System for processing movement information of vehicle

• US 4,084,241 A
• Filed: 01/19/1977
• Issued: 04/11/1978
• Est. Priority Date: 10/19/1974
• Status: Expired due to Term

• Current Assignee: Toshihiro Tsumura
• Original Assignee: Toshihiro Tsumura
• Inventors: Tsumura, Toshihiro
• Primary Examiner(s): Smith, Jerry
• Application Number:
  US05/760,588
• Time in Patent Office: 447 Days
• Field of Search: 235/150.2, 235/150.24, 235/150.26, 235/150.27, 340/24, 343/112 PT
• US Class Current: 701/300
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network

Abstract

A system for generating the data concerning the position of a moving vehicle comprising paired independently rotatable wheels provided at the opposite sides of the moving direction of the vehicle, the system comprising first and second pulse generators independently and operatively coupled to the respective wheels for generating digital signals associated with the rotation speed of the respective wheels, a distance measuring device responsive to the outputs from said first and second digital signal generators for evaluating the moving distance of the vehicle, a direction storing device responsive to the outputs from said first and second digital signal generators for evaluating the moving direction of the vehicle, and a position determining device responsive to the moving distance and moving direction determinations for evaluating the moving position information of the vehicle. Such moving position information of the vehicle may be recorded on a map to trace the moving path of the vehicle on the map or, alternatively be displayed otherwise.

Claims

1. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotation of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for withdrawing, in succession, the pulse signals from said first and second pulse signal generating means, respectively, for providing first and second velocity data signals associated with the velocity of rotations of said first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the velocity data signal output from at least one of said first and second pulse signal withdrawing means for integrating the velocity data signal for evaluating in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second velocity data signals from said first and second pulse signal withdrawing means, respectively, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods; and

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating information for locating the moving position of said moving vehicle.

2. A system in accordance with claim 1, in which said first and second pulse signal withdrawing means each comprise:

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second velocity data signals, for each of said successive predetermined unit time periods.

3. A system in accordance with claim 2, in which said first and second pulse signal withdrawing means each further comprise:

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second velocity data signals from said first and second counting means, for each of the successive succeeding predetermined unit time periods.

4. A system in accordance with claim 3, which further comprises:

first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the velocity data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the velocity data signals from said first and second counting means in the absence of an abnormal change detected output from said first and second abnormal change detecting means.

5. A system in accordance with claim 4, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second velocity data signals from said first and second counting means and the velocity data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference evaluating means.

6. A system in accordance with claim 1, which further comprises means for outputting said position locating information.

7. A system in accordance with claim 6, in which output means comprises means for recording said position locating information.

8. A system in accordance with claim 7 in which said recording means comprises:

a record medium; and

means responsive to said position locating information for recording said moving position of said vehicle on said record medium.

9. A system in accordance with claim 8, in which said record medium comprises:

a map of a given reduced scale, said map comprising a machine readable reduced scale information, and which further comprises;

means for reading said reduced scale information; and

means responsive to the output from said reading means for accomodating said recording means to said reduced scale of said map.

10. A system in accordance with claim 6, in which said output means comprises means responsive to said position locating information for printing out said information in human readable characters.

11. A system in accordance with claim 6, in which said output means comprises means responsive to said position locating information for displaying said information.

12. A system in accordance with claim 1, which further comprises:

means for providing a moving direction factor in a predetermined moving state of said moving vehicle; and

means responsive to the output from said moving direction factor providing means for correcting the moving direction determined by said moving direction evaluating means.

13. A system in accordance with claim 1, which further comprises:

means responsive to the output from said difference providing means for providing information concerning the heading direction of said moving direction.

14. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels providing at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotations of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means for withdrawing, in succession, said pulse signals from said first and second pulse signal generating means, respectively, for providing first and second velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the velocity data signal output from at least one of said first and second pulse signal withdrawing means for integrating the velocity data signal for evaluating, in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second velocity data signals from said first and second pulse signal withdrawing means, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating coordinate positional information of said moving vehicle;

a position display medium for displaying the position of said moving vehicle;

means operatively associated with said position display medium for scanning said position display medium;

means operatively coupled to said scanning means for detecting the scanning position on said position display medium by said scanning means;

means responsive to said coordinate position information evaluating means and said scanning position detecting means for comparing the output from said coordinate position information providing means and the scanning position information from said scanning position detecting means; and

means responsive to the output from said comparing means and operatively coupled to said position display medium for displaying the position of said moving vehicle on said position display medium.

15. A system in accordance with claim 14, in which said first and second pulse signal withdrawing means each comprise:

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second velocity data signals, for each of said successive predetermined unit time periods. 16. A system in accordance with claim 15, in which said first and second pulse signal withdrawing means each further comprise;

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second velocity data signals from said first and second counting means, for each of the successive succeeding

18. evaluating means. 19. A system in accordance with claim 14, which further comprises a recording medium for recording the moving path of said moving vehicle, whereby the position of said moving vehicle is recorded in succession in response to the successive outputs from said compare means

16. predetermined unit time periods. 17. A system in accordance with claim 16, which further comprises:

first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the velocity data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the velocity data signals from said first and second counting means in the absence of an abnormal change detected output from

17. said first and second abnormal change detecting means. 18. A system in accordance with claim 17, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second velocity data signals from said first and second counting means and the velocity data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference

19. and the moving path of said moving vehicle is recorded. 20. A system in accordance with claim 19, in which said moving path recording medium has a desired path recorded in advance, and which further comprises:

means for scanning said desired path for withdrawing the scanning position information associated with said desired path; and

means responsive to the co-ordinate position information of said moving vehicle and said scanning position information for evaluating the distance and azimuth from said co-ordinate position of said vehicle to said

20. scanning position. 21. A system in accordance with claim 20, which further comprises:

means for generating function information associated with said desired path; and

means responsive to said functional information and said co-ordinate position information of said moving vehicle for evaluating the distance

21. and the azimuth from said co-ordinate position to said desired path. 22. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotation of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for withdrawing, in succession, the pulse signals from said first and second pulse signal generating means, respectively, for providing first and second velocity data signals associated with the velocity of rotations of said first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the velocity data signal output from at least one of said first and second pulse signal withdrawing means for integrating the velocity data signal for evaluation in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second velocity data signals from said first and second pulse signal withdrawing means, respectively, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating information for locating the moving position of said moving vehicle;

means fixedly provided on a predetermined point for transmitting positional information identifying said predetermined point;

means borne on said moving vehicle for receiving said positional information identifying said point transmitted from said transmitting means; and

means responsive to an output from said receiving means for correcting said moving position locating information obtainable from said moving position

22. locating information providing means. 23. A system in accordance with claim 22, in which said first and second pulse signal withdrawing means each comprise:

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second velocity data signals, for each of said

26. evaluating means. 27. A system in accordance with claim 22, in which said transmitting means comprises a plurality of said transmitting means provided at different predetermined points;

and

said receiving means comprises means responsive to position locating information from said plurality of transmitting means for judging the moving direction of said moving vehicle, and which further comprises;

means responsive to an output from said moving direction judging means for forcibly changing said output from said moving direction evaluating means.

28. judging means. 29. A system in accordance with claim 22, which further

23. successive predetermined unit time periods. 24. A system in accordance with claim 23, in which said first and second pulse signal withdrawing means each further comprise:

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second velocity data signals from said first and second counting means, for each of the successive succeeding

24. predetermined unit time periods. 25. A system in accordance with claim 24, which further comprises:

first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the velocity data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the velocity data signals from said first and second counting means in the absence of an abnormal change detected output from

25. said first and second abnormal change detecting means. 26. A system in accordance with claim 25, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second velocity data signals from said first and second counting means and the velocity data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference

27. 8. A system in accordance with claim 27, which further comprises means for manually providing moving directional information to said moving direction

29. comprises means for outputting said position locating information. 30. A system in accordance with claim 29, in which said output means comprises

32. said recording means to said reduced scale of said map. 33. A system in accordance iwth claim 29, in which said output means comprises means responsive to said position locating information for printing out said

33. information in human readable characters. 34. A system in accordance with claim 29, in which said output means comprises means responsive to said

30. means for recording said position locating information. 31. A system in accordance with claim 30, in which said recording means comprises:

a record medium; and

means responsive to said position locating information for recording said

31. moving position of said vehicle on said record medium. 32. A system in accordance with claim 31, in which said record medium comprises:

a map of a given reduced scale, said map comprising a machine readable reduced scale information, and which further comprises;

means for reading said reduced scale information; and

means responsive to the output from said reading means for accommodating

34. position locating information for displaying said information. 35. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotations of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means for withdrawing, in succession, said pulse signals from said first and second pulse signal generating means, respectively, for providing first and second velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the velocity data signal output from at least one of said first and second pulse signal withdrawing means for integrating the velocity data signal for evaluating, in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second velocity data signals from said first and second pulse signal withdrawing means, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating coordinate positional information of said moving vehicle;

means for storing information concerning a moving path to be followed by said moving vehicle;

means operatively associated with said store means for scanning said information concerning said moving path for providing information associated with said moving path; and

means responsive to the coordinate position information of said moving vehicle and said scanning position information for evaluating the distance and azimuth from said coordinate position of said vehicle to said scanning

35. position. 36. A system in accordance with claim 35, in which said first and second pulse signal withdrawing means each comprise:

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second velocity data signals, for each of said

39. evaluating means. 40. A system in accordance with claim 35, wherein said information storing means comprises a recording medium for recording the

40. moving path of said moving vehicle. 41. A system in accordance with claim 35, which further comprises:

means for generating function information associated with said path; and

means responsive to said functional information and said coordinate position information of said moving vehicle for evaluating the distance

36. successive predetermined unit time periods. 37. A system in accordance with claim 36, in which said first and second pulse signal withdrawing means each further comprise:

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second velocity data signals from said first and second counting means, for each of the successive succeeding

37. predetermined unit time periods. 38. A system in accordance with claim 37, which further comprises:

a first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the velocity data signals associated with the velocity of rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the velocity data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the velocity data signals from said first and second counting means in the absence of an abnormal change detected output from

38. said first and second abnormal change detecting means. 39. A system in accordance with claim 38, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second velocity data signals from said first and second counting means and the velocity data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference

41. and the azimuth from said coordinate position to said path. 42. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotation of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for withdrawing, in succession, the pulse signals from said first and second pulse signal generating means, respectively, for providing first and second data signals associated with the rotations of said first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the data signal output from at least one of said first and second pulse signal withdrawing means for evaluating in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second data signals from said first and second pulse signal withdrawing means, respectively, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predeterminted unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating information for locating the moving position of said moving vehicle;

said first and second pulse signal withdrawing means each comprising;

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second data signals, for each of said successive predetermined unit time periods; and

first and second pulse signal withdrawing means each further comprise;

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second data signals from said first and second counting means, for each of the successive succeeding predetermined unit time periods;

first and second abnormal change detecting means responsive to said first and second storage means, respectively, for detecting an abnormal change in the data signals associated with the rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the data signals from said first and second counting means in the absence of an abnormal change detected output from said first and

42. second abnormal change detecting means. 43. A system in accordance with claim 42, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second data signals from said first and second counting means and the data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference evaluating

43. means. 44. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotations of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means for withdrawing, in succession, said pulse signals from said first and second pulse signal generating means, respectively, for providing first and second data signals associated with the rotations of said paired first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the data signal output from at least one of said first and second pulse signal withdrawing means for evaluating, in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second data signals from said first and second pulse signal withdrawing means, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating coordinate positional information of said moving vehicle;

a position display medium for displaying the position of said moving vehicle;

means operatively associated with said position display medium for scanning said position display medium;

means operatively coupled to said scanning means for detecting the scanning position on said position display medium by said scanning means;

means responsive to said coordinate position information evaluating means and said scanning position detecting means for comparing the output from said coordinate position information providing means and the scanning position information from said scanning position detecting means;

means responsive to the output from said comparing means and operatively coupled to said position display medium for displaying the position of said moving vehicle on said position display medium;

said first and second pulse signal withdrawing means each comprising;

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second data signals, for each of said successive predetermined unit time periods; and

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second data signals from said first and second counting means, for each of the successive succeeding predetermined unit time periods;

first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the data signals associated with the rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the data signals from said first and second counting means in the absence of an abnormal change detected output from said first and

44. second abnormal change detecting means. 45. A system in accordance with claim 44, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second data signals from said first and second counting means and the data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference evaluating

45. means. 46. A system for processing positional information of a moving vehicle comprising paired first and second independently rotatable wheels provided at both sides of the moving direction of the vehicle, said system comprising:

first and second means independently and operatively coupled to said paired first and second wheels, respectively, for generating pulse signals in association with the rotation of said paired first and second wheels, respectively;

means for generating, in succession, a timing signal indicative of a predetermined unit time period;

first and second pulse signal withdrawing means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for withdrawing, in succession, the pulse signals from said first and second pulse signal generating means, respectively, for providing first and second data signals associated with the rotations of said first and second wheels, respectively, for each of said successive predetermined unit time periods;

means responsive to the data signal output from at lease one of said first and second pulse signal withdrawing means for evaluating in succession, the moving distance of said moving vehicle, for each of said successive predetermined unit time periods;

means responsive to said first and second pulse signal withdrawing means for providing, in succession, the difference between said first and second data signals from said first and second pulse signal withdrawing means, respectively, for each of said successive predetermined unit time periods;

means responsive to said difference providing means for evaluating, in succession, a trigonometric function value associated with said difference, for each of said successive predetermined unit time periods;

means responsive to the output from said moving distance evaluating means and the output from said trigonometric function value evaluating means for multiplying, in succession, said moving distance from said moving distance evaluating means by said trigonometric function value from said trigonometric function value evaluating means for evaluating information for locating the moving position of said moving vehicle;

means fixedly provided on a predetermined point for transmitting positional information identifying said predetermined point;

means borne on said moving vehicle for receiving said positional information identifying said point transmitted from said transmitting means;

means responsive to an output from said receiving means for correcting said moving position locating information obtainable from said moving position locating information providing means;

said first and second pulse signal withdrawing means each comprising;

first and second counting means responsive to said first and second pulse signal generating means, respectively, and said timing signal generating means for counting, in succession, the number of pulse signals from said first and second pulse signal generating means, respectively, for providing said first and second data signals, for each of said successive predetermined unit time periods; and

first and second storage means responsive to said first and second counting means, respectively, and said timing signal generating means for storing, in succession, said first and second data signals from said first and second counting means, for each of the successive succeeding predetermined unit time periods;

first and second abnormal change detecting means responsive to said first and second counting means and said first and second storage means, respectively, for detecting an abnormal change in the data signals associated with the rotations of said paired first and second wheels, respectively; and

first and second means responsive to said first and second abnormal change detecting means for selectively withdrawing the data signals from said first and second storage means in the presence of an abnormal change detected output from said first and second abnormal change detecting means and withdrawing the data signals from said first and second counting means in the absence of an abnormal change detected output from said first and

46. second abnormal change detecting means. 47. A system in accordance with claim 46, in which said first and second abnormal change detecting means each comprises:

first and second means responsive to said first and second counting means and said first and second storage means for evaluating the difference between the first and second data signals from said first and second counting means and the data signals from said first and second storage means, respectively, said selective withdrawing means being adapted to be responsive to said difference output from said difference evaluating means.