AUTONOMOUS TRAVEL VEHICLE AND REPRODUCTION TRAVEL METHOD
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Abstract
An autonomous travel vehicle includes a traveler, a storage, an elapsed autonomous travel time counter, and a reproduction travel command calculator. The traveler travels according to a travel control command. The storage stores travel route data in which subgoal points and arrival times are associated with each other. In a reproduction travel mode, the elapsed autonomous travel time counter counts the elapsed autonomous travel time while adjusting progress of the elapsed autonomous travel time. In the reproduction travel mode, the reproduction travel command calculator calculates a reproduction travel control command at the elapsed autonomous travel time as the travel control command based on a subgoal point stored in the travel route data in association with an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time.
16 Citations
18 Claims
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1-9. -9. (canceled)
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10. An autonomous travel vehicle comprising:
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a traveler that travels in accordance with a travel control command; a storage that stores travel route data, a plurality of subgoal points on a planned travel route and arrival times when the autonomous travel vehicle reaches each of the plurality of subgoal points respectively being stored in the storage in association with each other in the travel route data; an elapsed autonomous travel time counter that counts an elapsed autonomous travel time that is an elapsed time from a start of a reproduction travel mode, while adjusting progress of the elapsed autonomous travel time based on a predetermined condition, when executing the reproduction travel mode in which the autonomous travel vehicle autonomously travels along the travel route based on the travel route data; and a reproduction travel command calculator that calculates a reproduction travel control command at the elapsed autonomous travel time as the travel control command when the reproduction travel mode is executed, based on a subgoal point in the travel route data in association with a target arrival time, which is an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A reproduction travel method of an autonomous travel vehicle including a traveler that travels in accordance with a travel control command, and a storage that stores travel route data, a plurality of subgoal points on a planned travel route and arrival times when the autonomous travel vehicle reaches each of the subgoal points respectively being stored in the storage in association with each other in the travel route data, the reproduction travel method comprising the steps of:
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counting an elapsed autonomous travel time that is an elapsed time from a start of a reproduction travel mode, while adjusting progress of the elapsed autonomous travel time based on a predetermined condition; calculating a reproduction travel control command at the elapsed autonomous travel time as the travel control command, based on a subgoal point stored in the travel route data in association with a target arrival time, which is an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time; and controlling the traveler based on the reproduction travel control command as the travel control command.
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Specification