Automatic driving vehicle, control method thereof, conveying device and control method thereof

The invention relates to an automatic traveling vehicle and a control method thereof, and a conveying device and a control method thereof. An automatic traveling vehicle is provided with a drive unit, a first detection unit, a second detection unit, a self-position estimation unit, a route generation unit, and a control unit. The automatic traveling vehicle is capable of autonomously moving. The drive unit moves the automatic traveling vehicle. The first detection unit is provided at a position higher than a height position of an object present around the automatic traveling vehicle, and detects first data by scanning the object within a first range around the automatic traveling vehicle. The second detection unit detects second data by scanning the object within a second range around the automatic traveling vehicle. The self-position estimation unit calculates an estimated position of the automatic traveling vehicle within the predetermined area on the basis of the first data. The route generation unit calcu