PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of traveling automatically.SOLUTION: An automatic travel vehicle 1 comprises: an object detection unit 11 detecting an object present in a preset range; a target setting unit 12 setting, on the basis of positions of the detected objects, at least two objects as targets; a reference line setting unit 13 setting a reference line serving as a reference during travel while the at least two targets are passed; a distance calculation unit 14 calculating a distance from the reference line to a vehicle body; a travel control unit 16 allowing the vehicle to travel along the reference line, while the distance is maintained within a preset range; and a bypass travel route setting unit 20 setting a bypass travel route for bypassing a newly detected object if the newly detected object is farther from the distance previously set from the reference line. When the bypass travel route is set, the travel control unit 16 allows the vehicle to travel along the bypass travel route to bypass the newly detected object while a parallel state of the vehicle is maintained with respect to the reference line.SELECTED DRAWING: Figure 3
【課題】自動で走行可能な自動走行車両を提供する。【解決手段】自動走行車両1は、予め設定された範囲に存在する物体を検出する物体検出部11と、検出された物体の位置に基づいて、少なくとも2つの物体を目標物として設定する目標物設定部12と、当該少なくとも2つの目標物を通り、走行時の基準となる基準線を設定する基準線設定部13と、基準線から車体までの距離を演算する距離演算部14と、距離を予め設定された範囲内に維持しつつ、基準線に沿って走行させる走行制御部16と、新たに検出された物体が基準線から予め設定された距離より離れている場合、新たに検出された物体を迂回する迂回走行経路を設定する迂回走行経路設定部20とを備え、走行制御部16は迂回走行経路が設定された場合、基準線に対する車両の平行状態を維持しつつ、迂回走行経路に沿って走行させて新たに検出された物体を迂回する。【選択図】図3
AUTOMATIC TRAVEL VEHICLE
自動走行車両
28.04.2016
Patent
Elektronische Ressource
Japanisch
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