JP2772678B2 - Moving Guidance System for Moving Objects - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a moving guidance system for a moving object, and more specifically, a relative position of the moving object with respect to a road side of a route on which the moving object should move. The present invention relates to a system for obtaining a relationship and providing the guidance for a moving body.

[Prior art] Conventionally, a mobile object (automobile, automatic guided vehicle, etc.) emits ultrasonic waves, detects a reflected wave from a guardrail, a wall, or the like, and detects the mobile object and the mobile object based on the time difference between the emission time and the reception time. There has been proposed a system for automatically guiding a moving body by measuring a distance from a guardrail, a wall, or the like.

However, in the automatic guidance system using ultrasonic waves as described above, it is difficult for the moving body to accurately receive the reflected wave when the moving body travels at high speed. This is because, as the traveling speed of the moving body increases, the wave receiving position moves away from the launch position, and eventually moves away from the moving body and becomes undetectable.

In order to solve the above-mentioned drawbacks, the present applicant has disclosed in Japanese Patent Application Laid-Open No. 61-217787 and IEEE PLA
N, 1988 Proc.P47-53 “A VEHICLE POSITION AND HEADIN
G MEASUREMENT SYSTEM USING CORNER CUBE AND LASER B
EAM "by T.TSUMURA et al. Proposed a system for measuring the position of a moving object using a light beam. In such a system, a plurality of light reflecting means are provided at appropriate intervals along both sides of the traveling course of the moving object. The light reflecting means is provided
For example, it is a corner cube and has optical properties such that the incident angle and the reflected and emitted angle are equal regardless of the incident angle of the reflected light. That is, the incident light is reflected in the original direction. On the other hand, the movable body is provided with a beam emitter that emits two light beams in a left and right direction at a predetermined angle. When this light beam hits the light reflecting means, the reflected light returns to the beam emitter and is detected. In the moving body, the current position of the moving body is calculated based on the light receiving time difference and the angle information of each beam emitter. In such a moving object position measuring system proposed by the present applicant, since the light beam is used, the light receiving position does not shift due to the traveling speed of the moving object. Therefore, it is easy to receive the reflected wave, and the position can be reliably measured. If a light beam with a sharp directivity is used, high accuracy can be expected.

[Problem to be Solved by the Invention] In the position measurement system proposed by the present applicant as described above,
Although the absolute position of the moving body can be determined with high accuracy, an expensive arithmetic unit is required for that purpose. However, in order to automatically guide the moving body along the course, it is necessary to determine whether the moving body is parallel or displaced from the course, or if it is not parallel, it is displaced in the left or right direction, and these displacements are eliminated. The mobile may be steered as follows. That is, even if the absolute position of the moving body is not known, automatic guidance can be sufficiently performed.

Therefore, an object of the present invention is to provide a moving guidance system for a moving object, which is simpler in principle and configuration than the position measuring system proposed earlier by the present applicant and is inexpensive.

[Means for Solving the Problems] In the moving guide system for a moving body according to the present invention, a plurality of light reflecting means are arranged at an arbitrary interval on the road side of a path on which the moving body should move. This light reflecting means has an optical property of reflecting incident light at the same exit angle as the incident angle regardless of the incident angle. In addition, a light emitting unit that emits a light beam toward the road is mounted on the moving body, and each light emitting unit has an emission angle selected so that at least two light beams intersect. Further, in the moving body, a plurality of light detectors provided for each of the plurality of light emitting means, for detecting a light beam emitted from the corresponding light emitting means and reflected by the light reflecting means,
Order determining means for determining the light receiving order of the plurality of light detectors,
A traveling distance measuring means for measuring a traveling distance of the moving body corresponding to a mutual light receiving interval of the plurality of photodetectors; and Means for determining a relative positional relationship.

In another moving guide system for a moving body according to the present invention, guide rods are arranged at arbitrary intervals on the road side of a route to which the moving body should move. The moving body is provided with a plurality of tactile sticks protruding toward the road side.
The protruding angle of each tactile bar is selected so that at least two cross each other. Further, the moving body is provided in association with each of the plurality of tactile sticks, and a plurality of contact detecting means for detecting that the corresponding tactile stick has contacted the guide bar, and a detection order of the plurality of contact detecting means is determined. An order determining means, a traveling distance measuring means for measuring a traveling distance of the moving object corresponding to a mutual detection interval of the plurality of contact detecting means, and Means for determining a relative positional relationship of the moving object with respect to the moving object.

[Operation] In the present invention, the light emitted from each light emitting means and reflected by the light reflecting means is detected by each light detector, the detection order of these light detectors, and the mutual light receiving interval of each light detector. The relative positional relationship of the moving body with respect to the road side is determined from the traveling distance of the moving body corresponding to the distance.

Further, in another moving guide system for a moving body according to the present invention, the order in which a plurality of tactile sticks projecting from the moving body toward the road side contact the guide rods provided on the road side, and The relative positional relationship of the moving body with respect to the road side is determined from the traveling distance of the moving body corresponding to the mutual detection interval. That is, while the first invention determines the relative position of the moving body using the light beam, the second invention mechanically determines the relative position of the moving body.

Embodiment FIG. 1 is a diagram showing an entire configuration of an embodiment of a moving guidance system for a moving object according to the present invention. In the figure, corner cubes CC, which are examples of light reflecting means, are arranged at arbitrary intervals on one road side (the road side on the left side in FIG. 1) of a road 2 which is a traveling course of a moving body 1. As is well known, the corner cube CC has three light reflecting surfaces orthogonal to each other, and regardless of the incident angle of the incident light,
It has an optical property of emitting reflected light at the same emission angle as the incident angle. That is, the reflected light follows the path of the incident light in the reverse direction and returns to the original direction. On the other hand, the moving body 1 is provided with two sets of light emitting and receiving devices 3a and 3b. These light emitting and receiving devices 3a and 3b respectively convert fan beams (hereinafter, referred to as fan beams) a and b into corner cubes.
Fires towards the CC side. Here, it is essential that the fan beams a and b intersect at any point P, and the emission angles of the fan beams a and b may be arbitrary as long as this essential condition is satisfied.

Each of the light emitting and receiving devices 3a and 3b has a light emitting and receiving unit as shown in FIG. Light emitting and receiving unit 30
In an L-shaped housing 30, a laser diode 31, which is an example of a light source, a cylindrical lens 32, and a photodiode 33, which is an example of a light receiving element, are arranged in a positional relationship as shown in the drawing. The light source may be any one that emits a light beam having a sharp directivity. Instead of the laser diode 31, for example, a light emitting diode or a solid-state laser light source may be used. The linearly emitted light emitted from the laser diode 31 is expanded in a two-dimensional direction by a cylindrical lens 32, and is emitted to the outside as a fan beam a or b having a predetermined expansion angle. When the fan beam a or b hits one of the corner cubes CC, it returns to the light emitting / receiving unit 30 as reflected light a 'or b' indicated by a dotted line. Photodiode 33
Detects the reflected light a ′ or b ′. Since the reflected light a 'or b' returns as a fan beam, the diode 33 detects the reflected light a 'or b' even if it is arranged slightly off the optical axis of the laser diode 31. it can.

FIG. 3 is a block diagram showing a configuration of a relative position detecting device mounted on the moving body 1. As shown in FIG. In the figure, the light receiving outputs from the light emitting and receiving devices 3a and 3b shown in FIG.
And to the odometer 5. The order determination circuit 4 determines which of the light emitting and receiving devices 3a and 3b has received the reflected light, and supplies the determination result to the processing circuit 6. The odometer 5 measures the distance traveled by the moving body 1 from when the light emitter / receiver 3a (or 3b) receives the reflected light to when the light emitter / receiver 3b (or 3a) receives the reflected light. The measurement result is given to the processing circuit 6. Instead of the odometer 5, a timer and a speedometer may be provided, and the calculation result of time × speed = travel distance may be provided to the processing circuit 6. Further, if it is assumed that the traveling speed of the mobile unit 1 in a short time is constant, only a timer may be provided, and the measured result may be provided to the processing circuit 6. That is, since the speed is constant in this case, the result of the timer counts as information corresponding to the mileage. The processing circuit 6 is constituted by, for example, a network circuit or a microcomputer. Based on the measurement results of the total 5, the corner cube
A relative position of the moving body 1 with respect to the road side of the road 2 provided with the CC is detected. The detection result of the processing circuit 6 is given to the use device 7, and the use device 7 may be a steering device, a display device, or the like of the moving body 1.

Next, the operation of the above embodiment will be described with reference to the geometric model diagrams of the above embodiment shown in FIG. 4 and FIG.

First, referring to FIG. 4, a certain corner cube
The operation will be described focusing on CC1. Now, fan beam a
The distance between the intersection P of the moving object b and the moving body 1 is d. When the distance between the mobile unit 1 and the roadside of the road 2 is larger than d, that is, when the roadside is at the position I, the light emitting and receiving devices 3a and 3b are arranged in the order of 3b, 3a with respect to the corner cube CC1. Receives the reflected light from the corner cube CC1. on the other hand,
When the distance between the roadside of the road 2 and the moving body 1 is smaller than the distance d, that is, when the roadside is at the position II, the light emitting and receiving device 3a
And 3b receive the reflected light from corner cube CC1 in the order of 3a, 3b. Further, when the distance between the mobile unit 1 and the road side of the road 2 coincides with the distance d, the light emitting and receiving devices 3a and 3b simultaneously receive the reflected light from the corner cube CC1. Therefore, the processing circuit 6 can detect whether the distance between the moving body 1 and the roadside of the road 2 is greater than or less than the distance d or coincident with each other based on the determination result of the order determination circuit 4.

Next, with reference to FIG. 5, an operation when attention is paid to two continuous corner cubes CC1 and CC2 will be described. In this case, in addition to the determination result of the order determination circuit 4, the measurement result of the odometer 5 also has significance in detecting the relative position of the moving body 1. Now, it is assumed that the road side of the road 2 is at the position I. At this time, with respect to the corner cube CC1, the distance traveled by the moving body 1 between the time when the light emitter / receiver 3b receives the reflected light and the time when the light emitter / receiver 3a receives the reflected light is defined as L1 (b, a). I do. Further, the distance traveled by the mobile unit 1 from the time when the light emitter / receiver 3b receives the reflected light to the time when the light emitter / receiver 3a receives the reflected light with respect to the corner cube CC2 is defined as L2 (b, a). . These traveling distances are measured by the odometer 5. Here, if L2 (b, a)> L1 (b, a), it is understood that the moving body 1 is further moving away from the road side. Conversely, if L2 (b, a) <L1 (b, a), it indicates that the mobile unit 1 is approaching the roadside. Furthermore, if L2 (b, a) = L1 (b, a), it can be understood that the mobile unit 1 is traveling parallel to the road side.

The same applies to the case where the road side of the road 2 is at the position II. That is, the corner cube CC1
The distance traveled by the mobile unit 1 between the time when the light emitting and receiving device 3a receives the reflected light and the time when the light emitting and receiving device 3b receives the reflected light is
Let L1 (a, b) be the distance traveled by the mobile unit 1 between the time when the light emitting and receiving device 3a receives the reflected light and the time when the light emitting and receiving device 3b receives the reflected light with respect to the corner cube CC2. , b), when L2 (a, b)> L1 (a, b), the moving body 1 is moving away from the road side. When L2 (a, b) <L1 (a, b), the moving body 1 is approaching the road side. Further, when L2 (a, b) = L1 (a, b), it can be seen that the moving body 1 is running parallel to the road side.

As is apparent from the above description, the processing circuit 16 can detect the relative position of the moving body 1 with respect to the road 2 based on the determination result of the order determination circuit 4 and the measurement result of the odometer 5.

FIG. 6 is a diagram showing another embodiment of the present invention. In the figure, a moving body 1 has two sets of light emitting and receiving devices 3ac and 3bd.
Is provided. The light emitter / receiver 3ac emits the two fan beams a and c toward the road side of the road 2. Emitter / receiver 3bd
Emits two fan beams b and d toward the road side of the road 2. Therefore, each of the light emitting and receiving devices 3ac and 3bd includes two light emitting and receiving units 30 as shown in FIG. Here, fan beams a, b, c and d are
The exit angle may be selected to any angle. The condition is that the fan beams a and b intersect at the point P1, and the fan beams c and d intersect at the point P2.

The relative position detecting device mounted on the moving body 1 may have substantially the same configuration as that shown in FIG.

In the above configuration, if attention is paid to an arbitrary one corner cube, the light receiving order of the light emitting and receiving devices 3ac and 3bd is determined in the same manner as in the embodiment shown in FIG. The distance relationship between 1 and the roadside can be detected. For example, considering the fan beams a and b, the reflected light from the same corner cube
And 3ac, the distance between the moving body 1 and the road side is farther than the distance between the moving body 1 and the intersection P1. That is, the road side is in the position I. Conversely, the reflected light from the same corner cube
And 3bd, the distance between the moving body 1 and the roadside is closer than the distance between the moving body 1 and the intersection P1. That is, the road side is in the position II.
The same applies to the fan beams c and d. Therefore, the order determination circuit 4 determines whether the
By determining the light receiving order of c and 3bd, the processing circuit 6 can detect the distance relationship between the moving body 1 and the roadside.

Next, when attention is paid to any two continuous corner cubes CC1 and CC2, the moving body 1 is moving away from or approaching the roadside as in the embodiment shown in FIG. Or running parallel to the roadside. Now, consider the case where the roadside is at the position I, for example. In this case, the distances L1 (d, c) and L2 (b, a) are measured by the odometer 5. The distance L1 (d, c) is determined after the reflected light from the corner cube CC1 is received by the light emitter / receiver 3bd.
This is the distance traveled by the moving body 1 until 3ac is received. The distance L2 (b, a) is the distance traveled by the moving body 1 from the time when the light projecting / receiving device 3bd receives the reflected light from the corner cube CC2 to the time when it is received by 3ac. The processing circuit 6 calculates the traveling distances L1 (d, c) and L2 (b,
The relative positional relationship between the moving body 1 and the road side is detected by comparing the above (a). That is, L2 (b, a)> L1 (d,
In the case of c), it is detected that the moving body 1 is moving away from the roadside, and when L2 (b, a) <L1 (d, c), it is detected that the moving body 1 is approaching the roadside, and L2 (b , a) = L1 (d, c), it is detected that the moving body 1 is traveling parallel to the road side.

On the other hand, also when the roadside is at the position II, the processing circuit 6 detects the relative positional relationship between the moving body 1 and the roadside in the same way as described above. That is, when L2 (a, b)> L1 (c, d), it is detected that the mobile unit 1 is moving away from the road side, and L2 (a, b)
b) If <L1 (c, d), it is detected that the moving body 1 is approaching the roadside, and if L2 (a, b) = L1 (c, d), the moving body 1 runs parallel to the roadside. Is detected. Note that the distance L1 (c,
d) Transmits and receives the reflected light from the corner cube CC1
Is the distance traveled by the moving body 1 from when the light is received until 3bd is received, and the distance L2 (a, b) is the corner cube CC2.
The distance traveled by the mobile unit 1 from the time when the light emitting and receiving device 3ac receives the reflected light from the device to the time when the reflected light is received by 3bd. These traveling distances L1 (c, d) and L2 (a, b) are also measured by the odometer 5.

As in the embodiment shown in FIG. 6, when the relative positional relationship of the moving body 1 is detected by using four fan beams a to d, as in the embodiment shown in FIGS. In this case, the relative positional relationship can be detected with higher accuracy than when two fan beams a and b are used. because,
In the embodiment shown in FIGS. 4 and 5, the time between the time when the fan beams a and b hit the corner cube CC1 and the time when the fan beams hit the next corner cube CC2 are longer than the time between the fan beams a and b.
In the embodiment shown in the figure, the fan beams c and d hit the corner cube CC1 and then the fan beams a and b
This is because the time until the next corner cube CC2 is hit is shorter. That is, if the moving body 1 meanders or slides until all the data necessary for detecting the relative positional relationship between the moving body 1 and the roadside are collected, an error occurs in the detection result. In the embodiment shown, the time until all the data is completed can be shorter than that in the embodiment shown in FIGS. 4 and 5, so that such an error can be made small, and in that respect, FIG. The embodiment is more advantageous than the embodiment shown in FIGS. In the embodiment shown in FIG. 6, if high-precision detection is not desired, the interval between corner cubes can be increased, and as a result, the number of corner cubes to be installed can be reduced as shown in FIGS. It can be reduced compared to the example. For example, if the detection accuracy in the embodiment shown in FIG. 6 is made equal to that in the embodiment shown in FIGS. 4 and 5, the number of corner cubes to be installed can be reduced to about half.

FIG. 7 is a diagram showing still another embodiment of the present invention. In the figure, two sets of light emitting and receiving devices 3a and
3bd is provided. The emitter / receiver 3a has a fan beam a
Out toward the roadside. The light emitter / receiver 3bd emits the fan beams b and d toward the road. Therefore, the light emitting and receiving device 3a includes only one light emitting and receiving unit 30 shown in FIG. 2, and the light emitting and receiving device 3bd includes two light emitting and receiving units 30 shown in FIG.
Including pairs. Here, the respective emission angles are selected so that the fan beams a and d are substantially parallel to each other. The exit angle of the fan beam b is selected so as to intersect the fan beam a at the point P. As long as these conditions are satisfied, the emission angles of the fan beams a, b, and d may be set to any angles.

Note that, in the embodiment shown in FIG.
The positions of the relative positional relations mounted on the device can be substantially the same as those shown in FIG. 3. Next, the operation of the embodiment shown in FIG. 7 will be described. First,
The odometer 5 includes distances L1 (a, b), L1 (b, d), L2 (a, b)
And L2 (b, d) are measured. Here, the distance L1 (a, b)
Is the distance traveled by the moving body 1 from the reception of the reflected light from the corner cube CC1 by the light emitter / receiver 3a to the reception of the reflected light from the corner cube CC1 by the fan beams a and b. In addition, distance L1
(B, d) shows the case where the light projecting / receiving device 3bd receives the reflected light from the corner cube CC1 with respect to the fan beam b and then reflects the reflected light from the corner cube CC1 with respect to the fan beam d.
This is the distance traveled by the mobile unit 1 until bd receives light. Further, the distance L2 (a, b) is related to the fan beams a, b,
The distance traveled by the moving body 1 between the time when the light emitting / receiving device 3a receives the reflected light from the corner cube CC2 and the time when the reflected light is received by 3bd. The distance L2 (b, d) is related to the fan beam b. This is the distance traveled by the moving body 1 between the time when the light projecting / receiving device 3bd receives the reflected light from the corner cube CC2 and the time when the light projecting / receiving device 3bd receives the reflected light from the corner cube CC2 with respect to the fan beam d. The processing circuit 6 includes the odometer 5
By comparing the above distances measured by
The relative positional relationship between the moving body 1 and the road side is detected. That is, if L1 (a, b)> L1 (b, d), the processing circuit 6 detects that the distance between the moving body 1 and the roadside is shorter than d / 2.
Here, d is the distance between the moving body 1 and the intersection P. If L1 (a, b) <L1 (b, d), it is detected that the distance between the moving object 1 and the roadside is longer than d / 2. Also, L1
If (a, b) = L1 (b, d), it is detected that the distance between the moving object 1 and the roadside is d / 2.

Next, the processing circuit 6 compares the distances L1 (a, b) and L2 (a, b), and determines whether the moving body 1 is approaching the roadside, moving away from the roadside, or traveling parallel to the roadside. Detect whether you are. That is, if L1 (a, b)> L2 (a, b), it is detected that the moving body 1 is approaching the road side. Also, L1 (a,
b) If <L2 (a, b), it is detected that the moving body 1 is moving away from the road side. If L1 (a, b) = L2 (a, b), it is detected that the moving body 1 is running parallel to the road side.

FIG. 8 is a diagram showing still another embodiment of the present invention. In the figure, a plurality of guide bars 8 are erected upward at arbitrary intervals on the road side of the road. On the other hand, the movable body 1 is provided with tactile sticks 9a and 9b, and these tactile sticks 9a and 9b extend toward the road. These tactile bars 9a and 9b may be detected at any angle, provided that they intersect at point P. The haptic bars 9a and 9b are preferably made of a flexible material. In addition, the moving body 1 is provided with contact detectors 10a and 10b in relation to the tactile sticks 9a and 9b. The moving body 1 is equipped with a relative position detecting device having substantially the same configuration as the relative position detecting device as shown in FIG.

In the above configuration, when the moving body 1 advances along the road side, the tactile stick 9a or 9b comes into contact with the guide rod 8, and this is detected by the contact detector 10a or 10b.
Here, the tactile bars 9a and 9b perform the same function as the fan beams a and b in the embodiment shown in FIGS. Therefore, the relative position detection device mounted on the moving body 1 can determine the relative positional relationship of the moving body 1 with respect to the road based on the detection outputs of the contact detectors 10a and 10b.

That is, the embodiment of FIG. 8 is in principle the same as the embodiment shown in FIGS. 4 and 5, and FIGS.
The only difference is that the embodiment of FIG. 8 is mechanical, whereas the diagram is optical.

In the embodiment shown in FIG. 8, the case where the number of contact rods is two is shown. However, as in the embodiment shown in FIG. 6 or 7, four or three contact rods are provided. Is also good.

The mechanical type as in the embodiment shown in FIG. 8 has an advantage that the guiding of the moving body 1 can be performed even if the field of view is blocked by, for example, dense fog.

[Effects of the Invention] As described above, according to the present invention, the relative positional relationship of the moving object with respect to the roadside can be obtained by an extremely simple principle without performing any complicated calculation.
It is possible to obtain a moving guide system for a moving body which has a simple configuration and is inexpensive.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing an overall configuration of an embodiment of the present invention. FIG. 2 is a cutaway view showing the configuration of the light emitting and receiving unit used in one embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of a relative position detecting device mounted on a moving body in one embodiment of the present invention. FIG. 4 and FIG. 5 are geometrical schematic views for explaining the principle and operation of one embodiment of the present invention. FIG. 6 shows another embodiment of the present invention. FIG. 7 is a view showing still another embodiment of the present invention. FIG. 8 is a view showing still another embodiment of the present invention. In the figure, 1 is a moving body, 2 is a road, CC, CC1, CC2 are corner cubes, 3a, 3b, 3ac, 3bd are light emitting and receiving devices, 4 is a sequence determination circuit, 5 is an odometer, 6 is a processing circuit, 7 is a utilization device,
a to d are fan beams, 8 is a guide bar, 9a and 9b are tactile bars, and 10a and 10b are contact detectors.

Continuation of front page (56) References JP-A-2-76008 (JP, A) JP-A-2-109107 (JP, A) JP-A-2-201281 (JP, A) JP-A-2-302617 (JP) JP-A-61-52710 (JP, A) JP-A-2-173520 (JP, A) JP-A-1-125607 (JP, A) JP-A-61-167814 (JP, A) 56-101213 (JP, A) JP-A-61-217787 (JP, A) JP-A-54-111423 (JP, A) JP-A-63-16267 (JP, A) JP-A-59-12370 (JP, A A) JP-A-61-217715 (JP, A) JP-A-61-253417 (JP, A) JP-A-59-84609 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) ) G01C 21/00 G01C 15/00

Claims (2)

(57) [Claims] 1. A plurality of light reflecting means are arranged at an arbitrary interval on a road side of a path on which a moving body is to move, and the light reflecting means is capable of converting incident light regardless of its incident angle. The moving body has a plurality of light emitting means for emitting a light beam toward the road side, and each of the light emitting means has at least an optical property of reflecting the light at the same emission angle as the incident angle. The emission angle is selected so that the two light beams intersect, and further provided in association with each of the plurality of light emission means,
A plurality of light detectors for detecting a light beam emitted from the corresponding light emitting means and reflected by the light reflecting means; an order determining means for determining a light receiving order of the plurality of light detectors; Travel distance measuring means for measuring a travel distance of the moving object corresponding to a mutual light receiving interval of the photodetectors, based on a determination result of the order determination means and a measurement result of the travel distance measurement means, Means for determining a relative positional relationship of the moving body,
A moving guidance system for moving objects. 2. A guide rod is provided at an arbitrary interval on a road side of a route on which a moving body is to move, and a plurality of guide rods are provided on the moving body so as to protrude toward the road side. The tactile rods are provided, each protruding angle is selected so that at least two tactile rods intersect, and further provided in association with each of the plurality of tactile rods, and the corresponding tactile rod is A plurality of contact detection units for detecting contact with the guide rod; an order determination unit for determining a detection order of the plurality of contact detection units; and the moving body corresponding to a mutual detection interval of the plurality of contact detection units. A traveling distance measuring unit that measures a traveling distance of the vehicle; and a unit that determines a relative positional relationship of the moving body with respect to the road side based on a determination result of the order determining unit and a measurement result of the traveling distance measuring unit. Have been
A moving guidance system for moving objects.