GUIDANCE SYSTEM

The present invention consists of comparing a feature pattern extracted from an actual observed image and the prediction pattern of an environmental object predicted in relation to the positional information of a mobile object and finding the difference between both the patterns and then guiding and controlling a mobile object so as to reduce the difference, in that a selection sequence rule of the environmental objects serving as guidance targets is selected and applied by an operator and that the prediction patterns for the guidance targets are created in accordance with the selection sequence rule of the objects. Thus, the comparisons between the prediction patterns of the objects according to the selection sequence rule selected and applied beforehand and the feature pattern from the observed image can be made quickly and accurately, so that the autonomous guidance of the mobile object can have the reliability enhanced more.