AUTONOMOUS TRAVEL SYSTEM, VEHICLE EQUIPPED WITH THE SAME, AND AUTONOMOUS TRAVEL METHOD

摘要

PROBLEM TO BE SOLVED: To provide an autonomous travel system which can make correct and quick determination of obstacles, dents and slopes, and a vehicle equipped with the same and an autonomous travel method.;SOLUTION: An autonomous travel system comprises: a distance measurement device 11 which measures a distance up to a measurement object located in front of a vehicle; and a control part. The control part comprises: a measurement result position calculation part which calculates, based on the distance obtained by the distance measurement device 11, a first position p_i,j and a second position p_i,j+1 which are positions on the measurement object in each of a first direction D_j which passes through the distance measurement device 11 and is a direction forming a depression angle with respect to a plane HL parallel to a floor surface G and a second direction D_j+1 which is a direction forming a depression angle shallower than that of the first direction D_j, on a plane passing through the distance measurement device and perpendicular to the floor surface G; and a traveling determination part which determines that the vehicle cannot travel at the second position p_i,j+1 in the case where the second position p_i,j+1 does not exist within ranges ψ_L-ψ_U of the slope angle where the vehicle can travel with the first position p_i,j.;SELECTED DRAWING: Figure 8;COPYRIGHT: (C)2019,JPO&INPIT