| 摘要 |
In an apparatus for controlling an autonomous operating vehicle, a traveling direction and traveled distance are calculated based on outputs of wheel speed sensor and angular velocity sensor, and the vehicle is controlled to, as traveling straight, perform the operation using an operating machine in accordance with a predetermined travel pattern in a travel-scheduled area based on the calculated traveling direction and traveled distance. It is determined whether a difference between a scheduled-travel distance (L1) scheduled in the predetermined travel pattern and an actual traveled distance (L2) exceeds a permissible value (±) when the vehicle is traveled straight (S 10 to S 18) and a center value of the outputs of the angular velocity sensor is corrected when the difference is determined to exceed the permissible value (S22). |
