AUTONOMOUS MINE VEHICLE

To provide an autonomous mine vehicle capable of inhibiting a decrease in working efficiency when fugitive dust occurs on a work site.SOLUTION: An autonomous mine vehicle 101 comprises a periphery monitoring sensor 108 that measures a three-dimensional point group of the terrain around a vehicle body 102. A travel route setting device 203 calculates an undetected area 602 that expresses a terrain part incapable of being measured by the periphery monitoring sensor 108. An alternate route, on which the vehicle body 102 can travel without traveling through the undetected area 602, is calculated on the basis of a positional relationship between the undetected area 602 and the vehicle 102. A planned route is updated by the alternate route.SELECTED DRAWING: Figure 3 【課題】作業現場で砂埃が発生した場合に作業効率の低下を抑制することが可能な自律走行鉱山車両を提供する。【解決手段】自律走行鉱山車両１０１は、車両本体１０２の周囲の地形の３次元点群を計測する周囲監視センサ１０８を備え、走行経路設定装置２０３は、周囲監視センサ１０８が計測できない地形部分を表す不検知領域６０２を算出し、不検知領域６０２と車両本体１０２との位置関係を基に、車両本体１０２が不検知領域６０２を通過せずに走行できる代替経路を算出し、前記予定経路を前記代替経路で更新する。【選択図】 図３