Abstract: A method performed by a vehicle pose assessment system for supporting determining a pose of a vehicle in view of a digital map. The approach provided by the method alleviates finding lane segments of the digital map corresponding to current sensor detections, which in turn may support accurate and/or improved vehicle localization. An apparatus and computer storage medium for supporting determining a pose of a vehicle in view of a digital map are also provided.

Abstract: A computer-implemented method for training an artificial intelligence module to determine a tire type of a motor vehicle is disclosed. The method includes providing a measured value dataset on a data carrier, wherein the measured value dataset contains at least one data entry regarding ultrasound data, speed data and tire data, wherein the ultrasound data describe at least one ultrasonic wave that was produced by rolling of a tire of the motor vehicle, wherein the speed data describe a speed of the motor vehicle, wherein the tire data describe a tire type of the motor vehicle. The method further includes generating a modified training dataset based on the measured value dataset. Generating the modified training dataset includes (i) forming an input dataset based on the ultrasound data and the speed data of the measured value dataset, (ii) forming an output dataset based on the tire data of the measured value dataset, and (iii) training the AI module based on the modified training dataset.

Abstract: A remotely operated delivery vehicle transports a storage container between a location directly below an automated storage and retrieval grid configured to store a plurality of stacks of storage containers, and a second location for handling of the storage container by at least one of a robotic operator and a human operator. The remotely operated delivery vehicle may include a rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a delivery rail system. Additionally, rolling device motors are provided for driving the rolling devices. A power source provides propulsion power to the rolling device motors. A container carrier receives the storage container from above and onto or at least partly into the container carrier so that contents of the storage container are accessible by the at least one of the robotic operator and the human operator.

Abstract: The driving diagnostic device includes a processor, in which the processor acquires state information indicating an open or closed state of a door of a vehicle from a sensor mounted on the vehicle, determines that there is an event that indicates a change in the state when the state information satisfies a predetermined condition, and evaluates a driving operation of the vehicle in a predetermined period of time associated with the event.

Abstract: An abnormality detection device includes: a time window process part configured to divide, by time windows, each of a plurality of vehicle signals each including a time-series data and to extract the data included in the time window; a learning part configured to create learned information by means of learning using the time-series data in the vehicle signal divided by the time windows; and an abnormality degree calculation part configured to reconstruct the time-series data in the vehicle signal divided by the time windows, based on the learned information, thereby calculate an error between before and after the reconstruction, and further calculate an abnormality degree of the vehicle signal based on the calculated error and the learned information.

Abstract: Implementing degraded performance modes in an autonomous vehicle, including: detecting, by a node of a distributed automation computing system, a failure associated with receiving first expected data from one or more other nodes within a time window; selecting, based on the failure, a model; and providing, to another node and based on the model, an output associated with the first expected data.

Abstract: An autonomous driving control apparatus requests information associated with a plurality of parts of an autonomous vehicle from an external electronic device and calculates a fault rate for each of the plurality of parts using the information associated with the plurality of parts. The apparatus identifies that a first fault rate corresponding to a first part among the calculated fault rates is greater than or equal to a specified first value and calculates a first failure rate at which the first part causes a failure of the autonomous vehicle using the first fault rate. The apparatus stores the first fault rate and information associated with the first part in storage and stops performing a function associated with the first part or stops performing the entire autonomous driving function of the autonomous vehicle after a fault or a failure of the autonomous vehicle occurs.

Abstract: A vehicle program update system and a vehicle program update method are provided which update a vehicle program that is used to control a vehicle by an on-board control device mounted on the vehicle to an update program received by the vehicle from an external device separate from the vehicle via wireless communication. When the update of the vehicle program is completed, determination is made whether the updated vehicle program is normal. When determination is made that the updated vehicle program is not normal, control of the vehicle is switched from control that is performed by the on-board control device using the vehicle program to limp home control for performing a limp home operation in which the vehicle travels using a driving force from a vehicle driving force source without being controlled by the on-board control device.

Abstract: The disclosure relates to a switchover method for an onboard redundancy system, an onboard redundancy system, a vehicle, and a storage medium, where the onboard redundancy system includes a first system and a second system that are communicatively coupled with each other. The method includes the following steps: simultaneously executing, by the first system and the second system, an input instruction in response to receiving the input instruction, where the first system is a preset primary system and the second system is a preset secondary system; performing, by the first system and the second system, a health monitoring operation during execution of the instruction; and autonomously executing, by the first system and the second system, a primary/secondary device switchover based on a health monitoring result.

Abstract: A vehicle controller programming system is provided for enabling a user to program a vehicle controller for a vehicle that is being retrofitted with the vehicle controller. The system comprises a data storage unit for storing a database of a plurality of configurators and a corresponding database of a plurality of vehicle product portfolios. Each configurator and its corresponding portfolio are associated with a specific vehicle specification. The system also comprises a user interface unit for (i) receiving a set of vehicle characteristics that is associated with the vehicle, (ii) selecting one of the configurators and its corresponding portfolio based upon the set of vehicle characteristics, and (iii) creating a job based upon the selected configurator and its corresponding portfolio to enable a user to execute the job to program the vehicle controller.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control steering and acceleration/deceleration of the vehicle independently of an operation of a driver of the vehicle; and a mode decider configured to decide on any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle. The recognizer recognizes a sign existing within a reference range of a route along which the vehicle travels. The mode decider changes the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of signs recognized by the recognizer exceeds a first reference value.

Abstract: Methods and driving control systems for utilizing region-specific driving habits for the control of a motor vehicle are provided. A method includes determining a current position of the motor vehicle, and assessing, by a driving control unit of the motor vehicle, whether region-specific driving habits exist in a geographical area around the current position of the motor vehicle, wherein the region-specific driving habits characterize non-statutory driving rules followed by residential traffic participants within the respective geographical area. The method further includes and at least one of: adapting a vehicle configuration of the motor vehicle according to the assessed region-specific driving habits within the respective geographical area; and providing, with the driving control unit, region-specific control assistance to a driver of the motor vehicle and/or region-specific control commands to the motor vehicle based on the assessed region-specific driving habits within the respective geographical area.

Abstract: A collision warning system notifies an occupant of a vehicle about a predicted collision between the vehicle and an object moving relative to the vehicle. The system includes an object input device, a vehicle input device, and a road detection module for generating a road signal associated with a road geometry that is visible through the windshield and located within a field of view of the occupant. The system further includes an ARHUD for generating multiple images upon the windshield and overlaid onto the road geometry. The system further includes a computer including a processor and a non-transitory computer readable storage medium storing instructions. The processor is programmed to determine a predicted collision between the object and the vehicle at a predicted time. The processor is further programmed to generate an actuation signal for actuating the ARHUD to generate the images upon the windshield and overlaid onto the road geometry.

Abstract: An autonomous vehicle has a control system and a method thereof remotely controls the vehicle. The control system includes an interface device and a processor. The interface device receives a switch manipulation command by a control manager to control a switch of an autonomous vehicle. The processor activates switch information that is suitable for a vehicle type of the autonomous vehicle on the interface device by using vehicle type information and current switch state information of the autonomous vehicle. The processor displays a current switch state of the autonomous vehicle on the interface device when a remote control request is received from the autonomous vehicle.

Abstract: A warning device includes: an other vehicle approach determining part that determines that another vehicle is approaching a subject vehicle from a side of the subject vehicle A, if a subject vehicle travel vector and an other vehicle travel vector intersect with each other, and if the position of the other vehicle is included in a predetermined angle range defined laterally with respect to an azimuth angle of the subject vehicle A while it is determined that the subject vehicle A during traveling is in a temporary stop state, where its vehicle speed is equal to or less than a predetermined vehicle speed; and an output control part that causes a warning output part to output a warning on condition that the subject vehicle A in the temporary stop state starts travelling while the other vehicle is approaching the subject vehicle A.

Abstract: Provided are a terminal that shares user account information and links to another terminal, and a server communicating with the terminal. The terminal provided in a vehicle, when user account information of a user is received from the server through the communicator, stores the received user account information, displays the stored user account information based on at least one of whether the user is present in the vehicle or whether an start command of the vehicle is received, and controls to link to the user terminal using the user account information. Also, the terminal stores user account information of a user input transmits the input user account information to the server, when an authentication request signal is received from the server, displays authentication request information, when an authentication command is received in response to displaying the authentication request information, performs authentication about the user of the vehicle.

Abstract: Embodiments may provide techniques for operating autonomous systems with improved autonomy so as to operate largely or completely, autonomously. For example, in an embodiment, a self-aware mobile system may comprise a vehicle, vessel, or aircraft comprising a plurality of sensors, comprising at least RADAR and LIDAR, adapted to obtain information about surroundings of the vehicle, vessel, or aircraft, and at least one computer system configured to receive data from the plurality of sensors, perform fusion of the received data to generate artificial vision data representing the surroundings of the vehicle, vessel, or aircraft, and to use the artificial vision data to provide autonomous functioning of the vehicle, vessel, or aircraft.

Abstract: This document describes a pedestrian alert system that can draw a driver's attention to a pedestrian on or near a roadway. The described pedestrian alert system can help prevent collisions with pedestrians and other objects in poor visibility environments or when drivers may be distracted. For example, a system can determine a presence of an object in or near a travel path of a host vehicle. The system can also determine the object's position relative to the host vehicle and control a light bar to provide an indication of the object. The indication can have specific characteristics to indicate the object's position relative to the host vehicle. In this way, the described pedestrian alert system can utilize sensors to focus a driver's attention on an object before a potential crash occurs and reduce the number of traffic-related deaths.

Abstract: System, methods, and other embodiments described herein relate to communicating a blending parameter. In one embodiment, a method includes obtaining a blending parameter that is indicative of a degree to which control of a vehicle is shared between an operator of the vehicle and an advanced driver-assistance system (ADAS) of the vehicle. The method further includes determining a feedback parameter based upon the blending parameter and a psychophysical model, wherein the psychophysical model optimizes a relationship between the blending parameter and the feedback parameter such that sensory feedback based upon the feedback parameter is perceived to be proportional to the blending parameter. The method further includes causing a feedback modality of a steering apparatus of the vehicle to provide the sensory feedback based upon the feedback parameter.

Abstract: A system receives scene data from a plurality of multi-access edge computing (MEC) nodes, the scene data for each MEC node indicating data about a scene covered by sensors of a given one of the MEC nodes. The system determines one or more areas of interest included in at least one of the scenes and, for at least one of the one or more areas of interest that includes indicated data from at least two of the MEC nodes, determines whether at least one of the at least two MEC nodes has preferential data. Additionally, the system utilizes the data from the at least two MEC nodes to execute a vehicle maneuver autonomously, in accordance with parameters defined for data utilization that dictate utilization based on the preferential data determination.

Abstract: A method of coordinating a maneuver among vehicles is presented. The method includes negotiating a maneuver among at least a first vehicle and a second vehicle, wherein the maneuver is specified at least in terms of one or more target road resources attributed to the first vehicle; determining that the first vehicle has entered an area associated with one of the target road resources attributed to the first vehicle and/or determining that the first vehicle has left an area associated with one of the target road resources attributed to the first vehicle; and in response to determining that the first vehicle has entered the area associated with the target road resource attributed to the first vehicle and/or in response to determining that the first vehicle has left the area associated with the target road resource attributed to the first vehicle, transmitting a status message from the first vehicle to the second vehicle.

Abstract: A vehicle control device comprises a processor configured to set a reference lateral position, based on an intervehicular distance between the vehicle and another vehicle traveling on an adjacent lane, determine a target lateral position based on the reference lateral position and a current correction value for the reference lateral position, when the intervehicular distance falls below a predetermined reference distance, count a number of times that the lateral position of the vehicle in the traveling lane has been changed from the target lateral position, and calculate a new correction value based on a correction coefficient determined based on the number of changes and an amount of change in the lateral position of the vehicle that has changed from the target lateral position, wherein the next target lateral position is determined based on the reference lateral position and the new correction value.

Abstract: Various embodiments include methods and systems for autonomous driving systems for using map data in performing an autonomous driving function. Various embodiments may include accessing map data regarding an object or feature in the vicinity of the vehicle, accessing confidence information associated with the map data, and using the confidence information in performing an autonomous or semi-autonomous driving action by the processor. The confidence information may be stored in the map database or in a separate data structure accessible by the processor. Methods of generating map safety and confidence information may include receiving information regarding a map object or feature including a measure of confidence in the information, using the received measure of confidence to generate safety and confidence information regarding the object or feature, and storing the safety and confidence information for access by vehicle autonomous and semi-autonomous driving systems.

Abstract: For one embodiment of the present disclosure, systems and methods for dynamically responding to detected changes in a semantic map of an autonomous vehicle (AV) are described. A computer implemented method includes obtaining sensor signals from a sensor system of the AV to monitor driving operations, processing the sensor signals for sensor observations of the sensor system, determining whether a map change exists between the sensor observations and a prerecorded semantic map, determining whether the map change is located in a planned route of the AV when the map change exists, and generating a first scenario with a first priority level to to stop the AV at a safe location based on a location of the map change.

Abstract: An autonomous travel control system having a vehicle control system that is mounted in a vehicle and that controls automatic driving of the vehicle, and a safety monitoring system for monitoring a field F, are connected so as to enable communication. The safety monitoring system is provided with: a monitoring processing unit for recognizing an object and creating outside world recognition information; a reception unit for receiving automatic driving control information transmitted from the vehicle control system; a verification unit for verifying, on the basis of the outside world recognition information, the safety of the automatic driving control information received by the reception unit; and a transmission unit for transmitting the result of the verification by the verification unit to the vehicle control system. The vehicle control system controls automatic driving of the vehicle on the basis of the verification result transmitted by the safety monitoring system.

Abstract: An assistance apparatus includes a reception unit configured to receive information indicating a travelling hazardous point which is transmitted from an outside of a vehicle, a calculation unit configured to calculate a distance and an orientation from the vehicle to the point based on the point and a current position of the vehicle, a detection unit configured to detect the point inside a detection range set within a range in which a distance from the vehicle is a first distance or more and a second distance or less, and an assistance control unit configured to perform travelling assistance when the point is detected inside the detection range, in which the first distance is a travel distance required for a speed of the vehicle to be slowed down to a predetermined speed or less by the time the vehicle reaches the point from the current position of the vehicle.

Abstract: Disclosed are distributed computing systems and methods for controlling multiple autonomous control modules and subsystems in an autonomous vehicle. In some aspects of the disclosed technology, a computing architecture for an autonomous vehicle includes distributing the complexity of autonomous vehicle operation, thereby avoiding the use of a single high-performance computing system and enabling off-the-shelf components to be use more readily and reducing system failure rates.

Abstract: Process scheduling based on data arrival in an autonomous vehicle, including: receiving, by a node and from one or more other nodes of a distributed automation computing system, a plurality of portions of data; generating a process schedule by scheduling, for each portion of data of the plurality of portions of data, a process for processing a corresponding portion of data within a time window, wherein an ordering of the process schedule corresponds to an order of arrival of the plurality of portions of data; and executing, during the time window, the process schedule.

Abstract: A novel roof-top autonomous vehicle control system for converting a non-autonomous vehicle into an autonomous vehicle includes a weatherproof housing that removably attaches to the roof of a host vehicle. The housing supports modular attachment of various sensors, receivers, computers, and other electrical components that can be installed, removed, and/or interchanged without disrupting the initial calibration thereof. In a particular embodiment, various internal electrical components of the system are mounted on a tray which can be mounted in, and removed from, the housing without disrupting the initial calibration of the various sensors. In a more particular embodiment, the housing includes a plurality of removable panels and windows that provide access to the inside of the housing.

Abstract: A scene simulation system can use scene data of a scene of a vehicle to generate one or more simulated states and one or more simulated trajectories associated with the one or more simulated states. The system can evaluate the simulated trajectories and select an action for the vehicle based on the evaluation of the simulated trajectories.

Abstract: A computer-implemented method of performing an autonomous lane merging of a vehicle. The method includes: identifying one or more objects in a plurality of lanes in the vicinity of the vehicle; identifying one or more gaps among the one or more objects; determining a mode of the vehicle; determining a terminal state of a planned trajectory of the vehicle based on the identified objects, gaps, and the mode of the vehicle; performing a sanity check based on the terminal state of the planned trajectory; generating the planned trajectory of the vehicle if the sanity check passes; providing the planned trajectory to a controller of the vehicle to autonomously move the vehicle according to the planned trajectory.

Abstract: A control unit (22) is configured for calculating a criticality (Icri) of a driving situation as an overlap integral of an object function (Oego) of an ego vehicle (10) with one or multiple object function(s) (On) of other road users or other static or dynamic objects in the surroundings of the ego vehicle (10). A method for calculating a criticality (Icri) of a driving situation as an overlap integral of an object function (Oego) of an ego vehicle (10) with one or multiple object function(s) (On) of other road users or other static or dynamic objects in the surroundings of the ego vehicle (10) is also provided.

Abstract: The disclosure relates to a method for planning a future trajectory of an autonomously or semi-autonomously driving vehicle, wherein sensor data are detected by means of at least one sensor of the vehicle, wherein an optimum trajectory for the vehicle is determined for an environmental status derived from the detected sensor data, wherein possible future trajectories of the vehicle are generated to this end and evaluated by means of a reward function, wherein in so doing, a behavior of the vehicle, a static environment and a behavior of other road users are taken into consideration, wherein an influence exerted by the behavior of the vehicle on the other road users is additionally taken into consideration in the reward function, and wherein the determined optimum trajectory is provided for execution.

Abstract: A method for updating tracker position when generating a trajectory for a vehicle may include receiving, from a detection and tracking system of a vehicle, a first position of an object at a first time. A first trajectory of the object may be determined based on at least on the first position of the object at the first time. A second portion of the object at a second time may be received from the detection and tracking system. A second trajectory for the object may be generated to include an initial waypoint corresponding to the second position of the object at the second time, and a final waypoint corresponding to a final waypoint of the first trajectory.

Abstract: Methods and apparatus for self-driving vehicles to safely control transitions into and out of autonomy modes. The techniques may be used in a single autonomous vehicle or adapted to collaborative control of vehicles travelling in formation.

Abstract: A vehicle control device of embodiments includes a recognizer configured to recognize a surrounding status of a vehicle, a driving controller configured to control one or both of steering and acceleration or deceleration of the vehicle on the basis of the surrounding status recognized by the recognizer or map information, a storage configured to store images of the surroundings of the vehicle captured by a peripheral camera mounted on the vehicle; and a storage controller configured to control the storage. The driving controller causes the vehicle to travel in one of a plurality of driving modes including a first driving mode and a second driving mode in which a task imposed on an occupant of the vehicle is greater than that in the first driving mode.

Abstract: A method for managing autonomous operation of a vehicle includes detecting, while the vehicle is operating in an autonomous mode, an assistance condition that triggers activation of an assistance component of a set of assistance components associated with a driver assistance system. The method also includes determining whether the operation of the vehicle in the autonomous mode satisfies a safety condition associated with the assistance component. The method further includes adjusting an activation signal that triggers the activation of the assistance component based on determining the operation of the vehicle in the autonomous mode satisfies the safety condition.

Abstract: A circular cableway with cableway stations and cableway vehicles movable between the cableway stations by a conveyor cable, each of the cableway stations having a boarding/alighting area with an entry zone and by an exit zone, includes at least one pair of opposing safety barriers in at last one of the entry zone or the exit zone of at least one boarding/alighting area, each of the pair of opposing safety barriers arranged opposite one another transversely to the conveying direction and which can be displaced from a closed position to an open position; and at least one detection device for detecting people in a passage area located between the pair of opposing safety barriers and through which the cableway vehicles may pass or when one of the pair of opposing safety barriers is displaced from the closed position to the open position.

Abstract: A linear transport apparatus includes a transport cart, a first roller that rotates about a first rotation shaft extending from the transport cart along a first direction, a second roller that rotates about a second rotation shaft extending from the transport cart and forming an acute angle with the first rotation shaft, and a rail sandwiched between the first and second rollers to extend along a track on which the transport cart moves. The rail includes a first contact portion coming contact with the first roller and restricting movement of the transport cart in a second direction perpendicular to a direction in which the rail extends and the first direction, and a second contact portion that comes into contact with the second roller and is parallel to the second rotation shaft, and the rail includes a portion in which curvature of the track moves is different from another portion.

Abstract: Various embodiments provide a hopper railroad car top hatch cover assembly including a hatch cover and a hatch cover securer configured to secure the hatch cover in a closed position engaging a coaming of the hopper railroad car. Various embodiments provide a hopper railroad car having a top hatch cover assembly including a hatch cover and a hatch cover securer configured to secure the hatch cover in a closed position engaging a coaming of the hopper railroad car.

Abstract: According to some embodiments, a railcar comprises at least two hoppers for transporting a commodity. Each hopper comprises a pair of side walls and a floor. The railcar further comprises a composite partition separating the hoppers. The composite partition comprises a frame comprising a first material coupled to the pair of side walls and the floor at a location separating hoppers. The frame comprises a center opening. The frame is configured to provide structural support for structural loads exerted on the pair of side walls and the floor. The composite partition further comprises a composite section comprising a second material coupled to the frame and covering the central opening of the frame. The composite section is configured to withstand loads exerted on the composite section by the commodity transported in the hoppers.

Abstract: An apparatus for providing a barrier between a first rail car and a second rail car connected to the first rail car by a coupling includes a support assembly and a brush member. The support assembly includes a holding member, and is configured to be mounted on the first rail car. The brush member has a spine and a plurality of bristles extending from the spine. The spine of the brush member is received by the holding member of the support assembly such that the plurality of bristles occupy space above the coupling when the support assembly is mounted on the first rail car, thereby forming the barrier.

Abstract: A track condition monitoring device track condition monitors a state of a track on which a railroad car runs. The track condition monitoring device includes processing circuitry configured to acquire track displacement data which includes first data associated with second data, the first data indicating a position of the track displaced by a track displacement, and the second data indicating a longitudinal level of the track displacement at the position; and calculate an index value indicating the state of the track in an evaluation target section of the track based on the track displacement data, wherein the position is in the evaluation target section of the track.

Abstract: A switching apparatus comprising a point detector connecting rod connected at one end to a switch machine and to at least one point at the opposite end. The point detector connecting rod is attached to the point via an angled block that permits a sliding motion relative to the point.

Abstract: A cable car and a cable car network with cable car stations and cable car vehicles movable with a haulage rope between the cable car stations includes a cable car control unit for controlling the cable car, wherein a maximum electrical energy consumption of the cable car is predetermined; an energy detection unit configured for determining an electrical energy consumption of the cable car; and wherein the cable car control unit is configured to control or regulate an electrical energy consumption of at least one electrical consumer of the cable car based at least in part on the determined electrical energy consumption of the cable car such that the maximum electrical energy consumption predetermined for the cable car is not exceeded. Associated methods of operating a cable car or cable car network are also disclosed.

Abstract: An urban rail transportation fusion signaling system and method. The fusion signaling system includes: an autonomous train supervision system, configured to send a train operation plan; a first wayside management system, operating under a Train Autonomous Circumambulate System (TACS) system and configured to generate line resource allocation information according to the train operation plan; a second wayside management system, operating under a Commnunications-Based Train Control (CBTC) system and configured to generate operation permission information according to the train operation plan; and a car controller, provided on a rail transportation train and configured to: perform traffic control according to the line resource allocation information when the train is traveling under the TACS system; or perform traffic control according the operation permission information when the train is traveling under the CBTC system.

Abstract: A grade crossing control system includes a track transmitter configured to couple to rails of a railroad track, and a track receiver configured to couple to the rails of the railroad track, wherein the track transmitter comprises a signal source and an amplifier, and is configured to transmit a first signal to the rails, wherein the track receiver is configured to measure a second signal in response to the first signal, and wherein the track transmitter is configured to provide feedback measurement information of the first signal.

Abstract: A collapsible wagon with a foldable/collapsible tailgate frame assembly coupled to a collapsible wagon frame assembly. The collapsible wagon frame assembly has a collapsible frame having a rear frame. The tailgate frame assembly has a tailgate platform having a pair of side rails, each pivotally connected to a corresponding bottom portion near the base of the rear frame, and a slider slidable along the corresponding side rails. A wheel support frame has ends each pivotally connected to a corresponding one of the side rails. A first connection member is pivotally connected to the slider and a wheel support frame, and a second connection member is pivotally connected to the slider and the rear frame. The tailgate frame assembly transitions between a collapsed state and an extended state with each slider sliding along a corresponding side rail.

Abstract: The present invention is a general-purpose electronic cart, particularly a rechargeable motorized personal shopping and utility cart that can move in a forward, backward or lateral sense and includes a collapsible container and a control console.

Abstract: In a traveling apparatus, multiple first detectors and multiple second detectors are arrayed in an intersectant direction intersecting a travel direction where a vehicle body travels. The second detectors are separated in the travel direction from the first detectors. The first detectors and the second detectors detect a guide extending on a road surface. A first interval between two first detectors adj acent to each other in the intersectant direction is smaller than a second interval between two second detectors adjacent to each other in the intersectant direction.