PROBLEM TO BE SOLVED: To provide a self-propelled vehicle which includes a control unit generating a control amount based on a maneuvering operation, a caster wheel enabling free steering, first and second drive sections independently driven and controlled by control commands, a left drive wheel driven and controlled with the first drive section, and a right drive wheel with the second drive section and which enables free crossing on a tilted slope while driving and travelling without requiring much experience in the maneuvering operation.SOLUTION: The self-propelled vehicle includes a drive torque calculating unit for calculating a necessary drive torque required for the first and second drive sections, a compensation torque calculating unit for calculating a compensation torque to eliminate displacement between a target travel direction and an actual travel direction during a bank traversing travel, on the basis of an ascent of the vehicle relative to the first and second drive sections, and a compensating unit for compensating a control amount on the basis of the required drive torque and the compensation torque.【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、自由操向可能なキャスタ輪と、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ができること。【解決手段】第１・第２駆動部に要求される必要駆動トルクを算出する駆動トルク算定部と、傾斜横切り走行時における目標走行方向と実走行方向との方向ずれを解消する補償トルクを第１・第２駆動部に対して車両の傾斜度に基づいて算出する補償トルク算定部と、必要駆動トルクと補償トルクとに基づいて制御量を補正する補正部とが含まれている。【選択図】図１
