the input device, for example, by an optimal route determination method known as Dijkstra's method, and then uses that route as a forward direction. It has the function of sequentially notifying the driver before a turning point using a direction indicating device, or controlling the automatic steering system to drive at a turning point. In addition, the driver does not necessarily head in the instructed direction; for example, he may drive straight ahead when he should have turned right.) In this case, the control device re-determines the optimal route, and It is necessary to indicate the direction of travel.
上記制御装置における制御の態様を順次説明すると、ま
ず、操作者（運転者）が入力装置を通じて、第２図にお
ける設定点２を出発地点とし、同設定点１８を目的地点
として、それらを地点コードによって入力すると、演算
装置においては、ダイクストラ法等によって最適経路の
演算を行い、その結果、交差点Ｂ、Ｃ，Ｆを順次通過す
るのが最適であると判断されると、その経路を第１表に
示すような表としてメモリ内に保有する。同表において
各設定点に対応する進行方向は、その設定点を通過した
直後の分岐点において車両の進行すべき方向を示し、ま
たＦはその設定点自体が目的地点であることを示してい
る。三叉路や三叉路についての進行方向は、例えば分岐
の角度等によシ与えればよい。To explain the mode of control in the above-mentioned control device in sequence, first, the operator (driver) uses the input device to set the set point 2 in FIG. When input by It is stored in memory as a table like the one shown below. In the same table, the traveling direction corresponding to each set point indicates the direction in which the vehicle should travel at the branch point immediately after passing that set point, and F indicates that the set point itself is the destination point. . The direction of travel for a three-way intersection or three-way intersection may be determined by, for example, the angle of the branch.
第１表
また、上記第１表と同時に、第２表に示すような各分岐
点の手前の設定点とその分岐点におけるいずれかの方向
への進行により到達し得る設定点との対応関係について
もメモリに表として保有する。この表において、アンダ
ーラインを付した設定点は前記最適経路に治った設定点
であシ、また○印を付した設定点は目的地点に相当する
ものであるが、これらの設定点及びその他の設定点は、
後述するように区別される。Table 1 Also, at the same time as Table 1 above, Table 2 shows the correspondence between the set point before each branch point and the set point that can be reached by proceeding in either direction at that branch point. is also held in memory as a table. In this table, the underlined setpoints are the setpoints that correspond to the optimal route, and the circled setpoints correspond to the destination points, but these and other setpoints The set point is
They are distinguished as described below.
第 ２ 表
前述した最適経路の演算を行った彼においては、制御装
置はそのメモリにおけるこれらの表に基づいて走行誘導
を行うことになる。即ち、車両が設定点２を発するにあ
たシ、制御装置からは第１表によシ某差点Ｂで直進する
ように指示が与えられる。車両がその指示に従って交差
点Ｂを直進すると、位置・方向測定装置によって常（二
現在位置が計測されて制御装置に送られるだめ、制御装
置では車両が直進したことを認識すると共に、その後の
走行を継続すると次の交差点Ｃの手前の設定点４に達し
たことを距離等の計測に基づいて認識し、その設定が第
２表において最適経路に沿ったものであることから、制
御装置では、車両の最適経路を走行しているものとして
、第１表に基づき、設定点４の直後の交差点Ｃを右折す
るように適宜表示装置により直進方向を指示して運転者
に操舵させ、あるいは車両が無人誘導の場合には自動操
舵を行わせる。また、車両は交差点Ｂにおいてその指示
通シに直進するとは限らず、何らかの理由によって左折
することもあシ、この場合には位置・方向４１す定装置
において左折したことが計測されてそれが制御装置に伝
えられ、制御装置においては第２表に基づいて左折によ
り到達し得る設定点９が最適経路上にないことから、車
両がその設定点９に達したときに、その設定点９を出発
地点として目的地点（設定点１８）まで走行するだめの
最適経路の演算を行い、求められた最適経路を第１表に
示すような表に代るものとしてメモリに記憶させる３、
第６表Ｖｉ書き変えられた表の内在を示すものである。Table 2 After calculating the optimum route as described above, the control device will perform travel guidance based on these tables in its memory. That is, when the vehicle leaves set point 2, the control device gives an instruction to go straight at a certain difference point B according to Table 1. When the vehicle follows the instructions and goes straight through intersection B, the current position is constantly measured by the position/direction measuring device and sent to the control device. If the continuation continues, it will be recognized based on measurements such as distance that the vehicle has reached set point 4 before the next intersection C, and since that setting is in line with the optimal route in Table 2, the control device will Assuming that the vehicle is traveling on the optimal route of In the case of guidance, automatic steering is performed.Furthermore, the vehicle does not necessarily go straight at intersection B according to the instructions, but may turn left for some reason, and in this case, the position/direction 41 steering device The fact that the vehicle has turned left at This is an alternative to the table shown in Table 1, in which the optimum route to travel to the destination point (set point 18) is computed using the set point 9 as the starting point. Store it in memory as 3,
Table VI shows the meaning of the rewritten table.
第６表
必要に応じて第２表についても書き変えることになるが
、このようにして表の畳き変えを行った後における走行
誘導は上述したところと同様であシ、最終的に車両が設
定点１８に到達したことが検出されたとき、目的地点ま
での走行誘導が終了する。Table 6 Table 2 will be rewritten as necessary, but the driving guidance after refolding the table in this way is the same as described above, and the final result is that the vehicle When it is detected that the set point 18 has been reached, the travel guidance to the destination point ends.
以上に詳述したところから明らかなように、本発明によ
れば、車両上に簡単な誘導制御装置を搭載するだけで、
しかも制御装置における極めて簡単な制御により、車上
装置のみによる車両の走行誘導を行うことができる。As is clear from the detailed description above, according to the present invention, by simply installing a simple guidance control device on the vehicle,
Moreover, the very simple control in the control device allows the vehicle to be guided by only the on-board device.
第１図は本発明における誘導制御装置のブロック構成図
、第２図は制御装置のメモリ内に記憶させる地図につい
ての説明図である。
篤 １
人力裟
一下
１゛
走行力
双
可
向
Ｉ ２ 口FIG. 1 is a block diagram of a guidance control device according to the present invention, and FIG. 2 is an explanatory diagram of a map stored in the memory of the control device. Atsushi 1 Human powered one lower 1゛ Running power dual direction I 2 Mouth
Claims (1)
車両の現在位置と方位を計測可能な位置・方向測定装置
とを接続した制御装置を車両上に備え、上記制御装置に
おいては、交差点、及びその交差点の手前や出発地点、
目的地点となシ得る設定点と、それらの間の距離の情報
を含む地図をメモリ内に記憶して、この地図に基づき、
入力装置によって与えられた出発地点から目的地点まで
の最適経路を演算して、その最適経路を各分岐点におい
て車両が進行すべき方向によって示す表、及び各分岐点
における進行によシ車両が到達可能な設定点についての
表を、メモリ内に保有し、これらの表に基づいて、車両
が最適経路を走行しているときには前者の表による交差
点での車両の進行方向を指示し、車両が最適経路から外
れたときには、前記地図に基づいて改めて最適経路を演
算し、その最適経路に応じて上記表を書き変えたうえで
同様の制御を繰り返し、車両を目的地点まで誘導するこ
とを特徴とする車両の自動誘導方法。1. A control device is provided on the vehicle, which connects an input device for inputting the starting point and destination point, and a position/direction measuring device capable of measuring the current position and direction of the vehicle. and before the intersection or starting point,
Store in memory a map containing information about destination points, possible setpoints, and distances between them, and based on this map,
Calculate the optimal route from the starting point given by the input device to the destination point, and create a table showing the optimal route by the direction in which the vehicle should travel at each junction, and the direction the vehicle should travel at each junction. It maintains tables of possible set points in memory, and based on these tables, when the vehicle is traveling on the optimal route, the former table directs the vehicle at the intersection; When the vehicle deviates from the route, the optimal route is calculated again based on the map, the table is rewritten according to the optimal route, and the same control is repeated to guide the vehicle to the destination point. Automatic vehicle guidance method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215050A JPS59105113A (en) | 1982-12-08 | 1982-12-08 | Automatic guiding method of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215050A JPS59105113A (en) | 1982-12-08 | 1982-12-08 | Automatic guiding method of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59105113A true JPS59105113A (en) | 1984-06-18 |
| JPH0218488B2 JPH0218488B2 (en) | 1990-04-25 |
Family
ID=16665924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57215050A Granted JPS59105113A (en) | 1982-12-08 | 1982-12-08 | Automatic guiding method of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59105113A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61216100A (en) * | 1985-03-20 | 1986-09-25 | 日産自動車株式会社 | Course guidance unit for vehicle |
| JPS61220100A (en) * | 1985-03-27 | 1986-09-30 | 日産自動車株式会社 | Course guidance unit for vehicle |
| JPS61234500A (en) * | 1985-04-03 | 1986-10-18 | ロ−ベルト・ボツシユ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | Position detecting/operating apparatus for land vehicle and position detection using the same |
| JPS6249412A (en) * | 1985-08-28 | 1987-03-04 | Shinko Electric Co Ltd | Control method for self-running type moving robot |
| JPH01100416A (en) * | 1987-10-13 | 1989-04-18 | Sumitomo Electric Ind Ltd | On-vehicle navigation system |
| JPH0312156A (en) * | 1989-06-09 | 1991-01-21 | Murata Mfg Co Ltd | Guiding device for blind person |
| JPH04177287A (en) * | 1990-11-09 | 1992-06-24 | Sumitomo Electric Ind Ltd | Optimum path determining device |
| EP0504854A1 (en) | 1991-03-19 | 1992-09-23 | Matsushita Electric Industrial Co., Ltd. | Route selection method and apparatus therefor |
| EP0702208A2 (en) | 1994-09-08 | 1996-03-20 | Matsushita Electric Industrial Co., Ltd. | Method and system of route selection |
| EP0703435A1 (en) | 1994-09-21 | 1996-03-27 | Nec Corporation | Moving object navigation apparatus |
| EP0782120A1 (en) | 1995-12-28 | 1997-07-02 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for searching a route |
| US6014607A (en) * | 1996-09-30 | 2000-01-11 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for searching a route |
| US6338021B1 (en) | 1999-09-29 | 2002-01-08 | Matsushita Electric Industrial Co., Ltd. | Route selection method and system |
| US6456932B2 (en) | 1999-12-21 | 2002-09-24 | Matsushita Electric Industrial Co., Ltd. | Route selecting method, route selecting system, and recording medium |
| JP2020187551A (en) * | 2019-05-14 | 2020-11-19 | 株式会社豊田自動織機 | Autonomous traveling vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5654521A (en) * | 1979-10-08 | 1981-05-14 | Shinko Electric Co Ltd | Program controller of driverless guidance vehicle |
| JPS5755404A (en) * | 1980-09-19 | 1982-04-02 | Mitsubishi Electric Corp | Playback running controller for unmanned running car |
-
1982
- 1982-12-08 JP JP57215050A patent/JPS59105113A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5654521A (en) * | 1979-10-08 | 1981-05-14 | Shinko Electric Co Ltd | Program controller of driverless guidance vehicle |
| JPS5755404A (en) * | 1980-09-19 | 1982-04-02 | Mitsubishi Electric Corp | Playback running controller for unmanned running car |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61216100A (en) * | 1985-03-20 | 1986-09-25 | 日産自動車株式会社 | Course guidance unit for vehicle |
| JPS61220100A (en) * | 1985-03-27 | 1986-09-30 | 日産自動車株式会社 | Course guidance unit for vehicle |
| JPS61234500A (en) * | 1985-04-03 | 1986-10-18 | ロ−ベルト・ボツシユ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | Position detecting/operating apparatus for land vehicle and position detection using the same |
| JPH0543124B2 (en) * | 1985-08-28 | 1993-06-30 | Shinko Electric Co Ltd | |
| JPS6249412A (en) * | 1985-08-28 | 1987-03-04 | Shinko Electric Co Ltd | Control method for self-running type moving robot |
| JPH01100416A (en) * | 1987-10-13 | 1989-04-18 | Sumitomo Electric Ind Ltd | On-vehicle navigation system |
| JPH0312156A (en) * | 1989-06-09 | 1991-01-21 | Murata Mfg Co Ltd | Guiding device for blind person |
| JPH04177287A (en) * | 1990-11-09 | 1992-06-24 | Sumitomo Electric Ind Ltd | Optimum path determining device |
| US5502640A (en) * | 1991-03-19 | 1996-03-26 | Matsushita Electric Industrial Co., Ltd. | Route selection method and apparatus therefor |
| EP0504854A1 (en) | 1991-03-19 | 1992-09-23 | Matsushita Electric Industrial Co., Ltd. | Route selection method and apparatus therefor |
| EP0702208A2 (en) | 1994-09-08 | 1996-03-20 | Matsushita Electric Industrial Co., Ltd. | Method and system of route selection |
| US6067499A (en) * | 1994-09-08 | 2000-05-23 | Matsushita Electric Industrial Co., Ltd. | Route selection system and method utilizing integrated crossings, a starting route, and/or route numbers |
| EP0703435A1 (en) | 1994-09-21 | 1996-03-27 | Nec Corporation | Moving object navigation apparatus |
| US5797112A (en) * | 1994-09-21 | 1998-08-18 | Nec Corporation | Navigation apparatus using a position index and information representative of roads and institutions |
| EP0782120A1 (en) | 1995-12-28 | 1997-07-02 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for searching a route |
| US5899955A (en) * | 1995-12-28 | 1999-05-04 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for searching a route |
| US6014607A (en) * | 1996-09-30 | 2000-01-11 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for searching a route |
| US6338021B1 (en) | 1999-09-29 | 2002-01-08 | Matsushita Electric Industrial Co., Ltd. | Route selection method and system |
| US6456932B2 (en) | 1999-12-21 | 2002-09-24 | Matsushita Electric Industrial Co., Ltd. | Route selecting method, route selecting system, and recording medium |
| JP2020187551A (en) * | 2019-05-14 | 2020-11-19 | 株式会社豊田自動織機 | Autonomous traveling vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0218488B2 (en) | 1990-04-25 |
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