| 摘要 |
PROBLEM TO BE SOLVED: To evade an obstacle in both a forward and a backward travel and to efficiently carry out autonomous-travel operation by starting a travel bypassing an obstacle when a direction decision part decides that the forward travel direction of the autonomous-travel working vehicle is matched with the direction where the obstacle is present. SOLUTION: It is confirmed whether the autonomous-travel working vehicle 1 travels forward or backward and after the direction where the obstacle is present is confirmed, it is decided whether the obstacle detection direction matches the travel direction. When the obstacle detection direction is not matched with the travel direction at this time, there is hindrance to neither the travel nor the operation of the working vehicle 1, so the travel and operation are carried on. If there is an obstacle ahead the working vehicle 1 in its travel direction and the obstacle detection direction matches the travel direction, the working vehicle 1 stops traveling. Once it is confirmed that a specific wait time is elapsed, it is judged that the obstacle in the travel direction needs to be evaded and the working vehicle 1 is made start traveling backward.
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