PURPOSE: To reduce the number of magnetic markers laid on the road surface in a vehicle travel guide system using the magnetic markers.

CONSTITUTION: Magnet nails 100 are buried into the roads as the magnetic markers. Furthermore, a radio wave tag 104 is buried. The radio wave tag 104 transmitted roads shape data of about 100m in the direction of travel. The power of the ratio tag 104 is supplied from the magnetic field generator 14 of a vehicle. The vehicle detects a relative change with the magnetic nail 100 by a magnetic sensor 16 and receives road shape data from the radio wave tag 104 by a radio wave reception device 15. A controller 28 decides steering quantity based on the relative change against the magnetic nail 100 and shape data, and supplies it to an actuator 18. Since shape data is transmitted by the radio wave tag 104, the number of the magnetic nails 100 can be reduced. A beacon may be used instead of the radio wave tag 104.