Vehicle guidance system, onboard apparatus, and ground apparatus

A vehicle guidance system, comprising;

• an onboard apparatus configured to be mounted at a vehicle;
• and
• a ground apparatus configured to be provided on a ground,
• the onboard apparatus including:
• a guide controller performing a guide control for guiding the vehicle to enter a predetermined area through an entrance thereof, the predetermined area being provided on the ground;
• a transmission controller performing a transmission control for transmitting a first wave to an outside of the vehicle by an onboard transmitter that is configured to be mounted at the vehicle, the transmission control being performed in preparation for the guide control performed by the guide controller;
• and
• a reception controller performing a reception control for receiving a second wave obtained in response to the first wave by an onboard receiver that is configured to be mounted at the vehicle,
• the ground apparatus including:
• a plurality of ground receivers at least one of which is configured to be arranged at a first position and at least one of which is configured to be arranged at a second position to receive the first wave, the first position and the second position corresponding to opposed ends of the entrance opposed in a width direction thereof;
• and
• a plurality of first ground transmitters provided corresponding to the plurality of ground receivers, at least one of the plurality of first ground transmitters transmitting the second wave in response to a reception of the first wave by at least one of the plurality of ground receivers at least in a direction opposite to an entry direction of the vehicle to the predetermined area,
• the guide controller determining an entry line to the entrance for the vehicle based on a change of a signal level of the second wave received during the reception control performed by the reception controller, the signal level changing depending on a position of the vehicle.