To provide a self-traveling type vehicle capable of detecting an obstacle on the surface of a traveling road while traveling, and exactly detecting the obstacle on the surface of the traveling road.

This vehicle is provided with the main body of vehicle equipped with a traveling means, plural laser distance measuring instruments 11-13 for one-dimensionally scanning the surface of traveling road in the direction of car width, data extracting means 21-23 for extracting proper distance data, means 31-33 for calculating the average road surface lines of laser distance measuring instruments 11-13 while using the extracted distance data, a road surface cross-sectional form calculating means 40, further, an obstacle judging means 50 for calculating the height of the obstacle from the cross-sectional form of the traveling road surface and the distance data from one laser distance measuring instrument, judging the possibility of traveling from the inclination of the traveling road surface or the height of the obstacle and calculating the rough position of the obstacle, and vehicle controller 16 for controlling the travel of the main body of the vehicle so as to avoid the obstacle based on the rough position of the obstacle.