To provide an autonomous traveling body capable of taking an efficient avoidance action.SOLUTION: A controller 32 searches, when it is known from a detection result of a sensor 31 that there is an obstacle in a search region spreading in a direction of a route where a vehicle travels, for whether there are a plurality of avoidable regions in which the vehicle can be made to avoid the obstacle in an X direction orthogonal to a traveling direction among horizontal directions. When it is determined that there are the plurality of avoidable regions, the controller 32 evaluates the respective avoidable regions with speeds which are allowed for returning an original travel route through the avoidable regions. The controller 32 makes the vehicle take an avoidance action by selecting an avoidable region with high evaluation among the plurality of avoidable regions and traveling in the avoidable region.SELECTED DRAWING: Figure 2
自律走行体
2024-06-18
Patent
Elektronische Ressource
Japanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |