PROBLEM TO BE SOLVED: To provide a slip determination system capable of giving appropriate control information to a travelling vehicle when the travelling vehicle enters an area prone to slippage when travelling automatically.SOLUTION: A slip determination system includes an own vehicle position detection module for detecting its own vehicle, an automatic travel control unit which performs automatic travelling on the basis of the own vehicle position and a preset travelling route, an amount of slippage calculation unit which calculates an amount of slippage of the travelling vehicle from an estimated travelling distance of the travelling vehicle calculated on the basis of the number of rotations of the driving axel of the travelling vehicle and an actual travelling distance calculated on the basis of the own vehicle position, an appropriateness determination unit which determines appropriateness of the travelling ground for automatic travelling on the basis of the amount of slippage, and an automatic travel stopping unit which stops the automatic travel on the basis of the determination result.SELECTED DRAWING: Figure 5COPYRIGHT: (C)2019,JPO&INPIT【課題】自動走行時にスリップの生じやすい領域に走行車両が進入した際、走行車両に適切な制御情報を与えることができるスリップ判定システムの提供。【解決手段】自車位置を検出する自車位置検出モジュールと、自車位置と設定された走行経路とに基づいて自動走行を実行する自動走行制御部と、走行車体の駆動車軸の回転数に基づいて算出される前記走行車体の推定移動距離と前記自車位置に基づいて算出される前記走行車体の実移動距離とから前記走行車体のスリップ量を算出するスリップ量算出部と、スリップ量に基づいて走行地面の状態が自動走行に適するかどうかの適否判定を行う適否判定部と、判定結果に基づいて自動走行を停止する自動走行停止部とが備えられている。【選択図】図５
