Patent ID: 9731716
Date: 2017-08-15
CPC Classifications: B60P,B60T,B60W,G05D,G08G

Claim:
1. A transporter vehicle comprising: a traveling device capable of changing a traveling direction so that one state of a linear movement state and a non-linear movement state changes to the other state of the linear movement state and the non-linear movement state; a determination value setting unit that sets a determination value related to a change amount in the traveling direction from the linear movement state; a collision prevention system that includes an object detection device which detects an object in front of the vehicle and a collision determination unit which determines a possibility of a collision with the object based on a detection result of the object detection device, the collision prevention system being capable of performing a process for reducing damage caused by the collision with the object; and an invalidation unit that invalidates at least a part of a process of the collision prevention system based on the determination value and a detection value of the change amount in the traveling direction from the linear movement state, wherein the determination value includes a first determination value and a second determination value larger than the first determination value, wherein an invalidation state where the invalidation is performed is maintained after the detection value becomes larger than the second determination value until the detection value becomes equal to or smaller than the first determination value, and wherein a non-invalidation state where the invalidation is not performed is maintained after the detection value becomes equal to or smaller than the first determination value until the detection value becomes larger than the second determination value.