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  • The traveling control system according to claim 15, wherein when the traveling mode is changed to the left turn mode or the right turn mode, the turning angle is defined by a=k 1(d/tsr)???k 2 z wherein a is the turning angle, k1 and k2 are constants, d is a distance between the first receiver and the second receiver, t is a time elapsed when changing a present mode to a subsequent mode in a course
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