PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of automatically traveling between trees and artificial erected objects arrayed at a distance from each other.SOLUTION: An automatic travel vehicle comprises: a target setting part 12 for setting two objects as a target; a reference line setting part 13 for setting a reference line which is a reference of travel when the vehicle passes between the two targets; a travel control part 16 for executing entry travel where the vehicle enters an area between the two targets from a predetermined side, linear travel where the vehicle travels along the reference line, exit travel where the vehicle exits to a predetermined side, and side passage travel where the vehicle passes by the side of the target; a steering behavior detection part 21 for detecting steering behavior of a same-phase four-wheel steering mechanism 50 by a steering control signal output to the same-phase four-wheel steering mechanism 50; and a determination part 22 for determining a collision probability of the travel vehicle with the target according to the steering behavior detected by the steering behavior detection part 21.SELECTED DRAWING: Figure 3

    【課題】互いに間隔をあけて並んでいる樹木や人工立設物などの間を、自動で走行可能な自動走行車両を提供する。【解決手段】2つの物体を目標物として設定する目標物設定部12と、2つの目標物を通る走行時の基準となる基準線を設定する基準線設定部13と、2つの目標物の間に所定側から入り込む進入走行と、基準線に沿って走行する直線走行と、所定側に抜け出す抜け出し走行と、目標物の側方を通過する側方通過走行とを実行する走行制御部16と、同位相四輪操舵機構50に出力する操舵制御信号による同位相四輪操舵機構50の操舵挙動を検出する操舵挙動検出部21と、操舵挙動検出部21によって検出された操舵挙動に基づいて走行車体と目標物との衝突可能性を判定する判定部22が備えられている。【選択図】図3


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    Titel :

    AUTOMATIC TRAVEL VEHICLE


    Weitere Titelangaben:

    自動走行車両


    Beteiligte:
    TANAKA HIDEAKI (Autor:in) / MINAKATA YUSUKE (Autor:in) / AIHARA YUKIE (Autor:in) / KIMURA SHIGENORI (Autor:in)

    Erscheinungsdatum :

    2016-05-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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