| 摘要 |
PROBLEM TO BE SOLVED: To efficiently, smoothly return an autonomous vehicle at a time of occurrence of abnormality.SOLUTION: Abnormal-time return waypoints Kto Kare set in advance on a waypoint route Cfrom a navigation start point S to a destination point of an autonomous vehicle 1, and an abnormal-time return waypoint route Cis set to arrive at the destination by taking a shortcut with respect to the waypoint route Cby tracing the respective locations. If abnormality occurs to equipment mounted in the autonomous vehicle 1 during navigation along the waypoint route C, the autonomous vehicle 1 is controlled to be navigated to a closer point of either the abnormal-time return waypoint Kat which the autonomous vehicle 1 arrives latest along the waypoint route Cor the abnormal-time return waypoint Kat which the autonomous vehicle 1 arrives next and then controlled to be returned to the destination point along the abnormal-time return waypoint route C. |
