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

    【課題】効率の良い回避動作を行うことができる自律走行体を提供する。【解決手段】制御装置32は、センサ31の検出結果から車両の進行する経路の方向に拡がる探索領域内に障害物が存在する場合、障害物から、水平方向のうち進行方向に直交するX方向に、車両を回避させることが可能な複数の回避可能領域が存在するか否かを探索する。制御装置32は、複数の回避可能領域が存在すると判定された場合、回避可能領域を通って本来の走行経路に戻るために許容される速度により各回避可能領域を評価する。制御装置32は、複数の回避可能領域のうちの評価が高い回避可能領域を選択して当該回避可能領域を走行することで車両に回避行動を行わせる。【選択図】図2


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    Title :

    AUTONOMOUS TRAVELING BODY


    Additional title:

    自律走行体


    Contributors:
    NAKADA SHO (author)

    Publication date :

    2022-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



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