Vehicle, System for Steering Control, Method, Program, Recording Medium Storing Program, and Autonomous Travelling System

Steering control system for a vehicle that detects a magnetic field generated from an electromagnetic induction line and that is capable of autonomous travelling along said electromagnetic induction line, wherein the steering control system comprises:

• a plurality of induction line detection sensors attached to said vehicle;
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• a control device that, for every control cycle and on the basis of a deviation of said vehicle from said electromagnetic induction line calculated from detection data acquired by said plurality of induction line detection sensors, generates and outputs a travelling control signal causing said vehicle to turn so as to cancel the deviation, or causing said vehicle to advance straight forward, wherein
• a deviation detection reference point of said plurality of induction line detection sensors is disposed at a position separated from a pivot serving as the turning center of said vehicle, at a forward side by a distance l[m] in the horizontal direction, and
• said distance l[m] is tv[m] or more and
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• or less, where said control cycle is t[seconds], a velocity when said vehicle is travelling on said electromagnetic induction line is v[m/seconds], a deviation tolerance width in the horizontal direction from said electromagnetic induction line of said deviation detection reference point is D[m], and the smallest turning radius of said vehicle is R[m].