| 摘要 |
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 |
