JPH11123278A - Method and device for travel control of mobile car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a mobile car freely travel along a free traveling line by reading a coordinate value of positions of at least two points on the mobile car, and finding a driving quantity of a driving means by performing an operation on the mobile car advancing direction and speed from its coordinate value and a coordinate value of a target position. SOLUTION: When performed on an automobile race game, a position detecting plate 28 is arranged over the whole surface on a traveling surface on which a mobile car travels. A large number of electric wires 34x which detect a position of the X axis and are arranged in the longitudinal direction and a large number of electric wires 34y which detect a position of the Y axis and are arranged in the lateral direction, are arranged in this position detecting plate 28. On ends of the respective electric wires 34x and 34y are connected to respective switches of X, Y scanning parts 36x and 36y, and the other ends are connected in common to each other. A coordinate value of the X, Y axis is found as a count value of X, Y coordinate counters 40x and 40y, and a position of the mobile car is detected by X, Y coordinate detecting means 42x and 42y, and an operation is performed on the mobile car advancing direction and speed from its coordinate value and a coordinate value of a target position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control method and a control device for a traveling vehicle for controlling traveling of the traveling vehicle.

[0002]

2. Description of the Related Art Conventionally, a self-propelled vehicle such as an unmanned transport vehicle that transports goods or other goods in a factory draws a running line on a running surface such as a floor with a white line, for example. This is done by traveling along the line. When the automatic guided vehicle is about to deviate from the white line, the automatic guided vehicle detects a deviation from the white line and corrects the traveling direction of the automatic guided vehicle so as to eliminate the deviation.

[0003] As described above, since the conventional automatic guided vehicle moves along a predetermined traveling line, in order to change the traveling line of the automatic guided vehicle, the traveling line itself must be redrawn. . In addition, when the self-propelled vehicle greatly deviates from the running line, it is difficult to correct the self-propelled vehicle. further,
It was impossible to judge the situation and change the running line of the self-propelled vehicle.

A conventional competition game imitating a horse race, a car race, or the like is a game in which a self-propelled vehicle such as a horse or a model car is run on a ring-shaped truck to compete for an arrival order or to predict an arrival order. It is. However, in this competition game, the self-propelled vehicle can only run on a predetermined circular track, and it is more realistic than a real horse race or a car race that runs on a free course on the field and competes. It faded, and interest had to be halved.

[0005]

As described above, in the prior art, the traveling of the self-propelled vehicle is controlled so as not to deviate from a predetermined traveling line. Therefore, in the case of an unmanned carrier, appropriate control cannot be performed as needed, and in the case of a competitive game, a realistic game cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a traveling control method and apparatus for a self-propelled vehicle capable of freely driving the self-propelled vehicle along a free running line. .

[0007]

The object of the present invention is to provide a traveling control method for a self-propelled vehicle for controlling the traveling of the self-propelled vehicle, wherein the self-propelled vehicle is driven by driving means, and at least two points on the self-propelled vehicle are controlled. Is read, and the direction and speed to which the self-propelled vehicle should travel are calculated from the read coordinates of the two positions and the coordinate value of the target position of the self-propelled vehicle. A driving amount of each of the driving means, and driving the driving means with the driving amount calculated by the calculating means to drive the self-propelled vehicle. Achieved.

[0008] The present invention is also directed to a traveling control device for a self-propelled vehicle for controlling the traveling of the self-propelled vehicle, wherein the self-propelled vehicle has a driving means, and coordinates of at least two points on the self-propelled vehicle. A position reading means for reading a value, a direction and a speed to which the self-propelled vehicle should travel based on the read coordinate values of the two points and the coordinate value of the target position of the self-propelled vehicle, and Computing means for computing the driving amount of the driving means.
The present invention is attained by a travel control device for a self-propelled vehicle, wherein the drive means is driven by the drive amount calculated by the arithmetic means, and the self-propelled vehicle runs.

Since the present invention is configured as described above, it is possible to know the position and direction of the self-propelled vehicle, calculate the appropriate direction and speed to reach the target position, and calculate the direction and speed. To drive the self-propelled vehicle to the target position.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to an embodiment shown in the drawings. 1 to 9 show an embodiment in which the traveling control device for a self-propelled vehicle according to the present invention is applied to a car racing game. FIG. 2 shows the appearance of the entire car racing game. An annular course 4 is provided on the upper surface of the horizontally long base 2, and six model cars 6 are arranged on this course 4 so as to be able to run freely. The base 2 is hollow as shown in FIG. 3, and a separate running surface 8 is laid facing the course 4 via the hollow portion. On the running surface 8,
Self-propelled vehicle 1 for running model car 6 on course 4
0 is arranged. A magnet 6 a is fixed to the model car 6 with a slight gap from the surface of the course 4.

The self-propelled vehicle 10 includes a front wheel 12 and left and right rear wheels 14.
1 and 14r, and the rear wheels 14l and 14r are independently driven by motors 16l and 16r, respectively. A plate member 20 is provided on a top plate portion of the self-propelled vehicle 10 via a spring 18. The plate member 20 is provided with rollers 22 and 24 for smoothly moving the lower surface of the course 4, and the entire plate member 20 is pressed against the course 4 by the spring 18. On the course 4 side of the plate member 20, a magnet 26 is attached so as to face the magnet 6a of the model car 6 via the course 4. In addition, a light receiving element 27 for receiving an optical signal from the control device main body is attached to a front portion of the self-propelled vehicle 10.

When the self-propelled vehicle 10 runs on the running surface 8, the model car 6 on the course 4 also runs on the same running path due to the attractive force of the magnet 26 and the magnet 6a. Therefore, the self-propelled vehicle 10
By controlling the traveling of the vehicle, the traveling of the model car 6 is controlled. The traveling surface 8 has a position detection plate 2 to be described later.
8 is provided on the entire surface so that the position of the self-propelled vehicle 10 can be detected wherever it is. Self-propelled car 1
The coils 30f and 30r are provided below the zero through a slight gap from the position detection plate 28. The coil 30f is attached to the front of the vehicle 10 near the front wheel 12,
The coil 30r is attached to the rear of the vehicle 10 near the rear wheels 14l and 14r. These coils 30f, 30r
The position can be detected by the interaction between the wire and the wiring extended in the position detection plate 28. In order to correspond to the courses 4 in various forms, the running surface 8 does not have a running course like the course 4, and the wiring is provided on the entire surface of the position detecting plate 28.

FIG. 1 shows the overall configuration of this embodiment. The right side of the figure shows the configuration of the self-propelled vehicle 10, and the left side shows the configuration of the control device main body. First, the configuration of the control device body will be described. As shown in FIG. 1, a large number of electric wires 34x are stretched in the position detecting plate 28 in the vertical direction to detect the position of the X axis, and one end of each electric wire 34x is connected to each switch of the X scanning unit 36x. And the other end is commonly connected. Similarly, in order to detect the position of the Y axis, a large number of
4y, and one end of each electric wire 34y is connected to the Y scanning unit 3
6y, and the other end is commonly connected. The coordinate value of the X-axis currently being scanned is the count value of the X-coordinate counter 40x, and this count value is decoded by the X decoder 38x, and the switch corresponding to the count value in the X scanning unit 36x is turned on. Similarly,
The Y-axis coordinate value currently scanned is a Y-coordinate counter 40y.
This count value is the Y decoder 38
The switch corresponding to the count value in the Y scanning section 36y is decoded by y, and the switch is turned on.

X coordinate detecting means 42x and Y coordinate detecting means 4
By 2y, the position of the self-propelled vehicle 10, that is, the positions of the coils 30f and 30r of the self-propelled vehicle 10, is detected. When the oscillating coils 30f, 30r are positioned above the electric wires 34x, 34y, the coils 30f, 30y are then connected to the electric wires 34x, 34y.
Currents of the respective oscillation frequencies of f and 30r are induced.
The X coordinate detecting means 42x and the Y coordinate detecting means 42y detect the induced current and detect the X coordinate and the Y coordinate.

The X coordinate detecting means 42x reads the value of the X coordinate counter 40x when the induced current is detected into the coordinate value memory 44, and the Y coordinate detecting means 42y reads the Y coordinate when the induced current is detected. The value of the counter 40y is read into the coordinate value memory 44. Thereby, the coordinate value memory 44
Stores the coordinates of the positions of the coils 30f and 30r. The traveling table 46 stores the position coordinates of the self-propelled vehicle 10 that moves at a predetermined speed along a predetermined traveling route in each control cycle. These position coordinates are the coordinates of the target position of the self-propelled vehicle 10. FIG. 4 shows a specific example of the traveling table 46. When it is desired that each self-propelled vehicle 10 take a traveling route as shown in FIG. 4A, a traveling table 46 as shown in FIG. 4B is obtained.
That is, the traveling table 46 is configured from the coordinate values of the target position of each self-propelled vehicle 10 at each time. The angle error calculation unit 48 calculates the current position of the coils 30f and 30r of the vehicle 10 stored in the coordinate value memory 44 and the target position coordinates of the next time set in the travel table 46 based on the current position of the vehicle. An angle error of 10 is calculated. Similarly, the tangential error calculator 50 calculates the current position coordinates of the coils 30f and 30r of the vehicle 10 stored in the coordinate value memory 44,
The tangential error of the self-propelled vehicle 10 is calculated from the target position coordinates of the next time set in the traveling table 46. The average speed calculation unit 52 calculates the average speed γ at that time from the target position coordinates of the traveling table 46.

A method of calculating the angle error α and the tangential direction error β will be described with reference to FIG. The driving route is set to L, and time tn
Is set to Pn. When the target points Pn, Pn + 1,... It is now assumed that time tn-1 is set, and the current position of the coil 30f is A and the position of the coil 30r is B. The angle formed by the vector APn and the vector AB becomes the angle error α. Also, the absolute value of the vector APn and the target interval l
Is the tangential error β. Here, the target interval 1 is a traveling distance to be traveled between time tn-1 and time tn, that is, Pn-Pn-1. The average speed γ by the average speed calculation unit 52 is (Pn−Pn−1) / (tn−1−tn)
Becomes

The right motor speed calculator 54r calculates the drive speed Vr of the right motor 16r of the self-propelled vehicle 10,
The left motor speed calculation unit 54l calculates the drive speed Vl of the left motor 16l of the self-propelled vehicle 10. The base values of the drive speeds Vr, Vl are determined based on the average speed γ, and the base values of the drive speeds Vr, Vl are increased or decreased by the same amount based on the tangential direction error β. The drive speeds Vr and Vl are respectively increased and decreased in the opposite directions. That is, the driving speeds Vr and Vl have a function form represented by the following equation.

Vr = f (γ) + g (β) + h (α) Vl = f (γ) + g (β) -h (α) The instruction creating unit 56 includes a right motor speed calculating unit 54r and a left motor speed calculating unit. Driving speeds Vr, V calculated by 54l
An instruction for driving the motors 16r and 16l is created by the use of the command l.

The instruction creating unit 56 includes an oscillator 68f,
An instruction to turn on / off the 68r oscillation is also created. FIG. 6 shows a specific example of an instruction created by the instruction creating unit 56. The instruction is composed of an address part, an instruction code, a data part, and a check code for checking an error, as shown in FIG.

The address portion is for specifying the vehicle 10 to be commanded, and the content of the address portion determines the vehicle 10 to be commanded. The instruction code indicates the type of the instruction. As shown in FIG. 6B, the command types include a command "11" for oscillating the oscillator 68f, a command "10" for oscillating the oscillator 68r, and a command "01" for driving the left motor 16l. There is a command “00” for driving the right motor 16r. The data portions of the commands “11” and “10” indicate whether to turn on or off the oscillators 68f and 68r, and the data portions of the commands “01” and “00” indicate the driving speed of the motors 16r and 16l. Instructed.

The optical communication unit 58 generates and transmits an optical signal for communicating the created command to the vehicle 10. The light emitting element (not shown) of the optical communication unit 58 is formed between the course 4 and the traveling surface 8 so that the vehicle 10 can receive an optical signal at any position on the traveling surface 8. It is desirable to provide a large number on the wall surface of the hollow portion to be formed. Next, the configuration of the self-propelled vehicle 10 shown on the right side of FIG. 1 will be described.

The amplifier 60 amplifies a signal received from the light emitting element 27 provided at the front of the vehicle 10 and outputs the signal to the demodulation serial / parallel converter 62. The demodulation serial / parallel converter 62 demodulates the received signal into digital data, and converts the demodulated serial data into parallel data. Of the demodulated instructions,
The instruction code is sent to the instruction decoder 64. The instruction decoder 64 decodes which instruction it is, and latches the result to the latches 66r, 66l, the oscillator 68f, and the oscillator 68.
output to r.

When the result of the decoding by the instruction decoder 64 is a motor drive instruction, the contents of the data portion are latched.
6l, 66r. D / A converters 70l, 70
r converts the drive speed of the digital signal latched by the latches 66l and 66r into an analog signal. Amplifier 72
1 and 72r amplify the converted analog signal and drive the left motor 16l and the right motor 16r.

The oscillators 68f and 68r are connected to the instruction decoder 6
The signal is turned on / off by the decoding result of No. 4 and the demodulation serial / parallel converter 62, and the oscillation signal is output from the coils 30f and 30r. Next, the operation of the present embodiment will be described. FIG. 7 is a flowchart showing the progress of the car racing game. In the present embodiment, the spectator predicts the arrival order of the car race and bets on the expected order to enjoy.

First, a display device (not shown) for the audience
Is shown (step S1). The audience sees the condition and bets according to the respective predictions (step S2). Then, on the car racing game device side,
The contents of the running table 46 are determined in consideration of the situation of betting by the spectators, conditions (preceding type, follow-up type, etc.) characterizing each self-propelled vehicle, randomness, fun of the race, and the like (step S3). . For example, the contents of the traveling table 46 are determined as shown in FIG. In FIG. 8, reference numeral 74 denotes a start position, and reference numeral 76 denotes a goal position. The circled numbers indicate the position of each car at each time. FIG. 8 shows only three traveling courses for simplicity. The contents of the running table 46 may be created according to a predetermined algorithm every time a race is performed, or a large number of running tables may be prepared and selected.

When the contents of the traveling table 46 are determined,
Each self-propelled vehicle 10 is driven accordingly (step S
4). Traveling is performed for each control cycle. The operation in each control cycle will be described with reference to the time chart of FIG. Same figure
(a) shows an optical signal sent from the control device main body to the self-propelled vehicle 10, and (b) shows an operation of the control device main body. First, the instruction creation unit 56 creates an instruction to oscillate one of the coils 30f, and the optical transmission unit 58 transmits the instruction by an optical signal.
Then, the X coordinate counter 40x and the Y coordinate counter 40y
Starts counting from 0, and the X scanning unit 36x and the Y scanning unit 36y start searching in the X and Y directions. When the X-coordinate detecting means 42x and the Y-coordinate detecting means 42y detect the oscillation signal from the coil 30f, the coordinate value memory 44 stores the count values of the X-coordinate counter 40x and the Y-coordinate counter 40y. Thereby, the position coordinates of the coil 30f at the front of the self-propelled vehicle 10 can be known. Similarly, the coil 30r is oscillated by an oscillation command, and the coil 30r is oscillated by the X coordinate detecting means 42x and the Y coordinate detecting means 42y.
The oscillation signal from r is detected, and the position coordinates of the coil 30r are stored in the coordinate value memory 44.

When the coordinates of the positions of the coils 30f and 30r are stored in the coordinate value memory 44, the angular error calculator 48, the tangential direction error calculator 50, and the average speed calculator 52 calculate the angle error α, the tangential direction error β, Calculate the average speed γ. According to the calculation results, the right motor speed calculation unit 54r and the left motor speed calculation unit 54l calculate the speeds of the motors 16r and 16l. The instruction creating unit 56 creates a motor drive instruction according to the calculation result, and the optical communication unit 58 transmits this instruction as an optical signal. The light receiving element 27 of the self-propelled vehicle 10 receives this optical signal, and finally drives the motors 16l and 16r according to the motor drive command.

When the above control is performed for each control cycle and the race is completed, a necessary payment is made to the bettor according to the result of the race. As described above, according to the present embodiment, the car model can be run freely along a free running line, so that an interesting car racing game full of a sense of realism can be enjoyed.

FIGS. 10 and 11 show another embodiment in which the traveling control device for a self-propelled vehicle according to the present invention is applied to a car racing game. The same components as those in the above embodiment are denoted by the same reference numerals, and description thereof will be omitted. In the present embodiment, the electric wires 34 x and 34 y of the position detection plate 28 are oscillated by the oscillator 78. The coils 30f and 30r enter the receiving state according to the coil receiving command, and the receivers 80f and 80r
The oscillation of the electric wires 34x and 34y is detected by r. The detection signal is amplified by the amplifiers 82f and 82r and output to the light emitting element 84. The light emitting element 84 emits an optical signal according to the detection signal.

This optical signal is received by the optical receiving unit 86. The reception signal is adjusted in timing by the timing adjustment unit 88 and input to the coordinate value memory 44, where the count values of the X coordinate counter 40x and the Y coordinate counter 40y are stored. Next, the operation in each control cycle will be described with reference to the time chart of FIG. Figure (a)
FIG. 4B shows an optical signal sent from the control device body to the vehicle 10. FIG.
4C and 4Y show oscillation signals, and FIG.
The light signal from the light emitting element 84 is shown in FIG.

When a certain control cycle starts, the instruction creating unit 8
5 generates an instruction to set the receiver 80f of the one coil 30f to the reception state, and emits an optical signal of the reception instruction by the optical transmission unit 58. This optical signal is received by the light receiving element 27 and finally decoded by the command decoder 64, and the coil 30f enters a receiving state. Subsequently, the X-coordinate counter 40x starts counting, and scanning in the X-direction is performed such that the electric wires 34x for detecting the position of the X-coordinate oscillate sequentially. When the electric wire 34x on which the coil 30f is located oscillates, the oscillating signal is detected by the coil 30f, and the detected signal is emitted from the light emitting element 84 as an optical signal. The count value of the X coordinate counter 40x is stored in the coordinate value memory 44 based on the timing at which the light receiving unit 86 receives this optical signal, and the X coordinate position of the coil 30f is detected. Similarly, the Y coordinate is stored in the coordinate value memory 44 according to the detection timing of the oscillation signal in the coil 30f.

Subsequently, a command to set the receiver 80r of the coil 30r in the receiving state is issued to the self-propelled vehicle 10 as an optical signal.
The position of the coil 30r is detected. The X-coordinate value and the Y-coordinate value of the position of the coil 30r are stored in the coordinate value memory 44 in the same manner as in the case of the coil 30f according to the detection timing of the oscillation signal by the coil 30r. Coil 30f, 30
When the position of r is detected, the same calculation as in the previous embodiment is performed, and the motors 16l and 16r are driven according to the calculation result, and the self-propelled vehicle 10 is controlled so as to reach the next target position. You.

As described above, also according to the present embodiment, the car model can be run freely along a free running line, and an interesting car racing game full of a sense of realism can be enjoyed. Further, the present invention can be applied to a racing car game in which a person controls driving. FIG.
Shows a state in which the base 2 of the racing car game to which the present invention is applied is viewed from above. An eight-shaped road 90 as shown is formed on the base 2. The road 90 is provided with a four-course running line 94 as indicated by a broken line in a software manner. That is, the traveling line 94 is determined by storing the coordinate values of each position on the traveling line 94 in the traveling table 46.

In the present embodiment, there is provided a restriction that the operation of the racing car is not completely freely operated by the operator, but that the racing car moves along any one of the above-mentioned traveling lines 94. That is, the racing car moves along any of the above-described travel lines 94,
The operator selects which traveling line 94 to select and which direction to move at the branch point by operating the steering wheel. Further, the operator may operate the speed.

Normally, it is very difficult for a beginner to operate a racing car as desired, and the direction of the vehicle body may be completely reversed or fall off the course. But,
According to the present embodiment, since the basic traveling is controlled on the device side, even a beginner can easily control the vehicle, and since the traveling course is invisible, the sense of realism does not decrease.

The present invention is not limited to the above embodiment, and various modifications are possible. In the above embodiment, the self-propelled vehicle is driven by two driving means. However, if it is driven by three or more driving means, more complicated control is possible.
Further, the speed control for moving one of the driving units forward or backward may be performed, and the direction control for changing the direction of the other driving unit may be performed. For example, in the case of a self-propelled vehicle driven by four wheels, speed control is performed by rear wheels, and direction control is performed by front wheels. Further, the speed control and the direction control may be performed by one driving unit. In the example of a four-wheeled self-propelled vehicle, the self-propelled vehicle is moved forward or backward by the front wheels, and is also controlled to turn left or right. In short, any number of driving means may be used as long as they can control the speed and the direction.

Although two positions are detected to detect the position of the self-propelled vehicle, three or more positions may be detected. Further, the position detection method may be another method such as an electrostatic induction method or an ultrasonic method, in addition to the electromagnetic induction method of the above embodiment. Further, in the above embodiment, the present invention is applied to a game, but it goes without saying that the present invention can be applied to a robot used in a factory or the like.

[0038]

As described above, according to the present invention, a self-propelled vehicle can freely travel along a free traveling line.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of a car racing game according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an appearance of a car racing game according to one embodiment of the present invention.

FIG. 3 is a diagram showing a structure near a self-propelled vehicle in a car racing game according to an embodiment of the present invention.

FIG. 4 is a diagram showing a specific example of a traveling table of a car racing game according to one embodiment of the present invention.

FIG. 5 is an explanatory diagram of a method of calculating an angle error and a tangential direction error in a car racing game according to an embodiment of the present invention.

FIG. 6 is a diagram showing a specific example of a command in a car racing game according to an embodiment of the present invention.

FIG. 7 is a flowchart showing the progress of a car racing game according to an embodiment of the present invention.

FIG. 8 is a diagram illustrating an operation of a car racing game according to an embodiment of the present invention.

FIG. 9 is a diagram for explaining the operation of the car racing game according to the embodiment of the present invention.

FIG. 10 is a block diagram showing an overall configuration of a car racing game according to another embodiment of the present invention.

FIG. 11 is a diagram illustrating an operation of a car racing game according to another embodiment of the present invention.

FIG. 12 is a view showing a racing car game to which the present invention is applied.

[Explanation of symbols]

 2 Base 4 Course 6 Model car 8 Running surface 10 Self-propelled vehicle 12 Front wheel 14l, 14r Rear wheel 16l, 16r Motor 18 Spring 20 Plate member 22, 24 Roller 26 Magnet 28 ... Position detection plates 30f, 30r ... Coils 34x, 34y ... Wires 36x ... X scanning unit 36y ... Y scanning unit 38x ... X decoder 38y ... Y decoder 40x ... X coordinate counter 40y ... Y coordinate counter 42x ... X coordinate detecting unit 42y ... Y coordinate detection unit 44 ... Coordinate value memory 46 ... Running table 48 ... Angle error calculation unit 50 ... Tangential direction error calculation unit 52 ... Speed calculation unit 54l ... Right motor speed calculation unit 54r ... Left motor speed calculation unit 56 ... Instruction creation unit 58 optical transmission unit 62 demodulation serial-parallel converter 64 instruction decoder 66l, 66r latch 70l, 70r D / A converter 7 ... oscillator 80f, 80 r ... receiver 84 ... light-emitting element 86 ... optical receiver unit 88 ... timing adjuster

Claims (2)

[Claims] 1. A traveling control method of a self-propelled vehicle for controlling traveling of the self-propelled vehicle, wherein the self-propelled vehicle is driven by driving means, and reads coordinate values of at least two positions on the self-propelled vehicle, The direction and speed at which the self-propelled vehicle should travel are calculated from the read coordinate values of the two positions and the coordinate values of the target position of the self-propelled vehicle, and the driving amount of the driving means is calculated based on the direction and speed. A traveling control method for the self-propelled vehicle, wherein the self-propelled vehicle is driven by driving the driving means with the drive amount calculated by the calculation means. 2. A traveling control device for a self-propelled vehicle for controlling traveling of the self-propelled vehicle, wherein the self-propelled vehicle has a driving unit, and a position for reading coordinate values of at least two points on the self-propelled vehicle. Reading means, calculating the direction and speed to which the self-propelled vehicle should travel from the read coordinate values of the two points and the coordinate values of the target position of the self-propelled vehicle, and based on the direction and speed, the driving means Calculating means for calculating the driving amount of the vehicle, wherein the driving means is driven by the driving amount calculated by the calculating means to drive the self-propelled vehicle.