To provide a guiding method and a device which allow an unmanned conveying vehicle to enter accurately and smoothly into a pallet.

The method provides a entering guidance for the unmanned conveying vehicle 10 that enters into an interval of legs of a pallet 20 a loading space 1 and raises it. The device provides a ground guide 18 that is installed on the ground in front of the pallet 20 and a pallet guide 26 that is installed on the under surface of a stand 21 of the pallet 20. The unmanned conveying vehicle 10 has a ground guide sensor 11 and a pallet guide sensor 12, a pallet side face guide sensor 15, which measures the distance up to the pallet 20a and the pallet 22b, and an odometer 16. The device guides by detecting a ground guide 18 and a pallet guide 26, and moves further and enters the defined distance then guides the conveying vehicle while measuring the distance from the vehicle to the leg 22a and leg 22b of the pallet 20.