A control device for a work vehicle configured to travel autonomously includes: a vehicle position calculating section 80 configured to calculate a vehicle position; a travel direction calculating section 81 configured to calculate a travel direction, the travel direction being a front-back direction of the vehicle body; a steering state obtaining section 56 configured to obtain data on a steering state; a vehicle position estimating section 61 configured to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from the vehicle position of the work vehicle; a deviation calculating section 62 configured to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path; a target steering amount calculating section 63 configured to calculate a target steering amount on the basis of the deviation; and an autonomous travel control section 511 configured to control steering on the basis of the target steering amount.
CONTROL DEVICE FOR AUTOMATIC TRAVEL WORK VEHICLE
STEUERVORRICHTUNG FÜR EIN AUTOMATISCH FAHRENDES ARBEITSFAHRZEUG
DISPOSITIF DE COMMANDE POUR VÉHICULE DE TRAVAIL À DÉPLACEMENT AUTOMATIQUE
2024-08-14
Patent
Electronic Resource
English
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