| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable body having a detection device for detecting an obstacle, the movable body being able to safely and carefully travel even in a situation where an obstacle detected due to its presence in an area detected by a detection device is highly likely to move out of the area and approach the movable body.SOLUTION: A control device 50 for an electric wheel chair 1, which is a movable body, comprises an obstacle presence/absence detection part 51e that detects the presence or absence of an obstacle in a first area A1 extending in an advancing direction of an estimated route Wy of an electric wheel chair 1 estimated on the basis of information input from an operation device 30 and a second area A2 as a peripheral area within a predetermined distance from the electric wheel chair 1; and a drive degree limiting part 51f that limits a driving degree of a driving device 20 to a limited driving degree during a period of time that it has been determined by the obstacle presence/absence detection part 51e that an obstacle is present in at least the first area A1 or second area A2.SELECTED DRAWING: Figure 11 |
