AUTONOMOUS TRAVELING DEVICE, TRAVELING CONTROL METHOD FOR AUTONOMOUS TRAVELING DEVICE, AND TRAVELING CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To perform an avoidance behavior by surely detecting an obstacle on the basis of the information of a sensor which acquires peripheral information.SOLUTION: An autonomous traveling device includes: an information acquisition part 31 for acquiring peripheral information including distance information; an area setting part 32 for setting a road surface area and a route space area on the basis of the peripheral information acquired from the information acquisition part; a road surface area determination part 33 for determining progress possibility on the road surface on the basis of the peripheral information in the road surface area set by the area setting part; an obstacle determination part 34 for determining an obstacle on the route on the basis of the peripheral information in the route space area; and a progress propriety determination part 35 for determining the propriety of progress on the basis of determination results determined by the road surface area determination part and the obstacle determination part. The autonomous traveling device is configured to perform traveling control on the basis of the determination of the progress propriety determination part.SELECTED DRAWING: Figure 4