| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that there is the case that a housing area cannot be recognized when a distance from an entrance port to a back wall is short in the housing area, by a conventional uniting algorithm.SOLUTION: A traveling method of a traveling vehicle 13 is the traveling method of the traveling vehicle 13 which travels to a housing area 23a whose one side is formed as an entrance port on the basis of a measurement result in a measurement part 44. In the traveling method, a reference point distance Ls which is a distance to a wall 51 at the back of a recess measured in the measurement part 44 is measured in the measurement part 44, whether or not the reference point distance Ls is equal to or longer than a correction distance N1 is determined, and then when the reference point distance Ls is shorter than the correction distance N1, a first housing point and a second housing point are estimated within a limited left side limitation range SL and right side limitation range SR, whether or not the recess is the housing area 23a is estimated on the basis of the estimated first housing point and second housing point, and when the recess is the housing area 23a, traveling is performed toward the housing area 23a. |
