| 摘要 |
PURPOSE:To enable a self-traveling vehicle to evade autonomously the obstacles existing on a traveling path by calculating the distances between the traveling path and obstacles or among these obstacles respectively and deciding on these calculation results whether the vehicle can pass through those obstacles or not. CONSTITUTION:An image pickup device 1 photographs a traveling path and the obstacles existing on the path. A picture processing means 2 converts the pictures obtained by the means 1 into the 2-dimensional plane pictures. A path deciding means 3 calculates the distances between the traveling path and the obstacles shown in the 2-dimensional plane pictures or among other obstacles respectively and decides whether the vehicle can pass through these obstacles or not. In other words, the distance is calculated between the obstacles shown on the 2-dimensional plane picture and a guardrail and it is decided based on the result of said calculation whether the vehicle can pass through the obstacle or not. Thus the vehicle can evade obstacles quickly and with high accuracy.
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