| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of traveling automatically.SOLUTION: An automatic travel vehicle 1 includes: an object detection unit 11 detecting an object existing in a predetermined range; a target setting unit 12 setting at least two objects as target on the basis of the positions of the at least two objects out of the objects detected by the object detection unit 11; a reference line setting unit 13 setting a reference line passing the at least two objects set by the target setting unit 12 and serving as the reference in traveling; a distance calculation unit 14 calculating a distance from the reference line to a vehicle body; an outer diameter estimation unit 45 estimating an outer diameter of the object on the basis of the detection result of the object detection unit 11; and a travel control unit 16 allowing the vehicle to travel along the reference line in a predetermined section while keeping the distance within a predetermined range and avoiding contact to the object on the basis of the outer diameter.SELECTED DRAWING: Figure 3 |
