AUTOMATIC OPERATION VEHICLE

Japanese Patent JP2022139380

A

To provide an automatic operation vehicle which can safely and securely stop when any error occurs in self-position estimation by an operation control part.SOLUTION: An automatic operation vehicle comprises: a drive control part 14 which controls drive of a travel part 12 and a steering part 13; a detection part 20 which detects a travel state; and a travel control part 15 which controls the drive control part on the basis of a detection signal from the detection part. The travel control part performs automatic operation on the basis of a position and an attitude which have been detected on the basis of the detection signal of the detection part, and a first self-position which is estimated from circumferential other vehicles, obstacles and signs. The automatic operation vehicle comprises a second self-position estimation part 17 which has a second vehicle speed sensor 28 and a second attitude detection sensor 29 and estimates a self-position separately. The travel control part determines that error occurs in self-position estimation and performs a stop operation when a difference in a distance and/or an attitude angle between the first self-position and a second self-position, which has been estimated by the second self-position estimation part, exceeds a prescribed threshold.SELECTED DRAWING: Figure 1

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KAMIHIRA RINTARO
SUZUKI TOMOHIRO
ALAAELDEEN MOHAMMAD ABOULELAA ABDALRAHMAN
SHIOBARA TSUTOMU
SEGAWA MASAKI

JP2021039736A

September 26, 2022

March 11, 2021

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ZMP CO LTD

B60W50/035; B60T7/12; B60W30/08; B60W60/00; G01C21/28; G05D1/02; G08G1/16

Hirayama Kazuyuki
Kakimoto Kyosei
Mitsukazu Kondo

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