To provide a controller improved for returning, to an original position, an automatic travel service car deviated from a target travel route.SOLUTION: A controller for a service car automatically travelling along a target travel route includes: an own vehicle position calculation part 40 which calculates an own position of the service car; a target point estimation part 57 which calculates an estimated target point in the target travel route after predetermined time; a correction orientation calculation unit 9A which calculates correction orientation for resolving deviation between the estimated target point and the own position; and a control calculation unit 9B which outputs a control amount for controlling the service car in order to reduce the deviation where the correction orientation is provided as an input parameter.SELECTED DRAWING: Figure 6

    【課題】目標走行経路から外れた自動走行作業車を元に戻すための改善された制御装置を提供する。【解決手段】目標走行経路に沿って自動走行する作業車のための制御装置は、作業車の自車位置を算出する自車位置算出部40と、所定時間後の目標走行経路における推定目標点を算出する目標点推定部57と、推定目標点と自車位置との間の偏差を解消する補正方位を演算する補正方位演算ユニット9Aと、補正方位を入力パラメータとして、偏差が縮小されるように作業車を制御するための制御量を出力する制御演算ユニット9Bとを備える。【選択図】図6


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    Title :

    CONTROLLER FOR AUTOMATIC TRAVEL SERVICE CAR


    Additional title:

    自動走行作業車のための制御装置


    Contributors:

    Publication date :

    2020-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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