PROBLEM TO BE SOLVED: To provide an autonomous travel vehicle capable of maintaining control stability when the vehicle travels on a road surface having irregularity, without deterioration of control characteristic in autonomous travel control.SOLUTION: An autonomous travel vehicle 1 comprises: a vehicle control part 61 for controlling a vehicle to perform autonomous travel a ground height measurement part for measuring at least a height of a landform on a front side of the vehicle a storage part 7 for storing and accumulating a measurement result measured by the ground height measurement part and a control change part 64 for changing at least one of a control parameter and a control input of the vehicle control part 61 based on the landform stored in the storage part 7.SELECTED DRAWING: Figure 3COPYRIGHT: (C)2017,JPO&INPIT【課題】自律走行制御における制御特性を悪化させることなく、凹凸のある路面を走行する際にも制御安定性を保つ自律走行車両を提供すること。【解決手段】自律走行車両1を、自律走行を行うよう車両を制御する車両制御部61と、前記車両の前方の地形の少なくとも高さを計測する地高計測部と、前記地高計測部により計測された計測結果を蓄積し記憶する記憶部7と、記憶部7に記憶された地形に基いて、車両制御部61の制御パラメータ及び制御入力の少なくともいずれかを変更する制御変更部64と、を有するものとする。【選択図】図3
