Patent Publication Number: US-2023160700-A1

Title: Vehicle locating system and vehicle locating device

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to a vehicle locating system and a vehicle locating device. 
     In recent years, a system that guides a vehicle to a specified location by a device on the outside of the vehicle has been proposed. For example, the following guiding method is disclosed in PTL 1. The guiding method includes: a step of identifying a trajectory from a start location to a target location in a parking lot, the trajectory being identified on the outside of an automobile; a step of sending at least one partial section of this trajectory to the automobile via a communication network; and a step of monitoring this automobile for departure from the section by using a monitoring system on the outside of the automobile during autonomous travel following the section, and the trajectory is identified depending on an attribute of the automobile. 
     The technique disclosed in JP-A-2018-508082 is applied to an automatic parking system, for example. 
     In the guiding method described in JP-A-2018-508082, it is important to detect at least a location of a vehicle as a guiding target with a high degree of accuracy. However, in the case where equipment on the outside of the vehicle is used to detect the location of the vehicle or the like, the vehicle possibly overlaps another vehicle, an obstacle, or the like while locating behind the other vehicle, the obstacle, or the like, which hinders detection of the vehicle. The identification of the location by using a satellite signal from the Global Positioning System (GPS) still has a measurement error of several meters to several tens of meters. Thus, a system capable of detecting the location of the vehicle with the high degree of accuracy is desired. 
     SUMMARY OF THE INVENTION 
     The present invention has been made in view of the above problem and therefore has a purpose of providing a vehicle locating system and a vehicle locating device capable of reducing a risk that, when it is attempted to identify a location of a vehicle as a detection target by using a device on the outside of the vehicle, the vehicle cannot be detected due to overlap of the vehicle and another vehicle or an obstacle located in front when seen from a detector. 
     According to one aspect of the present invention, a vehicle locating system is provided. The vehicle locating system includes: a portion to be detected that is provided to a vehicle and extends upward to a height at least exceeding a roof top; a detector that detects the portion to be detected; and a vehicle locating device that identifies a location of the vehicle on map data on the basis of detection information on the detected portion to be detected. 
     According to another aspect of the present invention, a vehicle locating device is provided. The vehicle locating device includes a detection information processing section that identifies a location of a vehicle on map data on the basis of detection information acquired by detecting a portion to be detected that is provided to the vehicle and extends upward to a height at least exceeding a roof top. 
     As it has been described so far, according to the present invention, it is possible to reduce a risk that, when it is attempted to identify the location of the vehicle as a detection target by using the device on the outside of the vehicle, the vehicle cannot be detected due to overlap of the vehicle and another vehicle or an obstacle located in front when seen from the detector. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic view illustrating a basic configuration example of a vehicle guidance system to which a vehicle locating system according to an embodiment of the present invention is applied. 
         FIG.  2    is a schematic view illustrating a specific configuration example of the vehicle guidance system according to the embodiment. 
         FIG.  3    is an explanatory view illustrating a first configuration example of a portion to be detected. 
         FIG.  4    is an explanatory view illustrating a second configuration example of the portion to be detected. 
         FIG.  5    is an explanatory view illustrating a third configuration example of the portion to be detected. 
         FIG.  6    is an explanatory view illustrating a fourth configuration example of the portion to be detected. 
         FIG.  7    is an explanatory view illustrating a fifth configuration example of the portion to be detected. 
         FIG.  8    is a block diagram illustrating configuration examples of a vehicle locating device and a vehicle controller according to the embodiment. 
         FIG.  9    is a flowchart illustrating an operation example of the vehicle locating device according to the embodiment. 
         FIG.  10    is a flowchart illustrating an operation example of the vehicle controller according to the embodiment. 
         FIG.  11    is an explanatory view illustrating a configuration example including four portions to be detected. 
     
    
    
     DETAILED DESCRIPTION 
     A detailed description will hereinafter be made on a preferred embodiment of the present invention with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration will be denoted by the same reference sign, and a description thereon will not be repeated. 
     1. Configuration Example of Vehicle Guidance System 
     First, a description will be made on a configuration example of a vehicle guidance system to which a vehicle locating system according to this embodiment is applied.  FIG.  1    is a schematic view illustrating an example of a basic configuration of a vehicle guidance system  1 . 
     As illustrated in  FIG.  1   , the vehicle guidance system  1  includes a detector  5 , a vehicle locating device  50 , a portion  21  to be detected, and a vehicle controller  30 . Of these, the portion  21  to be detected and the vehicle controller  30  are provided to a vehicle  20 , and the detector  5  and the vehicle locating device  50  are installed on the outside of the vehicle  20 . The vehicle guidance system  1  is a system in which the vehicle locating device  50 , which is installed on the outside of the vehicle  20 , identifies a location of the vehicle  20  on the basis of detection information that is detected by one or a plurality of the detectors  5  installed in an identification area, so as to guide the vehicle  20  to a specified target location. 
     The identification area may be an area that is set appropriately, and is set as a range where at least the vehicle locating device  50  and the vehicle  20  can communicate with each other via a wireless communication network. Furthermore, in the case where the detector  5  and the vehicle locating device  50  communicate with each other by wireless communication means, the identification area is set as a range where the detector  5  and the vehicle locating device  50  can communicate with each other. 
     The vehicle  20  as a guiding target is a vehicle capable of executing autonomous driving control, for example. The vehicle  20  capable of executing the autonomous driving control includes one or plural control systems, each of which automatically controls respective one of drive power, a braking force, a steering angle, a gear ratio, switching between forward/rearward travel, and the like. In addition, in order to avoid contact of the vehicle  20  with another vehicle  18 , an obstacle, or a person, various sensor devices are mounted to the vehicle  20  so as to detect environment around the vehicle  20 . In the present specification, autonomous driving means a driving state where at least some or all of start or stop operation of the vehicle  20  and operations to adjust a speed and an advancing direction thereof are performed without someone&#39;s hands. Since the vehicle capable of executing the autonomous driving control can be configured by using known techniques, a detailed description thereon will not be made herein. 
     The vehicle  20  as a detection target includes the portion  21  to be detected. The portion  21  to be detected is provided to extend upward to a height that at least exceeds a roof top. The height of the portion  21  to be detected is set such that, when seen from the detector  5 , the portion  21  to be detected does not go into shadow of the other vehicle  18 , the obstacle, or the like so as to prevent the portion  21  to be detected from becoming undetectable. In the case where the height of the portion  21  to be detected is too low, the portion  21  to be detected is possibly hidden behind the other vehicle  18 , the obstacle, or the person when seen from the detector  5 . On the other hand, in the case where the height of the portion  21  to be detected is too high, the portion  21  to be detected possibly contacts a roof or the like in the area, or attachment of the portion  21  to be detected to the vehicle  20  possibly becomes difficult. For these reasons, the height of the portion  21  to be detected is set at an appropriate height that at least exceeds the roof top and corresponds to use environment. 
     The portion  21  to be detected may be detachable from the vehicle  20  as the detection target. For example, in the case where the vehicle  20  of a user is automatically guided to an appropriate parking spot in a parking lot or the like, the portion  21  to be detected is attached to the vehicle  20  at a start of use, and is detached from the vehicle  20  after use. Alternatively, the portion  21  to be detected may be fixed to the vehicle  20  as the detection target. For example, in the case where the particular vehicle  20 , which is used in a warehouse, a factory, or the like, is guided to an appropriate target location, the portion  21  to be detected may be installed on the vehicle  20  at all times. 
     The portion  21  to be detected may be configured that the height thereof can be adjusted. In the case where the height of the portion  21  to be detected can be adjusted, the height of the portion  21  to be detected can be changed according to the use environment of the vehicle locating system, which makes the portion  21  to be detected versatile. The height of the portion  21  to be detected may be adjusted manually, or the adjustment thereof may be controlled by using power such as electric power or a pressure. 
     In this embodiment, the portion  21  to be detected is not only used to identify the location of the vehicle  20  on map data but also used to identify an orientation of the vehicle  20 . Thus, the portion  21  to be detected is configured to have a different shape depending on a direction of view. A detailed description on a specific configuration example of the portion  21  to be detected will be made below. 
     The detector  5  is a device for detecting the portion  21  to be detected that is provided to the vehicle  20 . The detector  5  includes one or plural sensor elements of a radar sensor, an imaging camera, an ultrasonic sensor, or a LiDAR device, for example. Each of the detectors  5  is not particularly limited as long as each of the detectors  5  is a device capable of at least detecting the portion  21  to be detected that exists within a detection range. The detector  5  is installed at a height position at which the portion  21  to be detected, which is provided to the vehicle  20 , can be detected without being blocked by the other vehicle  18 , the obstacle, or the like. 
     The detector  5  is preferably a device capable of measuring a distance from the detector  5  to the portion  21  to be detected. For example, in the case where the detector  5  is any of the radar sensor, a stereo camera, the ultrasonic sensor, or the LiDAR device, the detector  5  can measure the distance to the portion  21  to be detected on the basis of the detection information. However, in the case where the plural detectors  5  are arranged such that at least two of the detectors  5  can detect the portion  21  to be detected regardless of where in the identification area the portion  21  to be detected exists, the location of the portion  21  to be detected can be identified on the basis of the detection information of the plural detectors  5  even when none of the detectors  5  cannot measure the distance. 
     The number of the detector  5  that is installed in the identification area may be one or more. However, since a detectable range of each of the detectors  5  is determined, the plural detectors  5  are preferably installed such that the portion  21  to be detected is detected in an entire range of the identification area by the detectors  5 . The detection information, which is detected by the detector  5 , is sent to the vehicle locating device  50 . The detector  5  sends a signal to the vehicle locating device  50  by wired or wireless communication means. 
     The vehicle locating device  50  identifies the location of the vehicle  20  on the map data on the basis of the detection information of the detector  5 . The vehicle locating device  50  according to this embodiment also identifies an orientation of the vehicle  20  on the basis of the detection information of the detector  5 . The vehicle locating device  50  may further identify at least one of a vehicle speed or the advancing direction of the vehicle  20 . Based on information on the identified location of the vehicle  20  on the map data, the vehicle locating device  50  according to this embodiment sets a target location of the vehicle  20  after a specified time. The vehicle locating device  50  sends information on the location of the vehicle  20  and the target location thereof after the specified time to the vehicle  20  via the communication network. The vehicle locating device  50  is connected to the communication network via a base station  9 , for example. The communication network may be a moving body network using a communication method such as Wi-Fi or Long-Term Evolution (LTE). 
     For example, in the vehicle guidance system  1 , the target location to which the vehicle  20  is guided is set in the identification area, and a basic route on which the vehicle  20  is guided to the target location is set. The vehicle controller  30 , which is provided to the vehicle  20 , uses the information sent from the vehicle locating device  50  while controlling travel of the vehicle  20  along the basic route. Accordingly, the vehicle controller  30  can make the vehicle  20  travel on the basic route with a high degree of accuracy. In addition, even when the location of the vehicle  20  is departed from the basic route due to an error in arithmetic processing or in order to avoid a contact with a certain obstacle such as the other vehicle  18 , the vehicle controller  30  can make the vehicle  20  return to the basic route by using the information sent from the vehicle locating device  50 . 
     The vehicle controller  30  controls the travel of the vehicle  20  on the basis of the information sent from the vehicle locating device  50 . More specifically, based on the information on the location of the vehicle  20  and the target location thereof after the specified time, the vehicle controller  30  sets the drive power, the braking force, the steering angle, the gear ratio, switching between forward/reverse travel, and the like of the vehicle  20 , and then outputs a drive signal to an actuator that controls respective one of these elements. At this time, based on information on environment around the vehicle  20 , which is detected by the sensor device, the vehicle controller  30  controls the travel of the vehicle  20  in a manner to prevent the contact of the vehicle  20  with the other vehicle  18 , the obstacle, or the like. 
       FIG.  2    is an explanatory view illustrating an example of a specific configuration of the vehicle guidance system  1 . The vehicle guidance system  1  illustrated in  FIG.  2    guides the vehicle  20  from a control start location X to a target location Y. Such a vehicle guidance system  1  can be used as a system that moves the vehicle  20  to an appropriate target location in the parking lot, a vehicle manufacturing plant, the warehouse, or the like, for example. 
     In the vehicle guidance system  1 , in order to cover an entire range of a travel area of the vehicle  20  as the detection range, plural (six in the example illustrated in  FIG.  2   ) detectors  5   a  to  5   f  (hereinafter, collectively referred to as the “detectors  5 ” unless particularly distinguished) are installed. Each of the plural detectors  5  acquires information with which it is possible to determine whether an object exists within the detection range, and then outputs the detection information to the vehicle locating device  50 . Each of the detectors  5  sends a signal to the vehicle locating device  50  via the wired or wireless communication means. 
     Based on the detection information sent from the plural detectors  5 , the vehicle locating device  50  determines whether the portion  21  to be detected is detected. In the case where the portion  21  to be detected is detected, the vehicle locating device  50  identifies the location of the vehicle  20  on the map data on the basis of information on the portion  21  to be detected. For example, based on the detection information sent from the one or plural detectors  5 , the vehicle locating device  50  calculates the distance from the respective detector  5  to the portion  21  to be detected. 
     The vehicle locating device  50  stores information on an installed location and a detection range of each of the detectors  5   a  to  5   f  on the map data. Based on the detection information sent from each of the detectors  5 , the vehicle locating device  50  calculates a relative location of the portion  21  to be detected to a specified reference location on the map data. For example, the vehicle locating device  50  identifies the relative location of the portion  21  to be detected by using the installed location of each of the detectors  5   a  to  5   f  as the reference location, and then identifies the location of the portion  21  to be detected on the map data. The identified location of the portion  21  to be detected corresponds to the location of the vehicle  20  on the map data. 
     For example, in a state illustrated in  FIG.  2   , the portion  21  to be detected, which is provided to the vehicle  20 , exists within the detection ranges of the two detectors  5   b ,  5   f . In this case, based on the detection information sent from each of the detectors  5   a  to  5   f , the vehicle locating device  50  determines that the portion  21  to be detected is detected by the two detectors  5   b ,  5   f . The vehicle locating device  50  identifies the location of the portion  21  to be detected on the map data while checking such a location against the information on the installed locations of the detectors  5   b ,  5   f , which is stored in advance. Instead of the vehicle locating device  50  acquiring the detection information from all of the detectors  5   a  to  5   f , the detection information may be sent to the vehicle locating device  50  only from the detector(s)  5  that detects the portion  21  to be detected. 
     In addition, based on the detection information sent from the detectors  5 , the vehicle locating device  50  may identify at least one of the orientation, the vehicle speed, and the advancing direction of the vehicle  20 . In this embodiment, the vehicle locating device  50  identifies the orientation of the vehicle  20  on the basis of information on the shape of the portion  21  to be detected, which is detected by the detector  5 . Furthermore, the vehicle locating device  50  can identify the vehicle speed and the advancing direction of the vehicle  20  on the basis of a location change of the portion  21  to be detected, which is detected by the detector  5 . 
     Based on the information on the location, the orientation, the vehicle speed, and the advancing direction of the vehicle  20  on the map data, the vehicle locating device  50  sets the target location of the vehicle  20  after the specified time. At every specified time, the vehicle locating device  50  sends, to the vehicle  20 , the information on the location of the vehicle  20  on the map data and the information on the target location of the vehicle  20  after the specified time via the base station  9  and the communication network. More specifically, the vehicle locating device  50  receives the detection information from the detector  5  at the every specified time, and sends the information on the location of the vehicle  20  and the target location thereof after the specified time, which is acquired by executing the specified arithmetic processing, to the vehicle  20  at the every specified time. The specified time may be set appropriately on the basis of a processing speed and the like of the vehicle locating device  50 . 
     The vehicle controller  30 , which is mounted to the vehicle  20 , receives the information sent from the vehicle locating device  50 , and controls the travel of the vehicle  20  on the basis of the received information. As a result, the steering angle, the speed, or acceleration of the vehicle  20  is adjusted at the every specified time, and the vehicle  20  can be guided to the target location Y by following a basic route R while the contact of the vehicle  20  with the other vehicle or the like is prevented. 
     2. Configuration Example of Portion to be Detected 
     Next, a description will be made on a configuration example of the portion  21  to be detected, which is provided to the vehicle  20 . As described above, the portion  21  to be detected is provided to extend upward to the height that at least exceeds the roof top of the vehicle  20 . In this way, the detector  5  can detect the portion  21  to be detected while the portion  21  to be detected is not blocked by the other vehicle, the obstacle, or the like. Thus, it is possible to improve reliability of identifying the location of the vehicle  20 . In addition, the portion  21  to be detected is configured that at least the orientation of the vehicle  20  can be identified. A description will hereinafter be made on several configuration examples of the portion  21  to be detected, each of which can be applied to the vehicle guidance system  1  according to this embodiment. 
     First Configuration Example 
       FIG.  3    is an explanatory view illustrating a first configuration example of the portion  21  to be detected.  FIG.  3    is an explanatory view illustrating a planar shape of a portion  21 A to be detected according to the first configuration example when the portion  21 A to be detected is seen from above, and illustrating how the portion  21 A to be detected looks when the portion  21 A to be detected is seen in four directions indicated by arrows. 
     The portion  21 A to be detected according to the first configuration example is suited when the detector  5  is the imaging camera or the LiDAR device. The planar shape of the portion  21 A to be detected, which is seen from above, is a pentagon but is not an equilateral pentagon. This portion  21 A to be detected has the different shape depending on the direction of view in a horizontal direction. The “different shape” herein does not mean that a contour of an outer shape differs but means that, even with the same contour of the outer shape, how a surface, a ridge line, or the like looks different. 
     More specifically, when the portion  21 A to be detected is seen in an arrow D 1  direction, it looks as if a fifth surface s 5  and a first surface s 1  are aligned at equal intervals from the left. When the portion  21 A to be detected is seen in an arrow D 2  direction, it looks as if the first surface s 1 , a second surface s 2 , and a third surface s 3  are aligned from the left. In this case, the second surface s 2  at the center looks the widest. When the portion  21 A to be detected is seen in an arrow D 3  direction, it looks as if the third surface s 3  and a fourth surface s 4  are aligned from the left. In this case, the third surface s 3  on the left looks wider than the fourth surface s 4 . When the portion  21 A to be detected is seen in an arrow D 4  direction, it looks as if the fourth surface s 4  and the fifth surface s 5  are aligned from the left. In this case, the fourth surface s 4  on the left looks slightly wider than the fifth surface s 5 . When the portion  21 A to be detected is seen in the arrow D 2  direction and the arrow D 4  direction, the whole contour thereof looks wider than that seen in the arrow D 1  direction and the arrow D 3  direction. 
     Just as described, the width of the whole contour, the number of the visible surfaces, a component ratio of the widths of the visible surfaces of the portion  21 A to be detected according to the first configuration example differ by the direction of view. Accordingly, the vehicle locating device  50  can identify how the portion  21 A to be detected is arranged with respect to the detector  5  by determining how the portion  21 A to be detected looks on the basis of the detection information sent from the detector  5 . Then, the vehicle locating device  50  checks the way the portion  21 A to be detected is arranged with respect to the detector  5  against information on an arrangement state of the portion  21 A to be detected in the vehicle  20 , which is stored in advance, and can thereby identify the orientation of the vehicle  20 . 
     The planar shape of the portion  21 A to be detected according to the first configuration example that is seen from above is the pentagon. However, the planar shape is not limited to the pentagon. The planar shape of the portion  21 A to be detected can be any shape except for a perfect circle and an equilateral polygon as long as such a shape looks different depending on the direction of view. 
     In the case where the detector  5  is the imaging camera, the surfaces s 1  to s 5  of the portion  21 A to be detected according to the first configuration example may be in different colors. In this way, the identification of the direction of seeing the portion  21 A to be detected can be further facilitated. 
     Second Configuration Example 
       FIG.  4    is an explanatory view illustrating a second configuration example of the portion  21  to be detected.  FIG.  4    is an explanatory view illustrating a planar shape of a portion  21 B to be detected according to the second configuration example when the portion  21 B to be detected is seen from above, and illustrating how the portion  21 B to be detected looks when the portion  21 B to be detected is seen in the four directions indicated by the arrows. 
     The portion  21 B to be detected according to the second configuration example is suited when the detector  5  is the imaging camera. The planar shape of the portion  21 B to be detected, which is seen from above, is a square. Four side surfaces s 1  to s 4  of the portion  21 B to be detected are in different colors. Accordingly, the coloration of the portion  21 B to be detected differs depending on the direction of view in the horizontal direction. 
     More specifically, when the portion  21 B to be detected is seen in the arrow D 1  direction, it looks as if the fourth surface s 4  and the first surface s 1  are aligned from the left. When the portion  21 B to be detected is seen in the arrow D 2  direction, it looks as if the first surface s 1  and the second surface s 2  are aligned from the left. When the portion  21 B to be detected is seen in the arrow D 3  direction, it looks as if the second surface s 2  and the third surface s 3  are aligned from the left. When the portion  21 B to be detected is seen in an arrow D 4  direction, it looks as if the third surface s 3  and the fourth surface s 4  are aligned from the left. When seen in the four directions illustrated in  FIG.  4   , a contour of an outer shape and a component ratio of widths of the surfaces of the portion  21 B to be detected look the same. However, due to the different coloration, with color recognition of a captured image by the imaging camera, it is possible to identify the direction of seeing the portion  21 B to be detected. 
     In the portion  21 B to be detected according to the second configuration example, instead of applying the different colors to the surfaces s 1  to s 4 , reflectance of each of the surfaces s 1  to s 4  may differ. A configuration of having the different reflectance for each of the surfaces s 1  to s 4  is suited when the detector  5  is the radar sensor or the LiDAR device. In this case, the direction of seeing the portion  21 B to be detected can be identified by a difference in density distribution of a reflected wave, which is detected by the detector  5 . The reflectance can differ by adjusting surface roughness, for example. 
     Just as described, in the portion  21 B to be detected according to the second configuration example, the coloration in the image and the density distribution of the detected reflected wave differ by the direction of view. Accordingly, the vehicle locating device  50  can identify how the portion  21 B to be detected is arranged with respect to the detector  5  by determining the coloration of the portion  21 B to be detected and the density distribution of the reflected wave on the basis of the detection information sent from the detector  5 . Then, the vehicle locating device  50  checks the way the portion  21 B to be detected is arranged with respect to the detector  5  against information on an arrangement state of the portion  21 B to be detected in the vehicle  20 , which is stored in advance, and can thereby identify the orientation of the vehicle  20 . 
     The planar shape of the portion  21 B to be detected according to the second configuration example that is seen from above is the square. However, the planar shape is not limited to the square. The planar shape of the portion  21 B to be detected is not particularly limited, and the coloration thereof only needs to differ by the direction of view. 
     Third Configuration Example 
       FIG.  5    is an explanatory view illustrating a third configuration example of the portion  21  to be detected.  FIG.  5    is an explanatory view illustrating an arrangement location of each of portions  21   a  to  21   c  to be detected when a portion  21 C to be detected according to the third configuration example is seen from above, and illustrating how the portion  21 C to be detected looks when the portion  21 C to be detected is seen in the four directions indicated by the arrows. 
     The portion  21 C to be detected according to the third configuration example is suited when the detector  5  is the imaging camera, the radar sensor, the ultrasonic sensor, or the LiDAR device. The portion  21 C to be detected according to the third configuration example is constructed of the plural portions  21   a  to  21   c  to be detected, each of which has the same shape, and the arrangement locations thereof, which are seen from above and illustrated in  FIG.  5   , form a triangle that is not an equilateral triangle. How this portion  21 C to be detected looks different depending on the direction of view in the horizontal direction. The term “looks different” herein means that an entire width of the plural portions  21   a  to  21   c  to be detected and a distance between two each of the portions  21   a  to  21   c  to be detected differ. 
     More specifically, when the portion  21 C to be detected is seen in the arrow D 1  direction, it looks as if the third portion  21   c  to be detected, the first portion  21   a  to be detected, and the second portion  21   b  to be detected are aligned from the left. In this case, the first portion  21   a  to be detected looks closer to the second portion  21   b  to be detected side (a right side) than the third portion  21   c  to be detected. When the portion  21 C to be detected is seen in the arrow D 2  direction, it looks as if the first portion  21   a  to be detected, the third portion  21   c  to be detected, and the second portion  21   b  to be detected are aligned from the left. In this case, the third portion  21   c  to be detected looks closer to the second portion  21   b  to be detected side (the right side) than the first portion  21   a  to be detected. When the portion  21 C to be detected is seen in the arrow D 3  direction, it looks as if the second portion  21   b  to be detected, the first portion  21   a  to be detected, and the third portion  21   c  to be detected are aligned from the left. In this case, the first portion  21   a  to be detected looks closer to the second portion  21   b  to be detected side (the left side) than the third portion  21   c  to be detected. When the portion  21 C to be detected is seen in the arrow D 4  direction, it looks as if the second portion  21   b  to be detected, the third portion  21   c  to be detected, and the first portion  21   a  to be detected are aligned from the left. In this case, the third portion  21   c  to be detected looks closer to the second portion  21   b  to be detected side (the left side) than the first portion  21   a  to be detected. When the portion  21 C to be detected is seen in the arrow D 2  direction and the arrow D 4  direction, a whole contour thereof looks wider than that seen in the arrow D 1  direction and the arrow D 3  direction. 
     Just as described, the width of the whole contour and the distance between two each of the portions  21   a  to  21   c  to be detected of the portion  21 C to be detected according to the third configuration example differ by the direction of view. Accordingly, the vehicle locating device  50  can identify how the portion  21 C to be detected is arranged with respect to the detector  5  by determining how the portion  21 C to be detected looks on the basis of the detection information sent from the detector  5 . Then, the vehicle locating device  50  checks the way the portion  21 C to be detected is arranged with respect to the detector  5  against information on an arrangement state of the portion  21 C to be detected in the vehicle  20 , which is stored in advance, and can thereby identify the orientation of the vehicle  20 . 
     The portion  21 C to be detected according to the third configuration example is constructed of the three portions  21   a  to  21   c  to be detected, and the three portions  21   a  to  21   c  to be detected are arranged such that the planar shape of the portion  21 C to be detected, which is seen from above, is the triangle. However, the number of the plural portions to be detected and the planar shape of the arrangement are not limited to this example. The portion  21 C to be detected only needs to be configured that the overall width of the plural portions to be detected and the distance between two each of the portions to be detected differ by the direction of view. 
     In the case where the detector  5  is the imaging camera, the portions  21   a  to  21   c  to be detected, which constitute the portion  21 C to be detected according to the third configuration example, may be in different colors. In the case where the detector  5  is the radar sensor or the LiDAR device, it may be configured that reflectance of each of the portions  21   a  to  21   c  to be detected, which constitute the portion  21 C to be detected according to the third configuration example, differs. In this way, the identification of the direction of seeing the portion  21 C to be detected can be further facilitated. 
     Furthermore, in the case where the detector  5  can measure a distance to each of the portions  21   a  to  21   c  to be detected, which constitute the portion  21 C to be detected according to the third configuration example, the direction of seeing the portion  21 C to be detected can be identified by using information on the distance.  FIG.  5    illustrates a magnitude relationships among distances La, Lb, Lc from the detector  5  to the portions  21   a  to  21   c  to be detected. Just as described, the distances La, Lb, Lc from the detector  5  to the portions  21   a  to  21   c  to be detected differ by the direction of seeing the portion  21 C to be detected. Thus, the direction of seeing the portion  21 C to be detected can be identified by using the information on the distance. 
     Fourth Configuration Example 
       FIG.  6    is an explanatory view illustrating a fourth configuration example of the portion  21  to be detected.  FIG.  6    is an explanatory view illustrating an arrangement location of each of portions  21   a  to  21   c  to be detected when a portion  21 D to be detected according to the fourth configuration example is seen from above, and illustrating how the portion  21 D to be detected looks when the portion  21 D to be detected is seen in the four directions indicated by the arrows. 
     The portion  21 D to be detected according to the fourth configuration example is suited when the detector  5  is the imaging camera, the radar sensor, the ultrasonic sensor, or the LiDAR device. The portion  21 D to be detected according to the fourth configuration example is constructed of the plural portions  21   a  to  21   c  to be detected, each of which has a different shape. A planar shape of the first portion  21   a  to be detected is the perfect circle, a planar shape of the second portion  21   b  to be detected is a rectangle, and a planar shape of the third portion  21   c  to be detected is a triangle. Although arrangement locations of the plural portions  21   a  to  21   c , which are seen from above and illustrated in  FIG.  6   , form the equilateral triangle, how this portion  21 D to be detected looks different depending on the direction of view in the horizontal direction. The term “looks different” herein means that how an entire width of the plural portions  21   a  to  21   c  to be detected, a distance between two each of the portions  21   a  to  21   c  to be detected, and a ridge line look different. 
     More specifically, when the portion  21 D to be detected is seen in the arrow D 1  direction, it looks as if the third portion  21   c  to be detected, the first portion  21   a  to be detected, and the second portion  21   b  to be detected are aligned from the left. In this case, a width and ridge lines that correspond to the planar shape of each of the portions  21   a  to  21   c  to be detected are visible. More specifically, when the portion  21 D to be detected is seen in the arrow D 2  direction, it looks as if the first portion  21   a  to be detected and the second portion  21   b  to be detected are aligned from the left. In this case, the third portion  21   c  to be detected overlaps the second portion  21   b  to be detected, and is hidden behind the second portion  21   b  to be detected. When the portion  21 D to be detected is seen in the arrow D 3  direction, it looks as if the second portion  21   b  to be detected, the first portion  21   a  to be detected, and the third portion  21   c  to be detected are aligned from the left. In this case, the width and the ridge lines that correspond to the planar shape of each of the portions  21   a  to  21   c  to be detected are visible. When the portion  21 D to be detected is seen in the arrow D 4  direction, it looks as if the second portion  21   b  to be detected, the third portion  21   c  to be detected, and the first portion  21   a  to be detected are aligned from the left. In this case, the second portion  21   b  to be detected and the third portion  21   c  to be detected overlap each other, and the second portion  21   b  to be detected is visible behind the third portion  21   c  to be detected. When the portion  21 D to be detected is seen in the arrow D 2  direction and the arrow D 4  direction, a whole contour thereof looks slightly narrower than that seen in the arrow D 1  direction and the arrow D 3  direction. 
     Just as described, in the portion  21 D to be detected according to the fourth configuration example, how the width of the whole contour, the distance between two each of the portions  21   a  to  21   c  to be detected, and the ridge lines look different depending on the direction of view. Accordingly, the vehicle locating device  50  can identify how the portion  21 D to be detected is arranged with respect to the detector  5  by determining how the portion  21 D to be detected looks on the basis of the detection information sent from the detector  5 . Then, the vehicle locating device  50  checks the way the portion  21 D to be detected is arranged with respect to the detector  5  against information on an arrangement state of the portion  21 D to be detected in the vehicle  20 , which is stored in advance, and can thereby identify the orientation of the vehicle  20 . 
     The portion  21 D to be detected according to the fourth configuration example is constructed of the three portions  21   a  to  21   c  to be detected, and the three portions  21   a  to  21   c  to be detected are arranged such that the planar shape of the portion  21 D to be detected, which is seen from above, is the triangle. However, the number of the plural portions to be detected and the planar shape of the arrangement are not limited to this example. All of planar shapes of the plural portion  21 D to be detected may differ, or the planar shapes of the plural portion  21 D to be detected may partially differ. The portion  21 D to be detected only needs to be configured that the overall width of the plural portions  21   a  to  21   c  to be detected and the distance between two each of the portions  21   a  to  21   c  to be detected differ by the direction of view. 
     In the case where the detector  5  is the imaging camera, the portions  21   a  to  21   c  to be detected, which constitute the portion  21 D to be detected according to the fourth configuration example, may be in different colors. In the case where the detector  5  is the radar sensor or the LiDAR device, it may be configured that reflectance of each of the portions  21   a  to  21   c  to be detected, which constitute the portion  21 D to be detected according to the fourth configuration example, differs. In this way, the identification of the direction of seeing the portion  21 D to be detected can be further facilitated. 
     Furthermore, in the case where the detector  5  can measure distances La, Lb, Lc to the portions  21   a  to  21   c  to be detected, which constitute the portion  21 D to be detected according to the fourth configuration example, the direction of seeing the portion  21 D to be detected can be identified by using information on the distances. 
     Fifth Configuration Example 
       FIG.  7    is an explanatory view illustrating a fifth configuration example of the portion  21  to be detected.  FIG.  7    is an explanatory view illustrating an arrangement location of each of portions  21   a  to  21   c  to be detected when a portion  21 E to be detected according to the fifth configuration example is seen from above, and illustrating how the portion  21 E to be detected looks when the portion  21 E to be detected is seen in the four directions indicated by the arrows. 
     The portion  21 E to be detected according to the fifth configuration example is suited when the detector  5  is the imaging camera, the radar sensor, the ultrasonic sensor, or the LiDAR device. The portion  21 E to be detected according to the fifth configuration example is constructed of the plural portions  21   a  to  21   c  to be detected, each of which has a different height. The heights of the first portion  21   a  to be detected, the second portion  21   b  to be detected, and the third portion  21   c  to be detected are descended in this order. Although arrangement locations of the plural portions  21   a  to  21   c , which are seen from above and illustrated in  FIG.  7   , form the equilateral triangle, how this portion  21 E to be detected looks different depending on the direction of view in the horizontal direction. The term “looks different” herein means that an entire width of the plural portions  21   a  to  21   c  to be detected, a distance between two each of the portions  21   a  to  21   c  to be detected, and the arrangement locations thereof differ. 
     More specifically, when the portion  21 E to be detected is seen in the arrow D 1  direction, it looks as if the second portion  21   b  to be detected, the first portion  21   a  to be detected, and the third portion  21   c  to be detected are aligned from the left. When the portion  21 E to be detected is seen in the arrow D 2  direction, it looks as if the first portion  21   a  to be detected and the third portion  21   c  to be detected are aligned from the left. In this case, the second portion  21   b  to be detected overlaps the third portion  21   c  to be detected, and is hidden behind the third portion  21   c  to be detected. When the portion  21 E to be detected is seen in the arrow D 3  direction, it looks as if the third portion  21   c  to be detected, the first portion  21   a  to be detected, and the second portion  21   b  to be detected are aligned from the left. When the portion  21 E to be detected is seen in the arrow D 4  direction, it looks as if the second portion  21   b  to be detected, the third portion  21   c  to be detected, and the first portion  21   a  to be detected are aligned from the left. In this case, the second portion  21   b  to be detected and the third portion  21   c  to be detected overlap each other, and the third portion  21   c  to be detected is visible behind the second portion  21   b  to be detected. When the portion  21 E to be detected is seen in the arrow D 2  direction and the arrow D 4  direction, a whole contour thereof looks slightly narrower than that seen in the arrow D 1  direction and the arrow D 3  direction. 
     Just as described, the width of the whole contour, the distance between two each of the portions  21   a  to  21   c  to be detected, and the arrangement locations thereof of the portion  21 E to be detected according to the fifth configuration example differ by the direction of view. Accordingly, the vehicle locating device  50  can identify how the portion  21 E to be detected is arranged with respect to the detector  5  by determining how the portion  21 E to be detected looks on the basis of the detection information sent from the detector  5 . Then, the vehicle locating device  50  checks the way the portion  21 E to be detected is arranged with respect to the detector  5  against information on an arrangement state of the portion  21 E to be detected in the vehicle  20 , which is stored in advance, and can thereby identify the orientation of the vehicle  20 . 
     The portion  21 E to be detected according to the fifth configuration example is constructed of the three portions  21   a  to  21   c  to be detected, and the three portions  21   a  to  21   c  to be detected are arranged such that the planar shape of the portion  21 E to be detected, which is seen from above, is the equilateral triangle. However, the number of the plural portions to be detected and the planar shape of the arrangement are not limited to this example. All of planar shapes of the plural portion  21 E to be detected may differ, or the planar shapes of the plural portion  21 E to be detected may partially differ. The portion  21 E to be detected only needs to be configured that the overall width of the plural portions  21   a  to  21   c  to be detected and the distance between two each of the portions  21   a  to  21   c  to be detected differ by the direction of view. 
     In the case where the detector  5  is the imaging camera, the portions  21   a  to  21   c  to be detected, which constitute the portion  21 E to be detected according to the fifth configuration example, may be in different colors. In the case where the detector  5  is the radar sensor or the LiDAR device, it may be configured that reflectance of each of the portions  21   a  to  21   c  to be detected, which constitute the portion  21 E to be detected according to the fifth configuration example, differs. In this way, the identification of the direction of seeing the portion  21 E to be detected can be further facilitated. 
     Furthermore, in the case where the detector  5  can measure distances La, Lb, Lc to the portions  21   a  to  21   c  to be detected, which constitute the portion  21 E to be detected according to the fifth configuration example, the direction of seeing the portion  21 E to be detected can be identified by using information on the distances. 
     3. Configuration Examples of Information Processor and Vehicle Controller 
     Next, a description will be made on configuration examples of the vehicle locating device  50  and the vehicle controller  30  that are used in the vehicle guidance system  1  illustrated in  FIG.  2   . 
       FIG.  8    is a block diagram illustrating the configuration examples of the vehicle locating device  50  and the vehicle controller  30 . The vehicle locating device  50  calculates a current location and the target location after the specified time of the vehicle  20 , and sends vehicle control information including these pieces of information to the vehicle controller  30 . The vehicle controller  30  sets target control amounts of the various control systems on the basis of the received information, and sends information on the target control amount to the respective control systems. 
     (Vehicle Locating Device) 
     The vehicle locating device  50  includes a first communication section  51 , a second communication section  52 , a detection information processing section  53 , a vehicle control information setting section  54 , and a storage section  55 . The vehicle locating device  50  may partially or entirely be constructed of a microcomputer, a microprocessor unit, or the like, or may be constructed of one whose firmware and the like can be updated, for example. Alternatively, the vehicle locating device  50  may partially or entirely be a program module or the like that is executed by a command from a central processing unit (CPU) or the like. 
     The storage section  55  includes at least one of a storage element and a storage medium. Examples of the storage element are random access memory (RAM) and read only memory (ROM). Examples of the storage medium are a hard disk drive (HDD), a compact disc (CD), a digital versatile disc (DVD), a solid-state drive (SSD), a universal serial bus (USB) flash drive, and a storage device. The storage section  55  stores parameters that are used for a program executed by the microcomputer or the like and various types of the arithmetic processing, arithmetic results, the detection information of the various sensors and the like, and the like. 
     In this embodiment, the storage section  55  stores the map data of the identification area where at least the vehicle guidance system  1  is installed. The storage section  55  also stores the information on the installed location of the one or plural detectors  5  installed in the identification area on the map data. Furthermore, in the vehicle guidance system  1  according to this embodiment, the storage section  55  of the vehicle locating device  50  stores the information on the target location, to which the vehicle  20  is guided, and information on the basic route on which the vehicle  20  is guided to the target location. The information on the target location may be set when being input to the vehicle locating device  50  by a user, may be set when the computer determines an available space or the like in the identification area, or may be set when being sent from the vehicle controller  30 . The information on the basic route may be set when being input to the vehicle locating device  50  by the user, or may be set when being sent from the vehicle controller  30 . 
     The storage section  55  stores the information on the shape of the portion  21  to be detected, which is provided to the vehicle  20 , and information on how the portion  21  to be detected is installed to the vehicle  20 . 
     The first communication section  51  is an interface for communication between the detector  5  and the vehicle locating device  50 . The vehicle locating device  50  receives the signal, which is output from the detector  5 , via the first communication section  51 . 
     The second communication section  52  is an interface for communication between the vehicle controller  30  and the vehicle locating device  50 . In the vehicle locating device  50 , the second communication section  52  sends a signal to the vehicle controller  30  via the base station  9  and the communication network. 
     The detection information processing section  53  executes the various types of the arithmetic processing by using the detection information of the detector  5 . For example, the detection information processing section  53  may be a function that is implemented when the program is executed by the microcomputer or the like. Based on the detection information sent from the detector  5 , the detection information processing section  53  identifies the location and the orientation of the vehicle  20 . More specifically, based on the map data stored in the storage section  55 , the installed location of each of the detectors  5  on the map data, and the information on the relative location of the portion  21  to be detected, which is detected by each of the detectors  5 , to the specified reference location, the detection information processing section  53  calculates the location of the portion  21  to be detected on the map data. The detection information processing section  53  identifies the location of the portion  21  to be detected as the location of the vehicle  20 . 
     In addition, the detection information processing section  53  checks the shape of the portion  21  to be detected (how the portion  21  to be detected looks), which is detected by the detector  5 , against the information on the shape of the portion  21  to be detected and the information on how the portion  21  to be detected is installed to the vehicle  20 , which are stored in the storage section  55 , and thereby identifies the orientation of the vehicle  20 . The detection information processing section  53  may identify the vehicle speed and the advancing direction of the vehicle  20  on the basis of the detection information of the detector  5 . 
     The vehicle control information setting section  54  sets the target location of the vehicle  20  after the specified time. For example, the vehicle control information setting section  54  may be a function that is implemented when the program is executed by the microcomputer or the like. Based on the identified location and orientation of the vehicle  20  and the information on the basic route, the vehicle control information setting section  54  sets the target location of the vehicle  20  after the specified time. The vehicle control information setting section  54  sends information on the set target location to the vehicle controller  30 , which is mounted to the vehicle  20 , via the second communication section  52 . 
     The vehicle locating device  50  executes identification processing of the location of the vehicle  20 , which is based on the detection information sent from the detector  5 , setting processing of the target location of the vehicle  20  after the specified time, and sending processing of the information on the location and the target location of the vehicle  20  at specified time intervals. 
     (Vehicle Controller) 
     The vehicle controller  30  includes a communication section  31  and a control information calculation section  33 . The vehicle controller  30  may partially or entirely be constructed of a microcomputer, a microprocessor unit, or the like, or may be constructed of one whose firmware and the like can be updated, for example. Alternatively, the vehicle controller  30  may partially or entirely be a program module or the like that is executed by a command from the CPU or the like. 
     The vehicle controller  30  also stores a storage section, which is not illustrated, such as RAM or ROM. The storage section stores the map data that at least includes the information on the identification area. The storage section also stores the information on the target location, to which the vehicle  20  is guided, and the information on the basic route on which the vehicle  20  is guided to the target location. The information on the target location may be set when being input by the user, or may be set on the basis of information sent from an external device that determines the available space or the like in the identification area. The information on the basic route may be set when being input by the user, or may be set by the computer or the like. 
     In this embodiment, the vehicle controller  30  has a function as an integrated controller that outputs a control command to each of controllers  41 ,  43 ,  45  for controlling the plural control systems. The vehicle controller  30  may be constructed of a single electronic control unit, or may be constructed of plural electronic control units that are mutually communicable. For example, the controllers  41 ,  43 ,  45  include at least one of a power controller that controls an internal combustion engine, an electric motor, or the like as a power source of the vehicle  20 , a transmission controller that controls a power transmission mechanism including a transmission for changing rotary torque output from the power source and transmitting the rotary torque to a drive wheel, a brake controller that controls a hydraulic or electric brake system, a steering controller that controls a rotation angle of a steering wheel, and the like. 
     The communication section  31  is an interface for communication between the vehicle controller  30  and the vehicle locating device  50 . In the vehicle controller  30 , the communication section  31  at least receives the signal that is sent from the vehicle locating device  50  via the communication network. 
     The control information calculation section  33  sets a target control amount of each of the control systems on the basis of the information sent from the vehicle locating device  50 , and sends information on the set target control amount to each of the controllers  41 ,  43 ,  45 . For example, the control information calculation section  33  may be a function that is implemented when a program is executed by the microcomputer or the like. Based on the information on the current location and the orientation of the vehicle  20  and the information on the target location of the vehicle  20  after the specified time, which are sent from the vehicle locating device  50 , the control information calculation section  33  sets a target steering angle and target acceleration of the vehicle  20 . In addition, based on information on the set target steering angle and the set target acceleration of the vehicle  20 , the control information calculation section  33  sets the target control amount of each of the control systems. At this time, an upper limit may be set to a change amount (a change speed) of the operation amount of each of the control systems, so as to prevent sudden steering or sudden acceleration of the vehicle  20 . 
     Furthermore, the control information calculation section  33  detects the other vehicle, the obstacle, or the like around the vehicle  20  on the basis of sensor signals from the sensor devices provided to the vehicle  20 , and sets the target control amount of each of the control systems in a manner to avoid the contact with these other vehicle and the like. The target control amount, which is set for a purpose of avoiding the contact with the other vehicle and the like, is prioritized over the target control amount, which is set on the basis of the information sent from the vehicle locating device  50 . As a result, the vehicle  20  possibly departs from the basic route to the target location. However, since the vehicle  20  is thereafter controlled according to the target control amount, which is set on the basis of the information sent from the vehicle locating device  50 , the vehicle  20  can return onto the basic route. 
     In this way, the vehicle  20  is controlled on the basis of the information on the location of the vehicle  20  and the information on the target location of the vehicle  20  after the specified time, which are sent from the vehicle locating device  50 . Therefore, it is possible to guide the vehicle  20  from the control start location X to the target location Y while securing safety of the vehicle  20 . 
     Operation Examples of Information Processor and Vehicle Controller 
     Next, a description will be made on operation examples of the vehicle locating device  50  and the vehicle controller  30 . 
       FIG.  9    is a flowchart illustrating the operation example of the vehicle locating device  50 . The detection information processing section  53  of the vehicle locating device  50  acquires the detection information, which is sent from the detectors  5   a  to  5   f , via the first communication section  51  (step S 11 ). 
     Next, based on the detection information acquired from the detectors  5   a  to  5   f , the detection information processing section  53  identifies the detector  5  that has detected the portion  21  to be detected (S 13 ). In a case of the vehicle guidance system  1  according to this embodiment, each of the detectors  5  does not detect an object other than the portion  21  to be detected. More specifically, the portion  21  to be detected is provided to the vehicle  20  in the manner to extend upward to the height that at least exceeds the roof top of the vehicle  20 . Thus, a vehicle body other than the portion  21  to be detected and the obstacle do not exist within the detection range of each of the detectors  5 . For this reason, based on the detection information of the detectors  5 , the detection information processing section  53  can identify the detector  5  that has detected the portion  21  to be detected. The detection information processing section  53  may check the detected shape of the portion  21  to be detected against the information on the shape of the portion  21  to be detected, which is stored in advance, so as to identify the detector  5 , which has detected the portion  21  to be detected. 
     Next, the detection information processing section  53  identifies the location and the orientation of the vehicle  20  on the basis of the information on the portion  21  to be detected, which is detected by the detector  5  (step S 15 ). As described above, based on the map data stored in the storage section  55 , the installed location of each of the detectors  5  on the map data, and the information on the relative location of the portion  21  to be detected, which is detected by each of the detectors  5 , to the specified reference location, the detection information processing section  53  calculates the location of the portion  21  to be detected on the map data. The detection information processing section  53  identifies the location of the portion  21  to be detected as the location of the vehicle  20 . In addition, the detection information processing section  53  checks the shape of the portion  21  to be detected (how the portion  21  to be detected looks), which is detected by the detector  5 , against the information on the shape of the portion  21  to be detected and the information on how the portion  21  to be detected is installed to the vehicle  20 , which are stored in the storage section  55 , and thereby identifies the orientation of the vehicle  20 . 
     Furthermore, in this embodiment, the detection information processing section  53  identifies the vehicle speed and the advancing direction of the vehicle  20  on the basis of the detection information of the detector  5 . For example, the detection information processing section  53  can calculate the vehicle speed and the advancing direction of the vehicle  20  on the basis of the location change of the portion  21  to be detected, which is detected by the detector  5 . 
     Next, based on the information on the basic route and the information on the location, the orientation, the vehicle speed, and the advancing direction of the vehicle  20 , which have been stored, the vehicle control information setting section  54  sets the target location of the vehicle  20  after the specified time (step S 17 ). Basically, the vehicle control information setting section  54  sets the target location of the vehicle  20  after the specified time such that the vehicle  20  moves along the basic route at the acceleration, which is set in advance. With such a premise, the vehicle control information setting section  54  sets the target location of the vehicle  20  in a manner to make the vehicle  20  return onto the basic route when the location and the advancing direction of the vehicle  20  do not match the basic route. 
     Next, the vehicle control information setting section  54  sends the information on the set target location of the vehicle  20  and the information on the current location of the vehicle  20  to the vehicle controller  30  via the second communication section  52  and the communication network (step S 19 ). 
     The vehicle locating device  50  repeatedly executes the processing in step S 11  to step S 19  at specified time intervals set in advance. 
       FIG.  10    is a flowchart illustrating the operation example of the vehicle controller  30 . The control information calculation section  33  of the vehicle controller  30  acquires the information on the target location of the vehicle  20  after the specified time and the information on the current location of the vehicle  20 , which are sent from the vehicle locating device  50 , via the communication section  31  (step S 31 ). 
     Next, based on the received information on the target location of the vehicle  20  after the specified time and the received information on the current location of the vehicle  20 , the control information calculation section  33  sets the target steering angle and the target acceleration of the vehicle  20  (step S 33 ). 
     Next, based on the information on the set target steering angle and the set target acceleration, the control information calculation section  33  sets the target control amount of each of the control systems (step S 35 ). More specifically, the control information calculation section  33  sets the target control amount of a steering control system on the basis of the information on the target steering angle. In the case where the steering control system is a system that controls the steering angle by a motor such as a stepping motor, the target control amount is a target value of the rotation angle, for example. 
     In addition, based on the information on the target acceleration, the control information calculation section  33  sets the target control amounts of the power source such as the internal combustion engine or the drive motor, the power transmission mechanism that includes the transmission and the like, and the brake controller. For example, the target control amount of the power source is a target value of output torque, the target control amount of the power transmission mechanism is a target value of the gear ratio, and the target control amount of the brake controller is a target value of a braking force. 
     At this time, in the case where the contact of the vehicle  20  with the other vehicle, the obstacle, or the like is predicted, the control information calculation section  33  sets the target control amount of each of the control systems in a manner to avoid the contact. This target control amount may be a command to execute emergency brake control or may be a command to cause the vehicle  20  to make a sharp turn. 
     Next, the control information calculation section  33  sends information on the set target control amounts of the control systems to the controllers  41 ,  43 ,  45  (step S 37 ). Each of the controllers  41 ,  43 ,  45  that has received the information on the target control amount controls the respective control system on the basis of the target control amount. The vehicle controller  30  repeatedly executes the processing in step S 31  to step S 37  at specified time intervals set in advance. As a result, the vehicle  20  is guided to the target location Y along the basic route on the basis of the highly accurate location information sent from the vehicle locating device  50 . 
     As it has been described so far, according to the vehicle guidance system  1 , to which the vehicle locating system according to this embodiment is applied, the detector  5 , which is installed on the outside of the vehicle  20 , can detect the portion  21  to be detected, which is provided to the vehicle  20 , without the portion  21  to be detected being blocked by the other vehicle or the obstacle. Therefore, the vehicle locating device  50 , which receives the detection information sent from the detector  5 , can identify the location of the vehicle  20  with the high degree of accuracy on the basis of the detection information on the portion  21  to be detected. 
     In addition, according to the vehicle guidance system  1  according to this embodiment, the vehicle locating device  50  can identify the orientation of the vehicle  20  on the basis of the detection information on the portion  21  to be detected, which is detected by the detector  5 . Furthermore, the vehicle locating device  50  can calculate the speed and the advancing direction of the vehicle  20  on the basis of the location change of the portion  21  to be detected, which is detected by the detector  5 . Accordingly, the vehicle locating device  50  sets the target location of the vehicle  20  after the specified time on the basis of the information on the highly accurately identified current location of the vehicle  20 , and sends the information on the target location of the vehicle  20  after the specified time to the vehicle controller  30 . 
     In this way, the vehicle controller  30  can make the vehicle  20  travel safely from the control start location X to the target location Y along the basic route. 
     The preferred embodiment of the present invention has been described in detail so far with reference to the accompanying drawings. However, the present invention is not limited to such an embodiment. It is obvious that a person who has basic knowledge in the technical field to which the present invention pertains could have easily arrived at various modification examples and application examples that fall within the scope of the technical idea described in the claims. It is understood that those naturally fall within the technical scope of the present invention. 
     For example, in the above embodiment, the three portions  21   a  to  21   c  to be detected are provided to the vehicle  20 . However, the present invention is not limited to such an example. The number of the portions to be detected may be two, four, or more. For example, it is assumed that, when the three portions  21   a  to  21   c  to be detected are arranged as illustrated in  FIG.  7   , the heights of the three portions  21   a  to  21   c  to be detected are the same (Ha=Hb=Hc). In this case, when the three portions  21   a  to  21   c  to be detected are seen in the arrow D 4  direction, the second portion  21   b  to be detected and the third portion  21   c  to be detected overlap each other, and the orientation of the vehicle  20  cannot be identified without detecting the distances to the three portions  21   a  to  21   c  to be detected. To handle such a problem, a fourth portion  21   d  to be detected is provided as illustrated in  FIG.  11   . In this way, even when the heights of the four portions  21   a  to  21   d  to be detected are the same (Ha=Hb=Hc=Hd), at least three of the portions to be detected are visible in different arrangement regardless of the direction of view. As a result, the orientation of the vehicle  20  can be identified. Also, in the case where the number of the portions to be detected is other than three, the shape of at least one of the portions to be detected may be changed. 
     In the above embodiment, the vehicle locating device  50 , which is installed on the outside of the vehicle  20 , calculates the target location of the vehicle  20  after the specified time and sends the information on the target location to the vehicle controller  30 . However, the present invention is not limited to such an example. For example, the vehicle locating device  50  may only identify the location of the vehicle  20  on the map data, and may only send the information on the location of the vehicle  20  to the vehicle controller  30 . Also, in such an example, by using the information on the highly accurately identified location of the vehicle  20 , the vehicle controller  30  can control the travel of the vehicle  20  to make the vehicle  20  reach the target location Y along the basic route. 
     In the above embodiment, the vehicle locating device  50  calculates the relative location of the portion  21  to be detected with the installed location of the detector  5  as the reference location. However, the present invention is not limited to such an example. For example, based on information on a relative location of the detector  5  to an appropriate reference location and the information on the relative location of the portion  21  to be detected to the installed location of the detector  5 , a relative location of the portion  21  to be detected to the appropriate reference location may be calculated. The location of the portion  21  to be detected on the map data can also be identified by using the information on the thus-calculated relative location of the portion  21  to be detected. 
     The above embodiment is the example in which the vehicle  20  is guided from the control start location X to the target location Y along the basic route, and the vehicle locating device  50  controls the vehicle  20  on the basis of the detection information of the detector  5 . However, the present invention is not limited to such an example. For example, in the case where the vehicle guidance system  1  is applied to an on-premises logistic system, the vehicle locating device  50  may set target arrival time of the vehicle  20  at the target location Y and the target location after the specified time further on the basis of information on operational statuses including a production speed and a shipping speed at a production line, a shipping status, and the like. 
     The vehicle locating device  50  may simultaneously identify the locations of the plural vehicles  20 . In this case, the shape of the portion  21  to be detected is changed for each of the vehicles  20 . Then, the vehicle controller  30  sends information on an identification code and the like of the own vehicle  20  and the information on the shape of the portion  21  to be detected to the vehicle locating device  50 . The vehicle locating device  50  can identify a target vehicle on the basis of the shape of the portion  21  to be detected, which is detected by the detector  5 , and can send information on the location and the information on the target location after the specified time, which correspond to each of the vehicles  20 . 
     For example, the vehicle guidance system  1  can be applied to a passenger transport system at an airport or an event site or to an automated vehicle driving system that moves a vehicle or another transport object to a specified target location. The vehicle guidance system  1  may be applied to an automatic valet parking (AVP) system. In this case, the vehicle locating device  50  executes control for guiding the vehicle  20  from a drop-off position of the vehicle  20  to a parking spot (the target location), which is set in a particular parking area, along the set basic route. 
     In the above embodiment, the description has been made on the example in which the vehicle locating device  50  is provided as the single device. However, the present invention is not limited to such an example. The vehicle locating device  50  may include plural devices, and the above-described functions of the vehicle locating device  50  may be distributed among the plural devices. For example, in the case where the vehicle guidance system  1  is applied to the AVP system, a server (a first device) in a high-order system may have functions of designating the parking spot according to various conditions and setting the basic route to the parking spot, and a server (a second device) in a low-order system may have functions of setting and sending control information on the vehicle  20  on the basis of the detection information of the detector  5  according to the basic route received from the high-order system. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1 : Vehicle guidance system 
               5 : Detector 
               9 : Base station 
               20 : Vehicle 
               21 : Portion to be detected 
               30 : Vehicle controller 
               31 : Communication section 
               33 : Control information calculation section 
               50 : Information processor 
               51 : First communication section 
               52 : Second communication section 
               53 : Detection information processing section 
               55 : Vehicle control information setting section 
               56 : Storage section