Moving body

A moving body comprising:

• a first detection unit configured to detect three-dimensional information on a space in which the moving body travels;
• a second detection unit configured to detect a state of the moving body;
• and
• a control unit configured to predict a possibility of overturning of a virtual moving body by allowing the virtual moving body corresponding to the moving body to travel on a virtual road surface in a virtual space prior to a travel of the moving body on a road surface based on a shape of the virtual road surface in the virtual space corresponding to the detected three-dimensional information and based on the detected state of the moving body, and performs control depending on the predicted possibility of overturning,
• wherein the control unit includes a map creation unit configured to estimate a position in real time in accordance with movement of the moving body,
• wherein the map creation unit is configured to create an elevation map indicating a distribution of unevenness of a road surface,
• wherein the second detection unit includes a posture sensor configured to detect an inclination angle indicative of a posture of the moving body,
• wherein the control unit further includes a road surface reconfiguring unit configured to reconfigure the elevation map depending on the detected inclination angle,
• wherein the first detection unit detects three-dimensional coordinates of a point group at a periphery of a front side of the moving body and supplies the three-dimensional coordinates to the control unit, and
• wherein the control unit creates lattices corresponding to the point group and creates a mesh based on the lattices, the mesh corresponding to the virtual space.