METHOD AND APPARATUS EMPLOYING AUTOMATIC ROUTE CONTROL SYSTEM

• US 3,845,289 A
• Filed: 07/18/1972
• Issued: 10/29/1974
• Est. Priority Date: 07/18/1972
• Status: Expired due to Term

• Current Assignee: Robert L. French
• Original Assignee: Robert L. French
• Inventors: French, Robert L.
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US05/272,734
• Time in Patent Office: 833 Days
• Field of Search: 235/150.2,151.2,150.24,150.24 340/21,23,24 179/1.1C 444/1 221/1,13,185
• US Class Current: 701/117
• CPC Class Codes: G01C 21/3626 Details of the output of route guidance instructions traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G08G 1/096811 where the route is computed offboard
• CPC Class Codes: G08G 1/096816 where the complete route is transmitted to the vehicle at once
• CPC Class Codes: G08G 1/09685 where the complete route is computed only once and not updated
• CPC Class Codes: G08G 1/096861 where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
• CPC Class Codes: G08G 1/096872 where instructions are given per voice
• CPC Class Codes: G08G 1/096888 where input information is obtained using learning systems, e.g. history databases

Abstract

Method and apparatus facilitating effecting actions along a predetermined route segment, as in commercial and residential neighborhoods, characterized by a self-contained on-board system which directs the operation of a conventional motor vehicle over the predetermined route segments, and gives instructions as to activities to be performed at closely spaced points along the route. In effect, the system continuously measures the vehicle'"'"''"'"'s location coordinates, compares these with the route coordinates, and then issues audio, visual and/or printed instructions appropriate to the location. The system also detects driver errors and prescribes corrective action. The routes to be followed and the actions to be taken are defined on interchangeable magnetic tape cartridges which may be updated daily, or as required, from the computerized central file. The system enables a driver to operate efficiently over a complex route without reference to maps or lists, and without prior knowledge of the route. It also eliminates tedious manual report preparation because computer-ready data for route accounting can be acquired on a magnetic tape cartridge. Although applicable to most types of operations carried out over routes that can be defined in advance, the prototype application is for the delivery of newspapers, preferably employing manual paper throwers for safety. The system signals each thrower with a tone through earphones at the proper time to throw papers to individual subscribers while driving through residential areas at 15 to 30 miles per hour (mph).

Claims

1. Apparatus for facilitating effecting actions by at least one carried operator at closely spaced predesignated action points along a predetermined route segment, as in commercial and residential neighborhoods, comprising:

a. a vehicle;

b. a distance measuring apparatus connected with said vehicle and capable of generating a plurality of discrete signals, one for each increment of distance travelled by at least one predetermined wheel of said vehicle;

said signals being adapted for summation into at least one distance travelled signal that is a function of the cumulative distance travelled by said vehicle at least from a predetermined initiation point;

c. a carrier having thereon a route segment action signature containing accurate information as to said predesignated actions to be effected, said information comprising a plurality of respective action points correlated with respective distances along said predetermined route segment, and whether each said action is to be performed to the left or to the right with respect to the direction of travel of said vehicle proceeding along said predetermined route segment;

said information being in read-out format that is compatible with an automatic programmer-computer means;

d. read-out and write-in means drivingly connected with said carrier for reading its route segment action signature into an automatic programmer-computer means responsive to automatic orders from said automatic programmer-computer means;

e. an automatic programmer-computer means disposed in said vehicle and connected with said distance measuring apparatus so as to be driven by said discrete signals therefrom, and drivingly connected with said read-out and write-in means and, hence, said carrier so as to effect advancement of said carrier;

said programmer-computer means having a distance measuring routine for summing said discrete signals from said distance measuring apparatus for at least one distance travelled signal;

said automatic programmer-computer means having switch means for responsively connecting the programmercomputer means with the distance measuring means and with said read-out and write-in means at an initiation point and being programmed such that, responsive to said distance travelled signals and to a coded action at respective action points in said route segment action signature on said carrier when said vehicle has traversed the indicated linear distance along said predetermined route segment to the respective said action point, said programmer-computer means generates respective First and second signals designating respective action locations at which an action is to be performed and whether said action is to be to the left or to the right;

said automatic programmer-computer means also having calibration routine for maintaining below a predetermined maximum permissible error threshold cumulative variation between respective said distance travelled signals employed to effect respective said first and second signals at respective action points and the accurate distances thereto.

2. The apparatus of claim 1 wherein a first signal means is provided for translating said first and second signals from said programmer-computer means into a form that is intelligible to said operator.

3. The apparatus of claim 2 wherein said calibration routine comprises a sub-routine for correlatively bringing together the distance indicated on said route segment action signature on said carrier and the distance travelled signature at a predetermined action point.

4. The apparatus of claim 3 wherein said route segment action signature on said carrier also contains special instructions and route information to indicate to a vehicle driver the direction in which to proceed at points along said route;

wherein there is provided a second signal means that is connected with said programmer-computer means for translating a third, fourth or fifth signal from said programmer-computer means into instructions appropriate to positions along said route and intelligible to the driver;

said programmer-computer means being programmed such that it correlates the distance traveled signal from said distance measuring means with said route information, computes therefrom when special instructions are to be given and when said driver is to turn to the left or to the right at optional turn points and generates the indicated respective third, fourth and fifth signals.

5. The apparatus of claim 4, wherein said actions comprise delivering articles on the fly to closely spaced predesignated receivers, the articles not being rendered unuseable by being delivered on the fly;

said vehicle is capable of carrying a substantial load of said articles;

said route segment action signature is a route segment delivery signature;

said plurality of action points include said predesignated receivers; and

said first and second signals indicate if an article is to be delivered to the left or to the right.

6. The apparatus of claim 5 wherein said articles are newspapers that are to be thrown to subscribers.

7. The apparatus of claim 3 wherein said calibration routine comprises a sub-routine for substituting for said distance travelled signal at a predetermined action point an accurate distance signal, as contained on said route segment action signature and defining said action point.

8. The apparatus of claim 3 wherein said calibration routine includes:

a. first sub-routine for automatically calculating a calibration factor for output signals from said wheeel with which said distance measuring means is connected; and

b. second sub-routine for automatically converting the output signals from said wheel with said calibration factor to a distance travelled signal.

9. The apparatus of claim 8 wherein there are two distance measuring apparata;

said distance measuring apparata are connected, respectively, with a left and a right wheel of said vehicle and effect respective discrete signals responsive to the distance travelled by each said left and right wheel; and

wherein said first sub-routine of said calibration routine automatically calculates a calibration factor for each of said left and right wheels of said vehicle and said second sub-routine automatically modifies the discrete signals from each said wheel by its respective said calibration factor to effect more nearly accurate distance travelled signals from the respective wheels.

10. The apparatus of claim 9 wherein said first sub-routine of said calibration routine includes a third suB-routine for accumulating a number of said discrete pulses over a predetermined distance travelled for each wheel, and a fourth sub-routine for dividing a predetermined distance travelled by the accumulated number of pulses to get a calibration factor for each said wheel.

11. The apparatus of claim 10 wherein a calibration apparatus is provided and includes a distance setting means for manually inserting a predetermined differential distance for a preliminary calibration run driving over a straight course;

and wherein manual means are provided for operation by a driver of the vehicle to signal the beginning and the end of the straight course; and

wherein said first sub-routine automatically calculates a preliminary calibration factor for each said left and right wheel of said vehicle from said preliminary driving of said predetermined distance over said straight course and responsive to operation of said calibration apparatus, including said distance setting means and said manual means signalling the beginning and end of said preliminary calibration run.

12. The apparatus of claim 11 wherein said first sub-routine includes adaptive calibration sub-routine for automatically calculating a new calibration factor for each of said left and right wheels of said vehicle at predetermined action points as said vehicle traverses said predetermined route segment and said new calibration factor is employed in storing a calibration factor for effecting the distance traveled signal from each said wheel.

13. The apparatus of claim 12 wherein said first sub-routine includes a summing means for averaging the previous calibration factor and said new calibration factor and storing an averaged calibration factor for automatically effecting the distance traveled signal from each said wheel.

14. The apparatus of claim 9 wherein said first sub-routine includes adaptive calibration sub-routine for automatically calculating a new calibration factor for each of said left and right wheels of said vehicle at predetermined action points as said vehicle traverses said predetermined route segment and said new calibration factor is employed in storing a calibration factor for effecting the distance traveled signal from each said wheel.

15. The apparatus of claim 8 wherein said first sub-routine includes adaptive calibration sub-routine for automatically calculating a new calibration factor for said wheel of said vehicle at predetermined action points as said vehicle traverses said predetermined route segment and said new calibration factor is employed in storing a calibration factor for effecting the distance traveled signal from said wheel.

16. Apparatus for facilitating effecting actions by at least one carried operator at closely spaced predesignated action points along a predetermined route segment, as in commercial and residential neighborhoods, comprising a central computer system means for preparing, maintaining up-to-date, and writing a route segment action signature containing a plurality of action points that are closely spaced and related to lineal distance along a predetermined route segment;

and vehicle-mounted apparatus for traversing along a predetermined route segment and carrying out the respective actions at said plurality of action points, as designated by the up-to-date route segment action signature prepared by said central computer system means;

said vehicle-mounted apparatus comprising;

a. a vehicle;

b. a distance measuring apparatus connected with said vehicle and capable of generating a plurality of discrete signals, one for each increment of distance travelled by at least one predetermined wheel of said vehicle;

said signals being adapted for summation into at least one distance travelled signal that is a function of the cumulative distance travelled by said vehicle at least from a predetermined initiation point;

c. a carrier for a route segment action signature containing accurate information as to said predesignated actions to be effeCted, said information comprising a plurality of respective action points correlated with respect to the distances along said predetermined route segment, and whether each said action is to be performed to the left or the right with respect to the direction of travel of said vehicle proceeding along said predetermined route segment;

said information being in read-out format that is compatible with an automatic programmer-computer means;

d. read-out and write-in means drivingly connected with said carrier for reading its route segment action signature into an automatic programmer-computer means responsive to automatic orders from said automatic programmer-computer means;

e. an automatic programmer-computer means disposed in said vehicle and connected with said distance measuring apparatus so as to be driven by said discrete signals therefrom, and drivingly connected with said read-out and write-in means and, hence, said carrier so as to effect advancement of said carrier;

said automatic programmer-computer means having distance measuring routine for summing said discrete signals from said distance measuring apparatus for a distance travelled signal;

said automatic programmer-computer means having switch means for responsively connecting the programmer-computer means with said distance measuring apparatus and with said read-out and write-in means at an initiation point and being programmed such that, automatically responsive to said distance travelled signal and to a coded action at respective action points in said route segment action signature on said carrier when said vehicle has traversed the indicated lineal distance along said predetermined route to the respective said action points, said programmer-computer means generates respective first and second signals designating respective action locations at which an action is to be performed and whether said action is to be to the left or to the right;

said automatic programmer-computer means also having calibration routine for maintaining below a predetermined maximum permissible error threshold cumulative variation between respective said distance travelled signals employed to effect respective said first and second signals at respective said action points and the accurate distances to said respective action points;

said central computer system means including, properly connected;

f. a central computer for effecting storage and retrieval of information for, and preparing therefrom, at least one route segment action signature for writing into said carrier;

g. computer input means connected with said central computer for putting into said computer information for producing said at least one route segment action signature, including information for a current list of said predesignated actions to be effected;

h. computer storage means connected with said central computer for storing said information;

i. computer read-out and write-in means connected with said central computer for writing into said carrier said route segment action signature;

said route segment action signature including an action point for at least each location at which an action is to be performed and whether each said action is to be performed to the left or to the right with respect to the direction of travel along said route;

said action points including coded information as to at least a unique identification of the action point, the action to be performed at the respective action point and the lineal distance along said predetermined route;

said carrier being physically movable into and from said central computer system means for writing thereon a current said route segment action signature;

said carrier also being physically movable into and from said vehicle-mounted apparatus in communication with said automatic programmer-computer means in said vehicle for effecting operation of said vehicle-mounted apparatus in accordance with said current route segment action signature.

17. The apparatus oF claim 16 wherein said information for preparing said route segment action signature comprises a master route segment signature that includes all potential action points and a current designation of action locations for said route segment action signautre;

and wherein said computer input means comprises first and second computer input means for storing respectively said master route segment signature and said current designation of action locations in said computer storage means.

18. The apparatus of claim 16 wherein said computer read-out and write-in means and said read-out and write-in means have both read-in and read-out capability such that either can read information optionally into and from a carrier;

a manual write-in means is provided in said vehicle and connected with said programmer-computer means for data acquisition as said vehicle traverses said predetermined route segment; and

a second carrier is provided for data acquisition.

19. The apparatus of claim 16 wherein said computer read-out and write-in means and said read-out and write-in means have both read-in and read-out capability such that either can read information optionally into and from said carrier;

a manual write-in means is provided in said vehicle and connected with said programmer-computer means for designation of action points and the action to be performed thereat as said vehicle traverses a predetermined route segment; and

said programmer-computer means is operable in a mapping mode to automatically calculate and cumulate correct distance traveled information from said distance measuring apparatus and to read into said carrier a master route segment signature comprising the information from said manual write-in means and the distance traveled at each respective action point as said vehicle traverses said predetermined route segment; and

said computer read-out and write-in means is adapted to read said master route segment signature from said carrier and into said computer storage means for later use in preparing a route segment action signature.

20. The apparatus of claim 19 wherein there are two distance measuring apparata;

said distance measuring apparata are connected, respectively, with a left and a right wheel of said vehicle and effect respective plurality of discrete signals responsive to the distance travelled by each said left and right wheel;

said left and right wheels are laterally disposed transversely aligned wheels of said vehicle and said automatic programmer-computer means in said vehicle includes a turn analysis routine adapted to calculate direction and degrees of turn effected by differential distances travelled by respective said wheels and said master route segment signature comprises a mathematical model containing for each action point at least the identity thereof;

including the cumulative distance in number of incremental distance units thereto expressed as a digital number;

a code number indicating ther respective signal to be generated thereat; and

any degrees and direction of turn to be made adjacent thereto.

21. The apparatus of claim 20 wherein an action point is indicated on said master route segment signature for each potential location wherein an action is to be performed along said predetermined route segment.

22. The apparatus of claim 21 wherein the information for preparing a current route segment action signature comprises said master route segment signature that includes all potential action points and the current designation of action locations for said route segment action signature;

said central computer is programmed to modify said master route segment signature with said current designation of action locations to produce said current route segment action signature; and

said current route segment action signature comprises a mathematical model containing for each current action point at least a digital identity thereof;

including the cumulative distance in number of incremental distance units thereto expressed as a digital number;

a code number indicating the respective signal to be generated thereat;

whether or not said current action point is a control action point and any degrees and direction of turn to be made adjacent thereto.

23. The apparatus of claim 16 wherein said actions to be performed comprise delivering articles to predesignated receivers and said vehicle is capable of carrying a load of said articles.

24. The apparatus of claim 23 wherein said articles are newspapers.

25. The apparatus of claim 24 wherein said vehicle includes a folding machine for folding said newspapers in said vehicle.

26. Apparatus for facilitating effecting actions by at least one carried operator at closely spaced predesignated action points along a predetermined route segment, as in commercial and residential neighborhoods, comprising:

a. a vehicle;

b. a plurality of distance measuring apparata connected, respectively, with two laterally disposed wheels of said vehicle and capable of generating respective pluralities of discrete signals, one for each increment of respective distances travelled by respective said wheels;

said signals being adapted for summation into respective distance travelled signals that are functions of the respective distances travelled by said wheels of said vehicle;

c. a carrier having thereon a route segment action signature containing accurate information as to said predesignated actions to be effected, said information comprising a plurality of respective action points correlated with distances along said predetermined route segment, and whether each said action is to be performed to the left or the right with respect to the direction of travel of said vehicle proceeding along said predetermined route segment;

said information being in read-out format that is compatible with an automatic programmer-computer means;

d. read-out and write-in means drivingly connected with said carrier for reading its route segment action signature into an automatic programmer-computer means responsive to automatic orders from said automatic programmer-computer means;

e. an automatic programmer-computer means disposed in said vehicle and connected with said distance measuring apparatus so as to be driven by said said discrete signals from one of said wheels, and drivingly connected with said read-out and write-in means and, hence, said carrier so as to effect advancement of said carrier;

said programmer-computer means having distance measuring routine for summing said discrete signals from said distance measuring apparatus for respective distance travelled signals from said wheels;

said programmer-computer means having switch means for responsively connecting the programmer-computer means with the distance measuring apparatus and with said read-out and write-in means at an initiation point and being programmed such that, automatically responsive to said distance travelled signals from a predetermined one of said wheels and to a coded action at respective action points in said route segment action signature on said carrier when said vehicle has traversed the indicated lineal distance along said predetermined route segment to the respective said action point, said programmer-computer means generates respective first and second signals designating respective action locations at which an action is to be performed and whether said action is to be to the left or to the right;

said automatic programmer-computer means also having calibration routine for maintaining below a predetermined maximum permissible error threshold cumulative variation between respective said distance travelled signals employed to effect respective said first and second signals at respective action points and the accurate distances thereto; and

said automatic programmer-computer means also having turn analysis routine adapted to calculate direction and degrees of turn effected by differential in distances travelled by respective said wheels.

27. The appAratus of claim 26 wherein a first signal means is provided for translating said first and second signals from said programmer-computer means into a form that is intelligible to said operator.

28. The apparatus of claim 27 wherein said route segment action signature on said carrier also contains special instructions and route information to indicate to a vehicle driver the direction in which to proceed at points along said route;

wherein there is provided a second signal means that is connected with said programmer-computer means for translating a third, fourth or fifth signal from said programmer-computer means into instructions appropriate to positions along said route and intelligible to the driver;

said programmer-computer means being programmed such that it correlates the distance traveled signal from said distance measuring means with said route information, computes therefrom when special instructions are to be given and when said driver is to turn to the left or to the right at optional turn points and generates the indicated respective third, fourth and fifth signals.

29. The apparatus of claim 26 wherein said turn analysis routine automatically calculates the direction of turn as a positive or negative angle and the degrees of turn in accordance with the formula:

theta 180 Delta D/ pi W (I) where;

theta the turn angle in degrees;

Delta D D1-D2;

D1 is the distance traveled by a first one of said wheels;

d2 is the distance traveled by a second one of said wheels; and

W is the width of the vehicle;

W, D1 and D2 being in compatible units.

30. The apparatus of claim 29 wherein an output means is connected with said programmer-computer means for providing an output signal intelligible to the driver of said vehicle;

said programmer-computer means is capable of generating a turn error signal if an incorrect turn is made and causing said output means to advise said driver of a turn error;

an unauthorized turn routine is emplaced in said programmer-computer means;

two respective auxiliary counters are connected with respective said wheels for accmulating respective distance traveled signals from each wheel; and

said auxiliary counters are reset at frequent intervals such that cumulative turn error is never allowed to reach a magnitude greater than a predetermined turn error threshold that will effect generation of a spurious error signal.

31. The apparatus of claim 30 wherein said frequent intervals is determined by a preset distance traveled signal by one of said auxiliary counters;

said programmer-computer means under the influence of said unauthorized turn routine compares the distance traveled by each said counter at the end of each respective interval; and

if an incorrect direction and degrees of turn greater than said turn error threshold is indicated, said turn error signal is generated for said driver.

32. The apparatus of claim 31 wherein said output means comprises a print-out means and said programmer-computer means in accordance with said unauthorized turn routine is capable of giving said driver instructions as to how to best correct an erroneous turn.

33. The apparatus of claim 30 wherein a turn routine is employed in said programmer-computer means at predetermined action points at which controlled or uncontrolled turns are to be effected;

and said turn routine suspends said unauthorized turn routine during said controlled or uncontrolled turns.

34. The apparatus of claim 33 wherein said turn routine comprises a controlled turn routine having reset sub-routine for resetting left and right wheel auxiliary counters to zero at a first distance before the midpoint of a controlled turn is reached in accordance with said route segment action signature;

and wherein there are provided calculating and comparing sub-routine for automatically calculating and comparing new differential distances traveled by said whEels;

said calculating and comparing sub-routine calculating a new differential distance at frequent and predetermined intervals and comparing the new Delta D'"'"''"'"'s with Delta De, the expected value of Delta D at the midpoint of said controlled turn, where Delta De is defined by pi theta W/360, in which W is said width said wheels are spaced apart and theta is the angle in degrees for said controlled turn, until said Delta De is reached and thereafter comparing said Delta D'"'"''"'"'s with pi theta W/180, the value of Delta Dc at the completion of said controlled turn, until said Delta Dc is reached and thereafter reinstating said unauthorized turn routine and simultaneously comparing the distance traveled signal from a reference one of said wheels with the lineal distance indicated by said route segment action signature to said Delta De;

said controlled turn routine effecting a missed-turn error signal if said Delta De is not reached within a predetermined second distance of said lineal distance to the expected midpoint of said controlled turn.

35. The apparatus of claim 29 wherein said distance measuring apparatus is connected with the front wheels of said vehicle.

36. The apparatus of claim 35 wherein said automatic programmer-computer means stores as the distance travelled signal for said vehicle the discrete signals from the front wheel nearest the center line of the roadway when said vehicle is proceeding normally along said predetermined route segment.

37. The apparatus of claim 29 wherein a speed calculation routine is provided for calculating a speed signal by automatically counting the number of pulses from one of said wheels per unit time.

38. The apparatus of claim 37 wherein a distance of throw sub-routine is employed to effect an indicated signal at a predetermined distance preceeding a respective action point and said speed signal is employed to modify the distance preceeding a respective action point at which an indicated signal is generated.

39. The apparatus of claim 26 wherein said distance measuring apparatus are connected with the front wheels of said vehicle.

40. Apparatus for facilitating traversal of a predetermined route segment by at least one carried operator comprising:

a. a source of route segment information for formulating a route segment action signature;

b. a vehicle;

c. a communication link communicating with said vehicle and said source of route segment information for carrying said route segment action signature to said vehicle;

d. a plurality of distance measuring apparata connected, respectively, with two laterally disposed wheels of said vehicle and capable of generating respective pluralities of discrete signals, one for each increment of distance travelled by respective said wheels;

said signals being adapted for summation into respective distance travelled signals that are functions of the respective distances travelled by said wheels of said vehicle;

e. an automatic programmer-computer means disposed in said vehicle and connected with said distance measuring apparata so as to be driven by said distance travelled signals therefrom and said communication link;

said programmer-computer means having distance measuring routine for summing said discrete signals from said distance measuring apparata for respective distance travelled signals;

said automatic programmer-computer means also having a calibration routine for maintaining below a predetermined maximum permissible error threshold cumulative variation between respective said distance travelled signals to control action points in said route segment action signature and the accurate distances thereto in accordance with said route segment action signature;

said calibration routine including;

i. first subroutine for automatically calculating the calibration factor for output siGnals from said wheels with which said distance measuring apparata are connected; and

ii. second subroutine for automatically converting the output signals from said wheels with said calibration factor to respective distance travelled signals;

said automatic programmer-computer means also having a turn analysis routine adapted to calculate direction and degrees of turn effected by differential in distances travelled by respective said wheels;

said turn analysis routine automatically calculating the direction of turn as a positive or negative angle and the degrees of turn in accordance with the formula;

theta 180 Delta D/ pi W (I) where;

theta the turn angle in degrees;

Delta D D1-D2;

D1 is the distance travelled by a first one of said wheels;

D2 is the distance travelled by a second one of said wheels;

W is the width of the vehicle;

W, D1 and D2 being in compatible units; and

f. output means connected with said automatic programmer-computer means for translating said route segment action signature into a format intelligible to a driver of said vehicle and said operator such that said driver and said operator can traverse said route segment and effect said actions.

41. The apparatus of claim 40 wherein said source of route segment information comprises a central computer system means, and said communication link communicates between said central computer system means and said programmer-computer means in said vehicle.

42. The apparatus of claim 40 wherein said programmer-computer means is capable of generating a turn error signal if an incorrect turn is made and causing said output means to advise said driver of a turn error;

an unauthorized turn routine is emplaced in said programmer-computer means;

two respective auxiliary counters are connected with respective said wheels for accumulating respective distance traveled signals from each wheel; and

said auxiliary counters are reset at frequent intervals such that cumulative turn error is never allowed to reach a magnitude greater than a predetermined turn error threshold that will effect generation of a spurious error signal;

wherein there is provided a second signal means that is connected with said programmer-computer means for translating a third, fourth or fifth signal from said programmer-computer means into instructions appropriate to positions along said route and intelligible to the driver;

said programmer-computer means being programmed such that it correlates the distance traveled signal for said vehicle with said route information, computes therefrom when special instructions are to be given and when said driver is to turn to the left or to the right at optional turn points and generates the indicated respective third, fourth and fifth signals.

43. The apparatus of claim 42 wherein a turn routine is employed in said programmer-computer means at predetermined action points at which controlled or uncontrolled turns are to be effected;

and said turn routine suspends said unauthorized turn routine during said controlled or uncontrolled turns.

44. The apparatus of claim 43 wherein said turn routine comprises a controlled turn routine for checking that controlled turns are made at the proper location and an uncontrolled turn routine for allowing a proper gradual turn to follow said route segment without generating a turn error signal.

45. The apparatus of claim 44 wherein said automatic programmer-computer means includes:

a. an initialization routine as defined in FIG. 7;

b. an interrupt input routine as defined in FIG. 8;

c. a calibration routine as defined in FIG. 10;

d. a mapping routine as defined in FIG. 11;

e. a route tape routine as defined in FIG. 12;

f. a service routine as defined in FIG. 13;

g. a route signature routine as defined in FIG. 14; and

h. an error routine aS defined in FIG. 15; and

said routines are interrelated as defined in FIG. 6.