| 摘要 |
PROBLEM TO BE SOLVED: To perform detection of an obstacle and monitoring of the state properly and smoothly at the traveling direction changing time, at the high-speed traveling time and at the obstacle detection time. SOLUTION: A scan control routine 10a controls a scan locus of laser light based on an external signal relative to the traveling direction and the traveling speed and a signal relative to an obstacle detection result from a distance measuring routine 10b and a distance until then. For example, at the right-turning time, a scan locus is set, wherein a scan frequency of a part biased to the right-turn direction from a traveling direction center axis is heightened. At the high-speed traveling time, a scan locus is set, wherein a scan frequency of a traveling direction center part is heightened. When an obstacle is detected on a closer position than a threshold distance, a scan locus is set, wherein a scan frequency near the obstacle is heightened. Hereby, detection of the obstacle and monitoring of the state can be performed properly and smoothly at the traveling direction changing time, at the high-speed traveling time and at the obstacle detection time. COPYRIGHT: (C)2006,JPO&NCIPI
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