AUTONOMOUS TRAVELING CONTROL METHOD FOR CRAWLER VEHICLE, CONTROLLER OF CRAWLER VEHICLE AND CRAWLER VEHICLE

摘要

PROBLEM: To provide an autonomous traveling control method for a crawler vehicle capable of accurately computing a predicted slide-down amount of a crawler vehicle when the crawler vehicle travels on a slope, and enabling an autonomous traveling control based on the predicted slide-down amount. SOLUTION: An autonomous traveling control method for a crawler vehicle includes the steps of setting a target trajectory of a crawler vehicle; and computing a predicted slide-down amount of the crawler vehicle when the crawler vehicle travels on a slope on the basis of a target trajectory, using a center of gravity position of the crawler vehicle, an angle of the slope and a traveling direction of the crawler vehicle in the slope.