JPH10105229A - Automatic travel path and magnetism producing device for automatic travel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an automatic travel path and magnetism producing device for automatic travel as to an automatic travel system which secures an automatic travel at a branch/confluence part and is simple in constitution and reducible in cost. SOLUTION: A magnetic nail 10 provided in a branch section II where the automatic travel path R1' provided with the automatic travel magnetism generating device for guiding an automatic travel vehicle branches into R1 and R2 can be switched so that magnetism which is intense enough to detect the magnetism of a magnetic sensor provided on the automatic travel vehicle is generated or not generated. In sections I and III other than the branch section II, a permanent magnet is used as a magnetic nail 20 and when no lane change is made, magnetism is produced only by the magnetic nail 10a, but when a lane change is made, magnetism is produced only by the magnetic nail 10b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling path for guiding an automatic traveling vehicle using magnetism and a magnetic generator for automatic traveling disposed on the automatic traveling path.

[0002]

2. Description of the Related Art As described above, in order to make an automatic traveling vehicle automatically travel, magnetic nails (automatic traveling magnetic generators), which are a kind of travel guidance marks, are continuously arranged in a line along a road. There is an automatic travel path configured to automatically travel the vehicle along the magnetic nail while detecting the magnetism of the magnetic nail by a magnetic sensor provided in the automatic travel vehicle. In such an automatic traveling path, permanent magnets have been used as magnetic nails because they are inexpensive and easy to install.

[0003]

In such an automatic traveling road, when the road is a single lane, it is easy to detect the magnetism from the magnetic nail and the automatic traveling control is relatively simple. There is a problem that it is difficult to automatically drive at a place where a traveling route (magnetic nail) branches and merges including a case where the lane is changed on a road having a lane.

[0004] To explain this more specifically, in a place where the traveling route branches, if a magnetic nail is provided in each of the branch routes, the vehicle will travel on a plurality of magnetic nail rows. Can not detect an appropriate magnetic source. Therefore, in such a case, it is necessary to prohibit the detection of magnetism by the magnetic sensor and temporarily suspend the automatic traveling.

In order to continue the automatic traveling, it is conceivable that the section in which the detection of magnetism is prohibited is caused to travel by using inertial navigation. However, when traveling by inertial navigation, a high-precision gyro and , A map having information on the position where the magnetic nails are arranged is required. Furthermore, since it is necessary to maintain high reliability of each device when traveling by inertial navigation, each device becomes complicated,
There is a problem that it becomes expensive.

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and an automatic traveling system which can surely perform automatic traveling of a branching / merging portion, has a simple structure, and can be manufactured at low cost. It is an object of the present invention to provide an automatic traveling path and an automatic traveling magnetic generator.

[0007]

In order to achieve the above object, in the automatic traveling path according to the present invention, there is provided an automatic traveling magnetic generator for guiding an automatic traveling vehicle provided with a magnetic sensor to a predetermined place. This autonomous travel path is branched and
A magnetic generator capable of switching whether or not the magnetic generator for automatic traveling provided in the branching / merging section where the merging is to generate magnetism of a strength capable of detecting magnetism by a magnetic sensor provided in the automatic traveling vehicle. Means are provided. Then, in a section other than the branching / merging section on the automatic traveling path, the automatic traveling magnet generator is provided with a permanent magnet for generating magnetism having a strength capable of detecting magnetism by a magnetic sensor.

According to such an automatic traveling path, the automatic traveling magnetic generator disposed in a section other than the branching / merging section that occupies most of the automatic traveling path is formed by a permanent magnet. Therefore, the configuration of the magnetic generator itself can be simplified, and the arrangement on the automatic traveling path can be easily performed. The configuration of the magnetic generator for automatic traveling provided in the branch / merge section is slightly more complicated than the magnetic generator using only permanent magnets.
Since the ratio of the magnetic generators disposed on the entire automatic traveling path is low, the cost of the entire automatic traveling path can be reduced.

[0009] The branching / merging section refers to a predetermined section including a point where a line of the automatic traveling magnetic generators arranged on the automatic traveling path branches / merges. When a magnet is generated from an automatic traveling magnet generator provided on a traveling path different from the traveling automatic traveling path (branching / merging traveling path), the section is likely to detect the magnetism. Accordingly, a traveling magnetic generator configured to be capable of switching whether or not to generate magnetism in the branch / merge section is provided, and only a traveling magnetic generator provided on a desired automatic traveling path is provided. If the magnetism is generated, the guidance of the automatic traveling vehicle can be reliably performed.

Further, by making the intensity of the magnetism generated from the traveling magnetism generator disposed in the branch / merge section equal to the intensity of the magnetism of the permanent magnet, the detection accuracy of the magnetic sensor can be kept constant. Is simple and low cost.

In the above-mentioned automatic traveling path, it is preferable to use an electromagnet as the magnetic generating means of the automatic traveling magnetic generator provided in the branch / merge section. With such a configuration, it is possible to switch whether or not to generate magnetism only by controlling the energization of the electromagnet, so that the device configuration is simple and the cost is low.

Further, the magnetism generating means comprises a permanent magnet and an electromagnet for generating magnetism for canceling the magnetism of the permanent magnet, or a magnet deterrent for suppressing the generation of magnetism of the permanent magnet to the outside. Or means. In the case where an automatic traveling path is configured using such a magnet generating means, the configuration is such that when an operation control signal such as energizing the electromagnet or the magnetism suppressing means is interrupted, the permanent magnet magnet is generated outside. In this way, it is possible to prevent the occurrence of a blank portion where no magnetism occurs even during a power failure.

[0013] In an automatic traveling path on which an automatic traveling vehicle provided with a magnetic sensor can be guided to a predetermined place, a magnetic generator for automatic traveling provided in a branching / merging section has a strength sufficient to detect magnetism by the magnetic sensor. In the case of a configuration capable of switching whether or not to generate magnetism, a permanent magnet,
It is preferable that an electromagnet that generates magnetism for canceling the magnetism of the permanent magnet constitutes an automatic traveling magnetic generator.

With the use of such an automatic traveling magnetic generator, the generation of magnetism can be easily suppressed, and even if the generation of magnetism from the magnetism generating means becomes impossible due to some trouble. The magnet can be generated from the permanent magnet. For this reason, by providing this automatic traveling magnetic generator on one of the automatic traveling roads that diverges and joins, guidance to the one automatic traveling road can be performed even during a power failure or the like.

Further, similarly to the above, a magnetic generator for automatic traveling which is provided in the branching / merging section and which can switch whether or not to generate magnetism is provided with a permanent magnet and a magnet for externally transmitting the magnetism of the permanent magnet. It may be constituted by magnetic suppression means for suppressing the occurrence. Then, if a malfunction occurs in the operation control device that controls the operation of the magnetic suppression means, if the operation of the magnetic suppression means is not performed, it is possible to ensure the generation of magnetism even at the time of a power failure or the like as described above. Can be.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. First, FIG. 2 shows an example of a vehicle configuration used in the automatic traveling system of the present invention. The vehicle VH can also automatically travel without a driver's operation. For this reason, the electric steering 11, the electric throttle 12, and the electric brake 13
And an electric shift 14, which are operated based on a command signal from the controller 15 to allow the vehicle VH to travel automatically.

For this automatic driving, there is provided a system for automatically driving the vehicle VH along the magnetic nail N while detecting the magnetic nail N provided on the road surface R. Has a magnetic sensor 16 for detecting the magnetic nail N, and its detection data is sent to the controller 15.

[0018] The magnetic nail N for driving guidance is provided on a road surface R.
When the information of the magnetic nail N detected by the magnetic sensor 16 is sent to the controller 15, the controller 15 performs signal processing, so that the vehicle travels following the magnetic nail N. The operations of the electric steering 11, the electric throttle 12, the electric brake 13, and the electric shift 14 are controlled.

Next, the magnetic nail N disposed on the road surface R will be described. As shown in FIG.
Are embedded at predetermined intervals in the left and right central portions of the running road in the direction in which the road extends. Note that FIG. 1 illustrates a branch portion where the number of lanes on the road increases from one lane to two lanes. As shown in a range I surrounded by a chain line, a portion where the lane R1 'is a single lane (hereinafter, referred to as a "one lane portion") is buried only in the center of the magnetic nail N, and is shown by a range II surrounded by a chain line. At a portion that branches into two lanes (hereinafter referred to as a “branch portion”), and at a portion completely branched into two lanes (hereinafter referred to as a “two-lane portion”) as indicated by a range III surrounded by a chain line. Are buried in the center of each of the first and second lanes R1, R2.

There are two types of magnetic nails N buried in this way, one is formed only by permanent magnets and constantly generates magnetism to the outside, and the other is to detect magnetism by a magnetic sensor. An electromagnet is provided as magnetism generating means capable of switching whether or not to generate magnetism of a possible intensity. The permanent magnet magnetic nail 20 formed by the permanent magnet is embedded in the roads R1, R1 ', R2 where one or two lanes are completely formed, as indicated by black circles in the one-lane part I and the two-lane part III. Have been.

As shown by white circles and hatched circles at the branch portion II, the electromagnet magnetic nail 10 provided with the electromagnets has a first lane R1 'before branching and a first lane after branching. A first lane side electromagnet magnetic nail 10a buried so as to connect the permanent magnet magnetic nails 20 buried in R1, a permanent magnet buried in a first lane R1 'before branching and a second lane R2 after branching. Magnetic nail 20
And a second lane-side electromagnet magnetic nail 10b connecting the two.

Either the first lane side electromagnet magnetic nail 10a or the second lane side electromagnet magnetic nail 10b is always energized, and either travels in the first lane R1 as it is or changes lanes to the second lane R2. Is performed. In other words, when the electromagnet magnetic nail 10 is in the energized state (state in which magnetic force is generated) is indicated by a hatched circle, the vehicle VH traveling in the first lane R1 'travels without changing lanes. In this case, the first lane-side electromagnet magnetic nail 10a is energized to generate magnetism as shown in FIG. Thereby, since the magnetic force of the magnetic nail N in the first lane R1 is not interrupted, the vehicle VH can automatically travel on the first lane R1.

Next, a case where the vehicle VH traveling on the first lane R1 'is moved to the increased second lane R2 will be described. When changing lanes from the first lane R1 'to the second lane R2, as shown in (B), the second lane-side electromagnet magnetic nail 10b is energized and the first lane-side electromagnet magnetic nail is energized. The power supply to 10a is cut off. As a result, magnetic force is generated only in the second lane-side electromagnet magnetic nail 10b at the branch portion II, so that the vehicle traveling on the first lane R1 'can smoothly change lanes to the second lane R2. it can.

Here, the electromagnet magnetic nail 10 buried in the road surface R will be described with reference to FIG. In the electromagnet magnetic nail 10, an iron core 12 is disposed in a case 11, and a coil 13 is wound around the iron core 12. The case 11 in which the iron core 12 around which the coil 13 is wound as described above is stored is buried in the road surface R with the cover 14 covered. The energization of the coil 13 is controlled by a switching device 42. The energization of the switching device 42 is controlled by a control signal from the control device 41.

In a state where the coil 13 is energized by the switching device 42, as shown in FIG.
(Magnetic field) G is generated around the. Since this magnetism reaches up the road, it can be detected by the magnetic sensor 16 described above. According to the electromagnet magnetic nail 10 configured as described above, since the generation and disappearance of magnetism can be performed with a simple configuration, it is possible to easily switch the traveling guidance direction in the branch portion II.

The thus configured electromagnet magnetic nail 1
0, not only the branching section II as described above, the lane change section II ₁ and as shown in FIG. 4, it is also buried in the introduction II ₂ etc. to interchange and parking areas as shown in FIG. 5 . On the automatic driving road in which the electromagnetic magnet nails 10 and the like are buried in the branch portion II and the like in this manner, the control operation of the electromagnetic magnet nails 10 is performed by the control device 41 in the same manner as described above, and the vehicle VH is moved to an appropriate lane. We lead to interchanges.

For example, as shown in FIG.
_The vehicle VH that has traveled in the first lane R11 in lane ₁ is lane-changed in the lane changer II ₁ and the lane changer rear II
In I ₁ will be described a case where moving the second lane R12. Lane change front I ₁ and lane change rear II
The first and second lanes R11 of I _1, the R12 is a permanent magnet magnetic nail 120a~120d is disposed.

In the lane changing section II ₁ , the first electromagnet nail 110 a connecting the permanent magnet magnetic nails 120 a and 120 c in the first lane R 11, and the permanent magnet magnetic nail in the first lane R 11 in the lane changing front I ₁ . Nail 12
Second electromagnet magnetic nail 110b for connecting the second lane permanent magnet magnetic nail of R12 120d in 0a and lane change rear III _1, the second lane of the lane change the front I ₁ R1
2 permanent magnet magnetic nail 120b and lane change rear part III
₁ permanent magnet magnetic nail 120 in the first lane R11
and a fourth electromagnet nail 110d connecting the permanent magnet magnetic nails 120b and 120d of the second lane R12 to each other. When the lane change is performed as described above, only the second electromagnet magnetic nail 110b is energized to generate magnetism.

Next, as shown in FIG. 5, the first lane R21
A case will be described in which the vehicle VH that has traveled is guided to the parking area. Lane R leading to parking area
23 is formed so as to branch off from the first lane R21. Branch front I ₂ and the first lane R21, in the branched rear III ₂ of the first lane R21 and the road R23, the permanent magnet magnetic nail 220a, 220b, 220c are disposed.

[0030] In the branching unit II _2, first lane R21
The first electromagnet nail 210a that connects the permanent magnet magnetic nails 220a and 220b of the first and the second electromagnet nail that connects the permanent magnet magnetic nail 220a of the first lane R21 and the permanent magnet magnetic nail 220c of the lane R23 that connects to the parking area 210b. Note that the second lane R22 has nothing to do with the above-mentioned branch, so that only the permanent magnet magnetic nail 220d is provided. And
When guiding the vehicle VH traveling on the first lane R21 to the parking area, magnetism is generated only in the second electromagnet nail 210b.

Here, the operation control of the switching device 42 in the control device 41 will be described with reference to the flowchart shown in FIG. The control device 41 first recognizes whether or not the vehicle VH has entered the automatic driving lane in step S1, and then recognizes in which position in the automatic driving lane the vehicle VH is running in step S2. . Such recognition is based on the fact that the magnetic sensor 16 has detected the magnetism of the magnetic nail buried in the road surface and the vehicle position detected by the vehicle position detecting means 18 is determined by the vehicle V
This is done by transmitting from the communicator 17 provided in H to the control device 41. The vehicle position detecting means 18 includes a gyro and a GPS receiver.

Next, in step S3, it is determined in which lane the vehicle VH should run based on the traffic volume on the road. Then, based on this determination, it is determined in step S4 whether or not it is necessary to change lanes. here,
When it is determined that there is no need to change lanes, a series of controls ends, and the vehicle VH continues traveling in the lane without switching the electromagnet at the branching section or the lane changing section.

If it is determined in step S4 that the lane needs to be changed, the process proceeds to step S5,
First, the vehicle VH is notified of the transition to the determined lane. This notification is made by transmitting from the control device 41 to the communication device 17, and the communication device 17 that has received the notification causes the display means 19 to display the fact. After this notification is made, the switching operation of the switching device 42 is controlled in step S6, and the vehicle VH is guided to the determined lane.

The switching operation of the switching device 42 is performed not only by the operation control from the traffic control device 41 for comprehensively controlling the road as described above, but also by the request from the vehicle VH using the communication device 17. It is also done by For example, when entering the parking area as described above,
The request is made only by a request from the vehicle VH using the communication device 17.

Next, referring to FIG. 7, a description will be given of an electromagnet magnetic nail having a different configuration of the magnetism generating means. This electromagnet magnetic nail 30 is the same as the electromagnet magnetic nail 10 described above.
A permanent magnet 32 is provided instead of the iron core 11. By energizing the coil 33,
An S pole magnetic field is generated on the N pole side of the permanent magnet 32, and an N pole magnetic field is generated on the S pole side of the permanent magnet 32. The strength of the magnetic field generated when the coil 33 is energized is
The same (balanced) as the strength of the magnetic field of the permanent magnet 32
And

The thus constructed electromagnet magnetic nail 3
According to 0, in a state in which the energization of the coil 33 is cut off, a magnetic field is generated by the permanent magnet 32 as in the state shown in FIG. 3, and the magnetic sensor 16 can detect the magnetism. When the coil 33 is energized, a magnetic field is generated in the coil 33. Since the magnetic field has almost the same intensity as the magnetic field of the permanent magnet 32, the magnetic field of the permanent magnet 32 Is almost negated. Thereby, as shown in FIG. 7, the magnetic field generated from the electromagnet is extremely small, and is not detected by the magnetic sensor 16.

The electromagnet which generates the magnetism for canceling the magnetism of the permanent magnet 32 as described above is a permanent magnet 3
The configuration is not limited to the configuration in which the coil 33 is wound around the outer circumference of the second magnet, and another electromagnet that generates a magnetic field opposite to the magnetic field of the permanent magnet 32 may be arranged near the permanent magnet.

The thus constructed electromagnet magnetic nail 3
A specific method of disposing 0 will be described with reference to FIG. 8, like lane change section and FIG. 4 II ₃ and its front and rear portions I, shows a III. Lane change front I ₃
And in lane change rear III _3, the permanent magnet magnetic nail 320a~320d is disposed as a magnetic nail, in the lane change section II _3, the permanent magnet magnetic nail 320a of the first lane R31, and together 320d, the second lane First and fourth electromagnet magnetic nails 30a, 30d connecting permanent magnet magnetic nails 320b, 320d of R32
(A magnetic nail indicated by a circle with a horizontal line) is provided.

The permanent magnet magnetic nail 320a in the first lane R31 and the permanent magnet magnetic nail 32 in the second lane R32
0d, and a third electromagnet nail 310c (a magnetic nail indicated by a white circle) connecting the permanent magnet magnetic nail 320b in the second lane R32 and the permanent magnet magnetic nail 320c in the first lane R31. , A magnetic nail configured similarly to the above-described electromagnet magnetic nail 10.

In this way, the permanent magnet magnetic nail 320
On an automatic traveling road on which the electromagnetic nails 30 and 310 are disposed, the excitation operation of the electromagnets 310 and 330 (control of energization to the coils) is performed based on a control signal from the control device 41. Such an electromagnet magnetic nail 31
With the arrangement of 0 and 30, the magnetic field is generated from the first electromagnet magnetic nail 30a and the fourth electromagnet magnetic nail 30d in a state where all the electromagnets are not energized. Therefore, the control device 41 and the switching device 42
Even if the vehicle fails, automatic driving can be performed while maintaining at least the traveling lane without generating a blank portion of the magnetic field.

Next, referring to FIG. 9 and FIG. 10, the generation of a magnetic field to the outside can be suppressed by applying a current (the generation of a magnetic field having a strength detectable by the magnetic sensor 16 can be prevented). The nail 60 will be described.
The magnetic nail 60 includes a permanent magnet 61
A rotating member (magnetic suppression means) 62 formed in a U shape by a magnetic material such as iron; a motor 63 for rotating the rotating member 62; and a rotating spring 64 for constantly biasing the rotating member 62 in a predetermined direction. It is composed of In the magnetic nail 60 provided with the magnetic generating means configured as described above, when the motor 63 is not energized, as shown in FIG. The upper horizontal portion 62a and the lower horizontal portion 62b extending to the side are held in a state of being located on the opposite side to the permanent magnet 61.

As described above, the upper end surface 61a of the permanent magnet 61
And an upper horizontal portion 62a and a lower horizontal portion 6 on the lower end surface 61b.
2b is not in contact with the magnetic sensor 16
Thereby, the magnetism of the permanent magnet 61 can be detected.

The energization of the motor 63 is performed to
Is rotated horizontally by 180 °, the upper horizontal portion 62a and the lower horizontal portion 62b come into contact with the upper end surface 61a and the lower end surface 61b of the permanent magnet 61 as shown in FIG. This allows
Since a magnetic path is formed in the rotating member 62, the magnetic field generated outside can be made extremely small, and the magnetism of the permanent magnet 61 can be prevented from being detected by the magnetic sensor 16.

When the power supply to the motor 63 is cut off, the upper horizontal portion 62a and the lower horizontal portion 62b are
a and the holding force held by the lower end surface 61b is released,
As shown in FIG. 9, the rotating member 62 is horizontally rotated 180 ° by the urging force of the rotating spring 64. The upper horizontal portion 62
a and the lower horizontal portion 62b have an upper end surface 61a and a lower end surface 6a.
1b, the rotating member 62 is attracted to the permanent magnet 61. Therefore, the rotating spring 64 has an urging force capable of rotating the rotating member 62 against the attracting force. It is formed.

The magnetic nail configured as described above can be operated in the same manner as the operation control of each of the electromagnet magnetic nails 10 and 30 described above.
The operation is controlled by the switching device 42 in response to a control signal from the control device 41. That is, a magnetic field can be generated by interrupting the energization as in the case of the electromagnet magnetic nail 30 described above. Therefore, in the event of a power outage or the like,
Even when the switching device 42 does not operate normally, the automatic traveling of the vehicle traveling on the automatic traveling road can be continued.

The magnetic nail which can generate a magnetic field even in the event of a power failure is not limited to the above-described configuration, but is provided with magnetic restraining means configured to raise and lower a permanent magnet. You may do so. When the power is supplied, the permanent magnet is lowered so that the magnetism is not generated to the outside, and when the power is not supplied, the permanent magnet is raised by the urging force of a spring or the like to generate the magnet to the outside. Further, a shield plate capable of shielding magnetism may be provided above the permanent magnet, and the shield plate may be opened when power is not supplied.

As described above, in the present automatic traveling road, the magnetic nail for guidance provided on the road is provided in a portion other than the branching portion or the lane changing portion which occupies most of the automatic traveling road (running along the road). ) May be embedded with a magnetic nail formed by a permanent magnet, so that the facility cost of the induction magnetic nail (induction infrastructure maintenance cost) is reduced. Further, since the strength of the magnetic field generated from the magnetic nail formed by the electromagnet at the branch portion or the like can be made equal to the strength of the magnetic field generated from the magnetic nail formed by the permanent magnet, the resolution of the magnetic sensor 16 can be improved. It may be low, and the cost of the apparatus can be reduced.

[0048]

As described above, in the automatic traveling path of the present invention, in the branching / merging section where the automatic traveling path branches / merges, the magnetic generating means capable of switching whether or not to generate magnetism is provided. An automatic traveling magnetic generator using a permanent magnet is provided in other sections.

Thus, the magnet generator for automatic traveling provided in the section occupying most of the automatic traveling path may be a permanent magnet whose construction and disposition work are simple, and thus the cost can be reduced. Then, by generating magnetism from any one of the automatic traveling magnetic generators at the branching / joining portion, the automatic traveling vehicle can be easily and reliably guided to a desired automatic traveling path.

Further, in the above-mentioned automatic traveling path, it is preferable to use an electromagnet as a magnetic generating means of the automatic traveling magnetic generator provided in the branching / merging section. Since it is possible to switch whether or not to generate magnetism only by performing the energization control, it is possible to simplify the device configuration and reduce the cost.

Further, the magnetism generating means comprises a permanent magnet and an electromagnet for generating magnetism for canceling the magnetism of the permanent magnet, or a magnet for suppressing the generation of the magnetism of the permanent magnet to the outside. Or means. In the case where an automatic traveling path is configured using such a magnet generating means, the configuration is such that when an operation control signal such as energizing the electromagnet or the magnetism suppressing means is interrupted, the permanent magnet magnet is generated outside. In this way, it is possible to prevent the occurrence of a blank portion where no magnetism occurs even during a power failure. Therefore, by using an automatic traveling magnetic generator having such a magnetic generating means in any of the automatic traveling paths that branch and join, automatic traveling can be performed safely even during a power failure.

In the case where the automatic driving magnet generator provided in the branching / merging section is configured to be capable of switching whether or not to generate magnetism having a strength capable of detecting magnetism by a magnetic sensor, A permanent magnet and a magnet generating means for generating magnetism for canceling the magnetism of the permanent magnet constitute an automatic traveling magnet generator, or a permanent magnet and a magnet for preventing the magnet of the permanent magnet from reaching the magnetic sensor. The magnetism of the permanent magnet may be detected by a magnetic sensor when the magnetism generating means or the arrival preventing means malfunctions.

By providing such an automatic traveling magnetic generator on one of the automatic traveling paths that branch and join, even in the event of a power outage, the generation of magnetism in the branch / merging section is not interrupted, and this automatic traveling magnetic generation device is not interrupted. Guidance can be provided to an automatic traveling path on which the device is provided.

[Brief description of the drawings]

FIG. 1 is a plan view showing a lane increasing portion of an automatic traveling road according to the present invention.

FIG. 2 is a schematic diagram showing a configuration of a vehicle traveling on the automatic traveling path.

FIG. 3 is a side sectional view of a magnetic generator for automatic traveling provided on the automatic traveling path.

FIG. 4 is a plan view showing a lane changing portion of the automatic traveling road.

FIG. 5 is a plan view showing a branch portion of the automatic traveling path to a parking area.

FIG. 6 is a flowchart showing operation control of a magnetic generator for automatic traveling provided on the automatic traveling path.

FIG. 7 is a side sectional view of the magnetic generator for automatic traveling according to the present invention.

FIG. 8 is a plan view of an automatic traveling path provided with the automatic traveling magnetic generator.

FIG. 9 is a side view of another magnetic generator for automatic traveling according to the present invention.

FIG. 10 is a side view of another automatic traveling magnetic generator according to the present invention.

[Explanation of symbols]

10, 30, 110, 210, 310 Electromagnetic magnetic nail 20, 120, 220, 320 Permanent magnetic magnetic nail 11 Electric steering 12 Electric throttle 13 Electric brake 14 Electric shift 15 Controller 16 Magnetic sensor 17 Communication device 18 Vehicle position detecting means

Claims (6)

[Claims] 1. An automatic traveling path provided with an automatic traveling magnetic generator for guiding an automatic traveling vehicle provided with a magnetic sensor to a predetermined place, a branch / merge section where the automatic traveling path branches / merges. In the configuration, the automatic driving magnet generator is provided with a magnet generating means capable of switching whether or not to generate a magnet having a strength capable of detecting magnetism by the magnetic sensor. In other sections, An automatic traveling path, wherein the automatic traveling magnet generator is provided with a permanent magnet for generating magnetism having a strength capable of detecting magnetism by the magnetic sensor. 2. The automatic traveling path according to claim 1, wherein said magnetism generating means is an electromagnet. 3. The automatic traveling path according to claim 1, wherein said magnetism generating means comprises a permanent magnet and an electromagnet for generating magnetism for canceling the magnetism of said permanent magnet. 4. The automatic traveling path according to claim 1, wherein said magnetism generating means comprises a permanent magnet and a magnetic suppressing means for suppressing generation of magnetism of the permanent magnet to the outside. 5. A method according to claim 1, wherein said magnetic sensor is provided in a branching / merging section on an automatic traveling path capable of guiding an automatic traveling vehicle provided with a magnetic sensor to a predetermined place, and generates a magnetic field having a strength capable of detecting magnetism by said magnetic sensor. An automatic traveling magnetic generator capable of switching between a non-operating state and a permanent state, comprising: a permanent magnet; and an electromagnet that generates magnetism for canceling the magnetism of the permanent magnet. 6. An automatic traveling vehicle provided with a magnetic sensor, which is provided in a branching / merging section of an automatic traveling path capable of guiding the automatic traveling vehicle to a predetermined place, and which generates magnetism having a strength capable of detecting magnetism by the magnetic sensor. An automatic traveling magnetic generator capable of switching between a non-active state and a permanent state, comprising: a permanent magnet; and magnetic suppressing means for suppressing generation of magnetism of the permanent magnet to the outside. .