| 摘要 |
A traveling vehicle (2) is equipped with an obstacle sensor (14) for detecting a distance to an obstacle and an orientation to the obstacle. A map of a travel route of the traveling vehicle is stored. A detection area (26-28, 30-32, 41-43) where deceleration of the traveling vehicle (2) is required if there is any obstacle in the detection area is repeatedly generated based on the position of the traveling vehicle from the map. Among obstacles (40) detected by the obstacle sensor (14), an obstacle in the detection area is detected. Deceleration control of the traveling vehicle is implemented for preventing interference with the detected obstacle. |
