JP3233253B2 - Travel control device for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting means for detecting the presence or absence of an obstacle on the front side in the traveling direction of a moving vehicle which automatically travels along a traveling route, and detecting a stop mark to stop the vehicle. <br/> arrival detection means for detecting that the vehicle has reached the expected stop position,
A rear-end collision prevention control for stopping the moving vehicle when an obstacle is present within a set distance for stopping and for starting the moving vehicle when the obstacle is no longer present, based on the detection information of the obstacle detecting means, and The present invention relates to a travel control device for a mobile vehicle, provided with travel control means for performing stop control for stopping the mobile vehicle at the expected stop position based on detection information of the arrival detection means.

[0002]

2. Description of the Related Art Such a traveling control device for a moving vehicle is used when a plurality of moving vehicles automatically travel along a traveling route toward an expected stop position of a load transfer station or the like in an unmanned transport facility such as a factory. In order to prevent a succeeding moving vehicle from colliding with a preceding moving vehicle or colliding with an obstacle other than the moving vehicle, an obstacle detecting means such as an ultrasonic type provided in the moving vehicle is used. When the presence of an obstacle (moving vehicle, etc.) within the set distance for stopping on the front side in the traveling direction is detected, while performing the control necessary for preventing collision such as stopping the moving vehicle, the station, etc. The stop mark set at the expected stop position is detected by a mark sensor (corresponding to arrival detection means) on the moving vehicle side and stopped.

In some cases, a plurality of stations are arranged close to each other along a traveling route. In order to stop a moving vehicle at each station, it is necessary to bring the moving vehicles adjacent to each other close to each other as close as possible. However, conventionally, since it is difficult to detect a very short distance by an ultrasonic type or the like obstacle detecting means, when stopping at a station or the like arranged close to the above, it is difficult to detect an ultrasonic or other type of obstacle. Instead of stopping the operation of the means, instead of detecting the distance to the vehicle on the front side with a light reflection type distance sensor or the like and performing rear-end collision prevention control, the vehicle is stopped at each expected stop position. .

[0004]

However, in the above-mentioned prior art, it is troublesome to adjust a light reflection type distance sensor or the like so as to obtain an appropriate distance detection accuracy while considering the performance variation. At the same time, the distance sensor is not properly adjusted,
Alternatively, if the vehicle is used in a faulty state and the distance from the moving vehicle on the front side is erroneously detected as being longer than the actual distance, there is a possibility that the vehicle will collide with the moving vehicle on the front side.

The present invention has been made in view of the above circumstances, and an object of the present invention is to eliminate the need for a light-reflection type distance sensor or the like which is troublesome for adjustment, and to stop each station such as a station arranged closely. The present invention is to stop a moving vehicle safely without causing the moving vehicle to collide with a moving vehicle on the front side.

[0006]

According to a first characteristic configuration of the traveling control device for a mobile vehicle according to the present invention, stop information indicating that the mobile vehicle is stopped at the expected stop position is provided to the mobile vehicle. Stop information transmitting means for transmitting toward the rear side in the traveling direction, and stop information receiving means for receiving the stop information from the moving vehicle on the forward side in the traveling direction are provided, and the travel control means includes the stop information receiving means. When the stop information is received, without performing the rear-end collision prevention control based on the detection information of the obstacle detection means, the vehicle on the front side with respect to the planned stop position where the moving vehicle on the front side in the traveling direction is stopped is stopped. Stop mark at expected stop position is detected by the arrival detection means
To, in that it is configured to perform the stop control for its front-stopped position.

According to a second characteristic configuration, in the first characteristic configuration, the moving vehicle is provided with distance detecting means for detecting a distance to the expected stop position, and the stop information receiving means is provided with the distance detecting means. Is configured to determine whether or not the stop information has been received only when the distance to the expected stop position approaches within a set distance based on the detection information.

In a third characteristic configuration, in the first or second characteristic configuration, the obstacle detecting means detects an obstacle within a set distance for deceleration set to a distance longer than the set distance for stop. The traveling control unit is configured to detect the presence or absence of the moving vehicle, based on the detection information of the obstacle detecting unit, to reduce the traveling speed of the mobile vehicle when an obstacle exists within the set distance for deceleration. The point is that it is configured.

A fourth feature is that in the first, second or third feature, the obstacle detecting means emits an ultrasonic signal for detection forward in a traveling direction, And a receiver for receiving the ultrasonic signal reflected by the ultrasonic wave obstacle detecting means.

In a fifth aspect, in the first, second, third or fourth aspect, the stop information transmitting means comprises light emitting means for transmitting the stop information as an optical signal. The stop information receiving means is constituted by a light receiving means for receiving an optical signal from the light emitting means.

[0011]

According to the first characteristic configuration, a moving vehicle that automatically travels along a traveling route is provided with a stop mark by an arrival detecting means.
When detected and stopped by detecting the arrival at the expected stop position, stop information indicating that it is stopped in its expected stop position is, toward the stop information transmission means that the transport vehicle in the traveling direction of the rear side outgoing When the stop information is received by the stop information receiving means of the following moving vehicle, the moving vehicle on the rear side in the traveling direction is within the set distance for stopping on the front side in the traveling direction by the obstacle detecting means. The vehicle continues to run even if an obstacle (in this case, a moving vehicle on the front side in the traveling direction) is detected, and stops at the expected stop position on the near side of the expected stop position where the traveling vehicle on the front side in the traveling direction is stopped. The stop mark is detected by the arrival detection means, and stops at the expected stop position on the near side. On the other hand, when the stop information is not received from the traveling vehicle on the front side in the traveling direction, the traveling vehicle on the rear side in the traveling direction has an obstacle (the traveling vehicle on the forward side in the traveling direction) within the set distance for stopping on the forward side in the traveling direction. When the vehicle is present, the vehicle is stopped, and when the obstacle is no longer present, the vehicle is started.

According to the second feature configuration, in the first feature configuration, when the distance to the expected stop position detected by the distance detection means approaches within a set distance, the movement in the rearward direction in the traveling direction is performed. When the vehicle stop information receiving means receives the stop information from the moving vehicle on the front side in the traveling direction, the stop control is performed for the above-mentioned expected stop position regardless of the presence or absence of the obstacle by the obstacle detection means. If the stop information receiving means of the moving vehicle on the rear side in the traveling direction receives the stop information from the moving vehicle on the front side in the traveling direction when the distance to is longer than the set distance, the received information is ignored. Then, collision prevention control is performed according to the presence or absence of an obstacle by the obstacle detection means.

According to the third feature configuration, in the first or second feature configuration, the obstacle detecting means detects the obstacle (the distance between the obstacle and the vehicle) within a deceleration set distance longer than the stop set distance. In this case, when the traveling vehicle on the front side in the traveling direction is detected, the traveling speed of the traveling vehicle on the rear side in the traveling direction is reduced, and the traveling vehicle on the forward side in the traveling direction stops while traveling in the decelerated state. When the vehicle reaches the scheduled stop position on the front side of the scheduled stop position, the vehicle stops from the deceleration state.

According to the fourth characteristic configuration, the above-mentioned first and second features are provided.
Alternatively, in the third characteristic configuration, an ultrasonic signal for detection is emitted forward in the traveling direction from a transmitter provided in the ultrasonic obstacle detection means, and the ultrasonic signal emitted forward in the traveling direction is The ultrasonic signal reflected and returned by the obstacle is received by the receiver provided in the ultrasonic obstacle detection means, and based on the time difference information between the transmitted signal and the received signal,
The presence or absence of an obstacle on the front side in the traveling direction is detected.

According to a fifth feature configuration, in the first, second, third or fourth feature configuration, the light source provided on the moving vehicle on the front side in the traveling direction stops at the predetermined stop position. Stop information indicating that the vehicle is traveling is transmitted as an optical signal toward the rear side in the traveling direction, and the optical signal from the light emitting unit is received by the light receiving unit provided on the moving vehicle on the rear side in the traveling direction, and the received light signal Is received as the stop information.

[0016]

According to the first characteristic configuration, in a case where a moving vehicle is stopped in a proximity state at each stop position such as a station arranged close to each other, a light reflection type distance sensor is conventionally used. Instead of approaching while detecting the distance to the vehicle on the front side using such as etc., approaching with the vehicle on the rear side confirming that the vehicle is stopped at the scheduled stop position on the front side Therefore, while avoiding the need for a light-reflecting distance sensor or the like, which is troublesome for adjustment, it is possible to reliably avoid collision with a moving vehicle that is stopped at the expected stop position on the front side. Can be safely stopped.

According to the second characteristic configuration, only when the distance to the scheduled stop position approaches the set distance or less, it is determined that stop information has been received from the moving vehicle on the front side in the traveling direction, and the stop schedule is determined. Since the moving vehicle is stopped relative to the position, for example, if it is always determined that stop information is received from the moving vehicle ahead in the traveling direction, when the distance to the scheduled stop position is longer than the set distance, For example, in a case where stop information transmitted from a moving vehicle that is stopped at a scheduled stop position on a nearby traveling route is erroneously received, without performing rear-end collision prevention control based on the detection information of the obstacle detection unit. Compared to the possibility of a collision with a preceding moving vehicle, more accurate traveling control can be performed, and thus suitable means of the first characteristic configuration can be obtained.

According to the third characteristic structure, when the vehicle approaches the deceleration set distance longer than the stop set distance, the traveling speed of the moving vehicle is reduced, and the vehicle stops at the deceleration state at the expected stop position. Therefore, for example, without setting the set distance for deceleration, it is possible to perform a smoother and more accurate stop operation without slipping, overrun, etc., as compared to a case where the vehicle is suddenly stopped at a scheduled stop position from a high speed state, Thus, suitable means of the first or second characteristic configuration can be obtained.

According to the fourth characteristic configuration, the obstacle detecting means is constituted by the ultrasonic obstacle detecting means having the transmitter and the receiver. Obstacle detection can be performed satisfactorily in the range, so that suitable means of the first, second or third characteristic configuration can be obtained.

According to the fifth characteristic configuration, the transmission and reception of the stop information can be performed by the light emitting means and the light receiving means by relatively simple means, respectively. Suitable means of the third or fourth characteristic configuration is obtained.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a guide line L that forms a traveling path for the traveling vehicle A to automatically travel is laid in a loop on the traveling road surface of the traveling vehicle A for transporting loads. A plurality of stations ST are provided for the mobile vehicle A to stop and perform operations such as loading and unloading of luggage. FIG. 1 shows a simplified layout of the actual transport equipment, and the moving vehicle A waiting at the home position HP is lined up in the loading area LE on the left side in the figure as a transport work command is given. It is assumed that a package is loaded at any of the stations ST, carried to the unloading area UE on the right side, and unloaded at any of the stations ST.

As shown in FIG. 2, the guide line L is constructed such that a magnetic body magnetized to have a rectangular cross section, an N pole on the front side, and an S pole on the back side is buried in the running road surface to be flush with the road surface. It is. An ID tag T as a storage medium is buried in the guide line L at a position in front of the curved portion P, the branching portion D, and the merging portion J. Travel control information required for traveling of the mobile vehicle A, such as a line address after branching, is stored.

An ID tag T is also buried in the loading area LE, the unloading area UE and the home position HP after passing through the curve section P, the branching section D and the merging section J.
These ID tags T store travel control information such as the address of each station ST in each area and the distance from each station ST to the scheduled stop position indicated by the stop mark M. The stop mark M is made of a magnetic plate and is buried on the road surface like the ID tag T.

The ID tag T is a casing integrally formed with a rewritable semiconductor memory (EEPROM), a loop antenna, a signal processing circuit, a control circuit, and the like for performing proximity wireless communication by electromagnetic induction with an external device. is there. With such a configuration, the above-described travel control information is stored in the ID tag T
Can be written or read without contact.

Next, the configuration of the moving vehicle A will be described. As shown in FIGS. 2 and 3, a traveling wheel 3 serving as a steering wheel, which is propelled by a traveling motor 1 and steered by a steering motor 2, is provided on the front side of the vehicle body. A pair of left and right idler wheels 4 are provided on the rear side of the vehicle body. In order to detect the traveling distance of the moving vehicle A, a rotary encoder 6 that generates a signal of a pulse number proportional to the number of revolutions of the traveling wheel 3 is provided on the traveling wheel 3.
Is provided.

Each of the front and rear portions of the vehicle body is provided with the aforementioned guide line L
Sensor 5 for detecting the steering and obtaining information for steering control
And a tag reader 7 for reading stored information of the ID tag T is provided at a front right portion of the vehicle body.
Then, the tag reader 7 reads out the stored information of the ID tag T and counts the output pulses of the rotary encoder 6 from the point where the distance to the expected stop position is known, thereby determining the distance to the expected stop position. Thus, the rotary encoder 6 constitutes a distance detecting means for detecting the distance to the expected stop position.
A mark sensor 14 (magnetic sensor) for detecting the stop mark M is provided at the front left portion of the vehicle body. The mark sensor 14 detects arrival of the moving vehicle A at each expected stop position. Means.

An optical communication device 8 for exchanging information with the station ST is provided at the front and rear central portions of the vehicle body. Each station ST is wire-connected to the central control device C that manages the operation of the entire transport facility, so that the mobile vehicle A can communicate with the central control device C via the station ST. From the mobile vehicle A, information indicating arrival and cargo information are given to the station ST. From the station ST, information indicating completion of transfer of the luggage, address information of the next destination station, and the like are given to the mobile vehicle A. Can be Also, home position HP
Also, an optical communication device 8 similar to that of the station ST is provided, and a transfer operation command from the central control device C is given to the mobile vehicle A on standby.

As shown in FIG. 2, a control device 9 as travel control means is configured in the moving vehicle A using a microcomputer, and the control device 9 includes the following sensor 5,
Information from the rotary encoder 6, tag reader 7, mark sensor 14, optical communication device 8, and the like is input.
The control device 9 also sends a control signal to a drive motor drive circuit 10 for driving, stopping and controlling the speed of the drive motor 1, and a steering motor drive circuit 11 for driving the drive motor 2 forward / reverse rotation / stop. Are output.

The following sensor 5 is, as shown in FIG.
It consists of four magnetic sensing elements arranged side by side in the left-right direction of the vehicle body. In a state where the position of the moving vehicle A in the left and right direction is at an appropriate position with respect to the guide line L, that is, in a state where the center of the following sensor 5 in the left and right direction is located at the center of the guide line L, the four magnetic sensors The inner two elements of the elements are turned on by sensing the magnetism of the induction line L, and the outer two elements are turned off by not sensing the magnetism. Therefore, when the moving vehicle A is deviated left and right with respect to the guide line L, one of the two outer magnetic sensing elements is in a state of sensing the magnetism of the guide line L. Based on the information, the steering control is performed so that the steering motor 2 is driven forward and reverse to return the vehicle body to an appropriate position with respect to the guidance line L.

The tag reader 7 performs close proximity wireless communication with the ID tag T by electromagnetic induction, reads out information stored in the ID tag T, and transfers the information to the control device 9. While the mobile vehicle A is traveling, the tag reader 7 transmits a response request signal to the unspecified ID tag T at a constant cycle. On the other hand, ID tag T
Are maintained in a state in which a response request signal from the tag reader 7 can be received. Therefore, the moving vehicle A has the ID tag T
When the distance between the ID tag T and the tag reader 7 approaches the communicable distance, the ID tag T receives a response request signal from the tag reader 7 and returns a response. I
When communication between the D tag T and the tag reader 7 is established, information stored in the ID tag T is read by the tag reader 7.

In this manner, the moving vehicle A is connected to the guidance line L
With approaching the ID tag T installed along the line, the stored information is read by the tag reader 7 and given to the control device 9. The control device 9 performs subsequent control such as stop and branch based on this information. For example, in the branch section D, branching is performed if the line address of the guide line L after branch read from the ID tag T at the preceding position matches the line address of the guide line L including the station ST to be stopped. If they do not coincide with each other, go straight on the original guide line L. Further, based on the detection information of the mark sensor 14, stop control for stopping the moving vehicle A at the expected stop position is performed.

In order to prevent the vehicle A from colliding with an obstacle on the front side (for example, a preceding vehicle), the moving vehicle A is provided as obstacle detecting means for detecting the presence or absence of an obstacle on the front side in the traveling direction. An ultrasonic obstacle detecting means (hereinafter referred to as an ultrasonic sensor) 12 is provided at each of the front and rear ends of the vehicle A. The ultrasonic sensor 12 includes a transmitter 12a that emits an ultrasonic signal for detection forward in the traveling direction, and a receiver 12b that receives an ultrasonic signal reflected by an obstacle. By detecting the time until the signal is reflected and returned, it is determined whether an obstacle exists within the set distance for stopping on the front side in the traveling direction of the moving vehicle A, and the set distance for stopping. It detects whether an obstacle exists within the set distance for deceleration set to a longer distance.

Then, the controller 9 controls the ultrasonic sensor 12
The rear-end collision prevention control that stops the moving vehicle A when there is an obstacle within the set distance for stopping on the front side of the moving vehicle A and starts the moving vehicle A when there is no obstacle based on the detection information of Do. However, instead of stopping at once, first, if there is an obstacle within the set distance for deceleration, the traveling speed of the moving vehicle A is reduced, and the obstacle is further approached to the set distance for stop. Stop it. If it is detected that no obstacle exists within the set distance for deceleration, the moving vehicle A is started.

The traveling vehicle A is configured to be able to move forward and backward, and when traveling forward, the traveling motor 1 is driven to rotate forward while detecting the obstacle on the front side by the ultrasonic sensor 12 on the front side. In addition, the driving control of the steering motor 2 is performed based on the steering control information of the following sensor 5 on the front side. On the other hand, when traveling backward, the traveling motor 1 is driven in reverse while detecting the obstacle on the front side by the ultrasonic sensor 12 on the rear side,
Further, the driving control of the steering motor 2 is performed based on the steering control information of the following sensor 5 on the rear side.

Stop information transmitting means 13a which transmits stop information indicating that the vehicle A is stopped at the expected stop position toward the rear side in the traveling direction at each of the front and rear ends of the vehicle A. And stop information receiving means 13b for receiving the stop information from the moving vehicle A on the front side in the traveling direction. That is, the stop information transmitting means 13a is constituted by a light emitting unit 13a as a light emitting means for transmitting the stop information as an optical signal such as infrared light, and the stop information receiving means 13b
Are constituted by a light receiving section 19b as a light receiving means for receiving an optical signal from the light emitting section 13a. In addition, one of the light emitting unit 13a and the light receiving unit 19b provided in front and rear of the vehicle body in accordance with the traveling of the moving vehicle A forward or backward.
One of them will be used.

Then, the control unit 9 controls the light receiving unit 1
When 3b receives the stop information, without performing the rear-end collision prevention control based on the detection information of the ultrasonic sensor 12, the vehicle A on the front side in the traveling direction is closer to the front than the expected stop position where the vehicle A is stopped. The stop control is performed with respect to the expected stop position. However, the stop information receiving means (light receiving unit 13b) sets the distance to the expected stop position detected by the rotary encoder 6 to a set distance (this set distance is the same as the set distance for deceleration described above). It is configured to determine whether or not the stop information has been received only when approaching within (set). Therefore, if the distance to the scheduled stop position is equal to or greater than the set distance, the control device 9
The collision prevention control based on the detection information of the ultrasonic sensor 12 is performed.

Next, with respect to the stop control, the mobile vehicle A is stopped in an approaching state at each expected stop position for the three stations ST1, ST2, and ST3 arranged close to the unloading area UE on the left side of FIG. The case will be described as an example.

As shown in FIG. 4, the moving vehicle A1 is stopped at the first station ST1, and stop information is transmitted from the light emitting portion 13a on the rear side of the moving vehicle A1 to the rear in the traveling direction. ing. When the next moving vehicle A2 approaches the second station ST2 and is detected by the ultrasonic sensor 12 to be within the set distance for deceleration, the speed is reduced, and at the same time, the front of the moving vehicle A2 is moved forward. The light receiving section 13b on the side starts an operation of determining whether or not stop information has been received. In this case, since the stop information from the preceding vehicle A1 is received, even if the distance to the preceding vehicle A1 is within the set distance for stopping, the vehicle continues traveling in the deceleration state, and the mark sensor 14 Detects the stop mark M of the second station ST2 and stops. Subsequently, the same applies to the case where the next moving vehicle A is stopped at the third station ST2.

Also, at the home position HP in FIG.
By performing the same control as when the plurality of moving vehicles A1, A2, and A3 are stopped in the approaching state, the moving vehicle A
1 ', A2', etc. are stopped in the approaching state.

The above three stations ST1,
ST2, ST3, or the leading mobile vehicles A1, A1 'of the plurality of mobile vehicles A stopped in a state of approaching the home position HP are given a work command from the central control device C via the station ST. When the vehicle starts moving, the following mobile vehicles A2 and A2 'do not receive the stop information from the front. Therefore, it is determined whether an obstacle is detected by the ultrasonic sensor 12 and an obstacle (mobile A) is ahead. When it is confirmed that the station does not exist, the vehicle starts and the first station ST1
Alternatively, the vehicle travels to the head stop position of the home position HP and stops. When there is a third or subsequent succeeding vehicle A, the vehicle starts and stops in the same manner and travels one by one to the scheduled stop position on the front side.

[Another Embodiment] Hereinafter, another embodiment will be described. In the above embodiment, the guide line is actually laid as a traveling route on which the mobile vehicle travels automatically. However, the present invention is not limited to this, and a virtual guide line on which the mobile vehicle travels autonomously may be used.

In the above embodiment, the obstacle detecting means 12 is
Although the ultrasonic obstacle detecting means includes the transmitter 12a and the receiver 12b, the present invention is not limited to such an ultrasonic obstacle detecting means.

In the above embodiment, the arrival detecting means is constituted by the magnetic mark sensor 14 for detecting the stop mark M formed of a magnetic plate provided on the traveling route. However, the present invention is not limited to this. An optical mark sensor that detects an optical mark provided on the path may be used.

In the above embodiment, the stop information transmitting means is constituted by the light emitting means 13a, and the stop information receiving means is constituted by the light receiving means 13b. However, the present invention is not limited to this. Means for transmitting and receiving stop information.

In the above embodiment, the presence / absence of stop information is determined only when the distance to the expected stop position detected by the distance detection means 6 approaches within the set distance. The present invention is not limited to this, and it may be always determined whether stop information is received regardless of the distance to the expected stop position. Further, in the above embodiment, the distance detecting means 6 is constituted by the rotary encoder 6 for outputting the rotation pulse of the running wheel, but the invention is not limited to this.

In the above embodiment, the obstacle detecting means 12
The presence or absence of an obstacle within a set distance for deceleration set to a distance longer than the set distance for stop is detected, and when an obstacle exists within the set distance for deceleration, the traveling speed is reduced, It is not always necessary to provide such a set distance for deceleration.

Incidentally, reference numerals are provided in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a schematic view of a layout of a transport facility using a moving vehicle.

FIG. 2 is a block diagram showing transmission and reception of information with a traveling control device of a mobile vehicle and surroundings.

FIG. 3 is a perspective plan view showing a schematic configuration of a mobile vehicle.

FIG. 4 is a plan view for explaining stop control for a scheduled stop position of a moving vehicle approaching;

[Explanation of symbols]

 Reference Signs List A moving vehicle 12 obstacle detecting means 14 arrival detecting means 9 traveling control means 13a stop information transmitting means 13b stop information receiving means 6 distance detecting means 12 ultrasonic obstacle detecting means 12a transmitter 12b receiver 13a light emitting means 13b light receiving means

Claims (5)

(57) [Claims] 1. An obstacle detecting means (12) for detecting the presence or absence of an obstacle on the front side in the traveling direction of a moving vehicle (A) automatically traveling along a traveling route, and detecting a stop mark (M).
And to reach detection means for detecting the arrival at the expected stop position (14), on the basis of the detection information of the obstacle detecting means (12), said moving vehicle and an obstacle exists within a set distance for stopping (A) is stopped and, based on detection information of the arrival detecting means (14), based on rear-end collision prevention control for starting the moving vehicle (A) when the obstacle is no longer present, and
A travel control unit (9) for performing a stop control for stopping the mobile vehicle (A) at the expected stop position; and a travel control device for the mobile vehicle. Stop information transmitting means (13a) for transmitting stop information indicating that the moving vehicle (A) is stopped at the expected stop position toward the rear side in the traveling direction, and a moving vehicle (A) on the front side in the traveling direction. And stop information receiving means (13b) for receiving the stop information of the vehicle. The travel control means (9) is provided with the stop information receiving means (1).
3b) when the stop information is received, the moving vehicle (A) on the front side in the traveling direction is stopped without performing the rear-end collision prevention control based on the detection information of the obstacle detection means (12). The stop detection mark (M) at the expected stop position on the front side of the expected position is detected by the arrival detecting means (14).
Detected by the travel control apparatus for a mobile vehicle that is configured to perform the stop control for its front-stopped position. 2. The moving vehicle (A) is provided with distance detecting means (6) for detecting a distance to the expected stop position, and the stop information receiving means (13b) is provided with the distance detecting means (6). 2. The traveling of a mobile vehicle according to claim 1, wherein, based on the detection information, the traveling of the mobile vehicle is configured to determine whether or not the stop information has been received only when the distance to the expected stop position approaches within a set distance. Control device. 3. The traveling control device, wherein the obstacle detection means (12) is configured to detect the presence or absence of an obstacle within a deceleration set distance set to be longer than the stop set distance. The means (9) includes the obstacle detecting means (1).
The moving vehicle according to claim 1 or 2, wherein the traveling speed of the moving vehicle (A) is reduced when an obstacle is present within the set distance for deceleration based on the detection information of (2). Travel control device. 4. An oscillator (12) for emitting an ultrasonic signal for detection forward in a traveling direction by said obstacle detecting means (12).
4. An ultrasonic obstacle detecting means (12) comprising a) and a receiver (12b) for receiving the ultrasonic signal reflected by an obstacle. A travel control device for a mobile vehicle according to claim 1. 5. A light emitting means (13a) for transmitting said stop information as an optical signal by said stop information transmitting means (13a).
5. The stop information receiving means (13b) comprises a light receiving means (13b) for receiving an optical signal from the light emitting means (13a).
A travel control device for a mobile vehicle according to claim 1.