TRAVEL CONTROL METHOD OF AUTONOMOUS TRAVEL WORK VEHICLE

To provide an autonomous travel work vehicle which travels on a scheduled work path created on a map with automatic control and can continue the work by detecting a dangerous condition on a travel surface and automatically dealing with a danger.SOLUTION: There is provided a travel control method of an autonomous travel work vehicle (100) which travels on a set scheduled work path with automatic control while recognizing a position on a map of a machine body with a positioning device (203), in which an inclination sensor (5) that detects the inclination of the machine body is installed, which retreats to a position where the inclination is eliminated after immediately stopping when the inclination sensor (5) detects the inclination equal to or greater than a prescribed level during travel, and which travels forward on a detour that deviates to the left or right from the scheduled work path by a prescribed amount.SELECTED DRAWING: Figure 1 【課題】本発明は、地図上に作成した予定作業経路を自動制御で走行する自立走行作業車で、走行面の危険状態を検知して自動で危機対処して作業を継続出来るようにすることを課題とする。【解決手段】測位装置（２０３）で機体の地図上位置を認識しながら設定した予定作業経路を自動制御で走行する自立走行作業車（１００）の走行制御方法において、機体の傾きを検出する傾斜センサ（５）を設け、走行時に傾斜センサ（５）が所定以上の傾きを検出すると、直ちに停止した後に傾きが解消される位置まで後退して、予定作業経路から所定量左右にずらした迂回路を前進走行することを特徴とする自立走行作業車の走行制御方法。【選択図】図１