PROBLEM TO BE SOLVED: To freely traverse a slope surface while being driven to travel without the need of skill, in a self-propelled vehicle including a control unit for generating a control amount on the basis of a maneuvering operation, a caster wheel, a first drive part and a second drive part drive-controlled independently to each other by a control command, a left drive wheel driven to travel by the first drive part, and a right drive wheel driven to travel by the second drive part.SOLUTION: A steering angle of the caster wheel is controlled so as to eliminate travel direction deviation between target travel and actual travel which occurs during slope traversing travel based on the slope angle of the vehicle.COPYRIGHT: (C)2013,JPO&INPIT【課題】操縦操作に基づいて制御量を生成する制御ユニットと、キャスタ輪と、制御指令により互いに独立して駆動制御される第1駆動部及び第2駆動部と、第1駆動部によって走行駆動される左駆動輪及び第2駆動部によって走行駆動される右駆動輪とを備えた自走車両において熟練を要せずに傾斜面を駆動走行しながら自在に横切ることできること。【解決手段】傾斜横切り走行時に発生する目標走行と実走行との走行方向ずれを、車両の傾斜度に基づいて、解消するようにキャスタ輪の操向角を制御する。【選択図】図1
