Travel controlling apparatus of unmanned vehicle

DETAILED DESCRIPTION The present invention is made by paying attention to the problems mentioned above, and an object of the present invention is to provide a travel controlling apparatus of an unmanned vehicle which can maintain a high accuracy of travel guiding even in the case that an accuracy of positioning of a GPS navigation or an autonomous navigation is deteriorated and a state that a positioning can not be executed is invited.
In order to achieve the object mentioned above, in accordance with a first aspect of the present invention, there is provided a travel controlling apparatus of an unmanned vehicle comprising: a GPS receiver receiving a GPS signal so as to position an absolute coordinate position of a vehicle; an autonomous navigation computing device measuring a traveling direction and a traveling distance of the vehicle so as to position a relative coordinate position and azimuth from a specific position of the vehicle on the basis of the measured result; a position measuring portion calculating a present position and azimuth of the vehicle on the basis of the respective measured results of the GPS receiver and the autonomous navigation computing device; and a travel controlling portion relatively comparing a position and an azimuth of a previously set traveling path with the present position and azimuth calculated by the position measuring portion so as to control the vehicle travel in such a manner as to make respective deviation values small, wherein the travel controlling apparatus is provided with a roadside zone distance measuring device for measuring a distance from the vehicle to a roadside zone provided in a side of the traveling path, and the position measuring portion compensates at least one of a position positioned by the GPS receiver and/or a position and an azimuth positioned by the autonomous navigation computing device on the basis of the roadside zone distance measured by the roadside zone distance measuring device so as to determine the present position and azimuth