PROBLEM TO BE SOLVED: To provide a self-traveling vehicle capable of moving to a nearby lane without slipping down a sloped surface.SOLUTION: A self-traveling vehicle 1 traveling by remote control on a sloped surface P inclined to a horizontal surface includes: an instruction accepting part for accepting an instruction for a switchback in which the vehicle travels forward and backward when reaching an end of a predetermined traveling zone on the sloped surface P and moves to a nearby lane B side adjacent to a lane A, where the vehicle has been traveling until having reached the end, with a distance predetermined for the lane A； a detection part for detecting an inclined angle and an inclined direction of a vehicle body at the end； a steering angle calculation part for calculating a steering angle of a steered wheel moving from the lane A to the nearby lane B side on the basis of the inclined angle and the inclined direction； and a traveling control part for making the vehicle automatically travel to the nearby lane B side on the basis of the steering angle.SELECTED DRAWING: Figure 4COPYRIGHT: (C)2017,JPO&INPIT【課題】斜面をずり落ちることなく隣接する経路に移動可能な自走車両を提供する。【解決手段】遠隔操作により水平面に対して傾斜する斜面Ｐを走行する自走車両１は、斜面Ｐにおける所定の走行区画の端部に達した際に前後進を繰り返して、端部に達するまでに走行してきた経路Ａから当該経路Ａに対して予め設定された距離で隣接する隣接経路Ｂ側に移動するスイッチバックの指示を受け付ける指示受付部と、端部における車体の傾斜角度及び傾斜方向を検出する検出部と、傾斜角度及び傾斜方向に基づいて、経路Ａから隣接経路Ｂ側に移動する操向輪の舵角を演算する舵角演算部と、舵角に基づいて、自動で隣接経路Ｂ側に走行させる走行制御部と、を備える。【選択図】図４
