| 摘要 |
PROBLEM TO BE SOLVED: To enable a smooth transition from a manual travel mode to an automatic travel mode.SOLUTION: A vehicle has: an automatic travel mode 81 enabling an automatic travel by a control part 30 controlling steering drive means, engine revolution control means and transmission means; and a manual travel mode 80 enabling a travel of a body in accordance with a manual operation. The control part is connected to an auto-manual changeover switch 71 for changing over between the automatic travel mode 81 and manual travel mode 80. Further, when the auto-manual changeover switch 71 is changed from manual to auto, the control part 30 changes to an automatic travel ready mode under a condition where a vehicle speed is equal to or less than a set speed, a steering device is at a substantial straight position, forward-reverse changeover means is neutral, no operation is performed on clutch pedal 16, brake pedal 15 and parking lever 39, a secondary transmission device is at a low speed position, no abnormality exists, and an engine revolution is equal to or higher than a set number of revolution, and then changes to the automatic travel mode 81, starting an automatic travel, under a condition where all data necessary for the automatic travel is put together. |
