As environmental regulations on carbon emissions are strengthened worldwide, the existing internal combustion engine-centered automobile industry is being reformed. In particular, large buses and large cargo trucks are pointed out as one of the main causes of environmental destruction due to excessive carbon emissions. The E-Highway power collection system, which has recently been proposed as a solution, uses the vehicle's battery as a backup power source or regenerative braking, depending on whether the pan head of the pentograph installed in the vehicle is in contact with the overhead line. It is used to store the excess energy generated. However, wear through contact due to continuous contact reduces the current collection effect and causes failure. In this paper, by using the current difference, the horizontal position information of the panhead in contact with the overhead line is acquired, thereby reducing the abrasion of the conductor and the panhead Make it possible to follow the overhead line. The position estimation method proposed in this paper simply configures a device that can detect the position of the overhead line of the pantograph by the difference in resistance. It is economical and has the advantage of reducing the volume. The characteristics of the panto...