Patent ID: 8718859

Claim:
A vehicle which is self-propelled and accommodable in a quadrilateral accommodation area, said vehicle comprising: a coordinate measurement device which obtains coordinates of a first point, coordinates of a second point, coordinates of a third point, and coordinates of a fourth point, the first point and the second point being located on an entrance side of the accommodation area, the third point and the fourth point being located on a rear side of the accommodation area, and the coordinates of the first, second, third and fourth points being relative coordinates with respect to a position of said vehicle; a reference distance detection unit configured to detect a reference distance indicating a distance between said vehicle and a line connecting the third point and the fourth point in the accommodation area; and a control unit configured (i) to control a driving unit to move said vehicle based on the coordinates of the first point, the coordinates of the second point, the coordinates of the third point, and the coordinates of the fourth point when the reference distance is longer than or equal to a second correction distance, and (ii) to control the driving unit to move said vehicle based on only the coordinates of the third point and the coordinates of the fourth point when the reference distance is shorter than the second correction distance.