PROBLEM TO BE SOLVED: To provide an automatic traveling work vehicle capable of performing automatic steering traveling with high accuracy even during the work traveling along a set target travel route.SOLUTION: An automatic traveling work vehicle comprises: a first control computation part which outputs a first steering value for canceling a deviation on the basis of a positional deviation between a target travel route and the own vehicle; a second control computation part which outputs a second steering value for canceling a deviation on the basis of the positional deviation and an azimuth deviation adjusted by using a weighting coefficient indicating a decrease tendency as the positional deviation increases; a target steering computation part which outputs the target steering value for traveling along the target travel route on the basis of the first steering value and the second steering value; a steering drive control part which outputs a steering drive signal with the target steering value as input; and a steering drive part which performs steering of a steering wheel on the basis of the steering drive signal.SELECTED DRAWING: Figure 1

    【課題】設定された目標走行経路に沿って、作業走行中であっても、高い精度をもって自動操舵走行することができる自動走行作業車両を提供する。【解決手段】目標走行経路に対する自車位置との間の位置偏差に基づいて偏差解消の第1操舵値が出力する第1制御演算部と、位置偏差と、位置偏差が大きくなるにしたがって減少傾向を示す重み係数を用いて調整された方位偏差とに基づいて偏差解消の第2操舵値を出力する第2制御演算部と、第1操舵値と第2操舵値とに基づいて目標走行経路に沿って走行するための目標操舵値を出力する目標操舵演算部と、目標操舵値を入力として操舵駆動信号を出力する操舵駆動制御部と、操舵駆動信号に基づいて操向輪の操舵を行う操舵駆動部とが備えられている。【選択図】図1


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    Titel :

    AUTOMATIC TRAVELING WORK VEHICLE


    Weitere Titelangaben:

    自動走行作業車両


    Beteiligte:
    IWAMI KENICHI (Autor:in) / HAYASHI SHIGEKI (Autor:in)

    Erscheinungsdatum :

    2016-09-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / A01C Pflanzen , PLANTING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen





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