To provide an improved controller which can return a vehicle body deviated from a target travel route in automatic travel of a work vehicle.SOLUTION: A controller for automatic travel work vehicle comprises: an own vehicle position calculation part 80 for calculating an own vehicle position; a travel azimuth calculation part 81 for calculating a travel azimuth in a cross direction of a vehicle body; a steering state acquisition part for acquiring a steering state; an own vehicle position estimation part 61 for calculating an estimated own vehicle position being an own vehicle position after travelling by a prescribed travel, from the own vehicle position; a deviation calculation part 62 for calculating deviation of the work vehicle on the estimated own vehicle position with respect to the target travel route; a target steering value calculation part 63 for calculating a target steering value on the basis of the deviation; and an automatic travel control part 511 for steering controlling on the basis of the target steering value.SELECTED DRAWING: Figure 4
【課題】作業車の自動走行において、目標走行経路から外れた車体を戻すことができる改善された制御装置を提供する。【解決手段】自動走行作業車のための制御装置は、自車位置を算出する自車位置算出部80と、車体前後方向での走行方位を算出する走行方位算出部81と、操舵状態を取得する操舵状態取得部と、自車位置から所定走行後の自車位置である推定自車位置を算出する自車位置推定部61と、推定自車位置における作業車の目標走行経路に対する偏差を算出する偏差算出部62と、偏差に基づいて目標操舵値を算出する目標操舵値算出部63と、目標操舵値に基づいて操舵制御する自動走行制御部511とを備える。【選択図】図4
CONTROLLER FOR AUTOMATIC TRAVEL WORK VEHICLE
自動走行作業車のための制御装置
2020-07-02
Patent
Electronic Resource
Japanese
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