To promptly address a positional deviation and an azimuth deviation even if a deviation of a work vehicle relative to a target route is large.SOLUTION: Processes are carried out that includes: obtaining, from a positional deviation and from an azimuth deviation, a tentative curvature gradient as a control value for addressing the azimuth deviation; and calculating, on the basis of the positional deviation, the azimuth deviation and a provisional target curvature ratio, a tentative positional deviation that is a positional deviation relative to a target route caused if it is assumed that a work vehicle is kept travelling until the azimuth deviation is addressed in accordance with the tentative curvature gradient by an arithmetic processing that contains a nonlinear element, i.e., sin θ; while the provisional target curvature ratio is changed until the tentative positional deviation is minimized. By operating the work vehicle with the obtained provisional target curvature ratio being as a target curvature ratio, the positional deviation and the azimuth deviation can be promptly addressed even when the nonlinearity is nonnegligible.SELECTED DRAWING: Figure 1
【課題】目標経路に対する作業車両の偏差が大きな状態であっても、位置偏差および方位偏差を迅速に解消できるようにする。【解決手段】位置偏差と方位偏差から方位偏差を解消するための制御値として仮曲率勾配を求め、当該位置偏差、当該方位偏差及び暫定目標曲率を前提に、当該仮曲率勾配に従って方位偏差が解消されるまで作業車両を走行させたと仮定した場合に生じる目標経路との位置偏差である仮位置偏差についてsinθという非線形要素が含まれる演算によって算出する処理を、当該仮位置偏差が微小化されるまで当該暫定目標曲率を変更しつつ実施し、得られた当該暫定目標曲率を目標曲率として作業車両を操舵することにより、非線形性が無視できない状態でも、位置偏差および方位偏差を迅速に解消可能とする。【選択図】図1
AUTOMATIC TRAVEL CONTROL APPARATUS, AUTOMATIC TRAVEL CONTROL METHOD AND AUTOMATIC TRAVEL CONTROLLING PROGRAM
自動走行制御装置、自動走行制御方法および自動走行制御用プログラム
2020-06-04
Patent
Electronic Resource
Japanese
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