Vehicular system

A vehicular system where a vehicle moves in a traveling area including grid points where passages intersect each other, wherein

• in the traveling area, magnetic markers as magnetism generation sources are arranged at each of the grid points where the passages intersect each other so that magnetic polarities form a predetermined pattern, and a wireless tag which outputs tag information via wireless communication is attached to some of the magnetic markers, the tag information allowing a position of the some of the magnetic markers to be identified,
• the system comprises:
• a first position identifying part configured to identify a magnetic marker detected by the vehicle by using the tag information, and configured to identify a first vehicle position where the vehicle is located based on the position of the magnetic marker;
• and
• a second position identifying part configured to identify a magnetic marker newly detected by the vehicle by using detection history indicating history information of the magnetic marker detected by the vehicle, the detection history including information about the magnetic polarity of the magnetic marker detected, and configured to identify a second vehicle position based on the position of the magnetic marker newly detected, and
• the second position identifying part is configured to identify, for each of the grid points in a route where the vehicle has moved from an identified position as a starting point, a passage traveled by the vehicle among the passages crossing at the grid point by using the predetermined pattern and the detection history regarding the magnetic polarity of the magnetic marker in the traveling area, thereby configured to identify a destination point to which the vehicle has moved through the route, and configured to identify a magnetic marker arranged at the destination point to which the vehicle has moved as the magnetic marker newly detected by the vehicle, wherein
• in the traveling area, passages in a row direction and passages in a column direction allowing the vehicle to move form a grid shape, and the magnetic markers are arranged at the grid points where any of the passages crosses another one of the passages.