| 摘要 |
<p>Provided is an autonomous travel system having an operation management unit that comprises the following: a map database including a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the range of travel is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning the travel of the vehicle, which, if the vehicle is present near the boundary of a map, blocks the boundary of the map so that other vehicles will not advance into another map. In the invention, the operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel, and the vehicle travel planning unit assigns a point on the boundary that has not been blocked by the travel route plans of high-priority vehicles as a target point and determines a travel route that avoids areas where high-priority vehicles are to travel.</p> |
