ROUTE RECOGNITION SYSTEM OF AUTOMATIC OPERATION VEHICLE

To provide a route recognition system which performs automatic operation following a stable travel route by grasping route lines provided on a road surface with a camera provided on a vehicle body.SOLUTION: In a route recognition system of automatic operation traveling on route lines provided on a road surface, a camera is mounted at such a position that the route lines are visible without exposed to disturbance of natural environment such as influences of sunlight in the vehicle body and shades and a relative position with the center of gravity of a vehicle body can be recognized, a lateral deviation (e2) between the route lines and the center of gravity of the vehicle body, and angle deviation (e3) of a body shaft to the route lines are detected while referring to the position of the camera, and steering is controlled so that the detected lateral deviation (e2) and the angle deviation (e3) are eliminated, and the center of gravity of the vehicle body coincides with the route lines.SELECTED DRAWING: Figure 2 【課題】路面に設けた経路線を車体に設けたカメラによって捉えることで、安定した走行経路を辿る自動運転を行う経路認識システムを提供する。【解決手段】路面に設けられた経路線を辿って走行する自動運転の経路認識システムにおいて、車体には太陽光や影の影響などの自然環境の外乱に晒されずに前記経路線を視認でき且つ車体の重心位置との相対位置が分かる位置にカメラが取付けられ、このカメラの位置を参照して経路線と車体重心との横偏差（ｅ2）および経路線に対する車体軸の角度偏差（ｅ3）を検出し、検出した横偏差（ｅ2）と角度偏差（ｅ3）をなくし車体重心が経路線に一致するように操舵制御する。【選択図】 図２