FIELD: machine building.
SUBSTANCE: self-contained vehicle has first autonomous movement mode and second semi-autonomous movement mode. In the method of controlling such a vehicle, a working section is set, in which it moves in the second mode of autonomous movement according to the state of motion and the surrounding state, and an operation performed by the driver is detected. Autonomous vehicle is controlled so that it moves in the second mode of autonomous movement when the operation is detected by the driver during the period when the autonomous vehicle moves in the working section. Autonomous vehicle is controlled to stop it when driver operation is not detected. Autonomous vehicle is autonomous stopped in the second mode of autonomous movement, regardless of the driver operation, when a target approaching the autonomous vehicle is detected.
EFFECT: higher safety of self-contained vehicle.
33 cl, 20 dwg
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