| 摘要 |
PROBLEM TO BE SOLVED: To perform travel control in consideration of an error of an own vehicle position obtained from a position calculation device.SOLUTION: A transport vehicle includes: a position calculation device 220 calculating a prediction position of an own vehicle; a position range calculation unit 201b calculating a position range where a transport vehicle exists at a predetermined expectation probability, with the prediction position as a center; a maximum deviation amount calculation unit 602 calculating a maximum deviation amount obtained from a maximum value among deviation amounts between a target route of the transport vehicle and each point contained within the position range; a target vehicle speed determination unit 603 making a target vehicle speed of the transport vehicle relatively small, in a case where the maximum deviation amount is relatively large; and a target route following unit 201g performing control so as to travel the transport vehicle along the target route, according to the target vehicle speed.SELECTED DRAWING: Figure 6 |
