US Patent 7558670 Guided vehicle system and transportation method

When the destination of a guided vehicle 24 is changed from a point 20 to a point 18, the speed of the guided vehicle 24 is controlled so that a new travel route can be calculated before the guided vehicle 24 arrives at the nearest branch point 10. The guided vehicle 24 cancels unnecessary blocking for straight traveling at the branch point 10, for straight traveling at a merge point 14, and for branch traveling at a branch point 12, and request blocking for branch traveling at the branch point 10 again, and travels based on the new route.