To provide an agricultural vehicle that can perform appropriate automatic steering regardless of the vehicle size.SOLUTION: An agricultural vehicle 1 performs automatic steering along a target route WP. The agricultural vehicle 1 comprises: an own vehicle position calculation unit 11 that calculates an own vehicle position P; a position deviation calculation unit 12 that calculates a position deviation Δd; an own vehicle orientation calculation unit 21 that calculates an own vehicle orientation θp; and an orientation deviation calculation unit 22 for calculating an orientation deviation Δθ. The agricultural vehicle 1 comprises: a first control calculation unit 41 that calculates a first steering value by control based on the position deviation Δd; and a second control calculation unit 42 that calculates a second steering value by control based on the orientation deviation Δθ. The agricultural vehicle 1 comprises: a target steering angle calculation unit 50 that calculates a target steering angle δ by multiplying a basic steering angle, which is a value calculated based on the first steering value and the second steering value, by a wheelbase value, and dividing it by a traveling speed V and a correction coefficient; and a steering unit 60 that performs steering based on the target steering angle δ.SELECTED DRAWING: Figure 2

    【課題】車両サイズに関らず適切な自動操舵を行い得る農作業用車両を提供する。【解決手段】目標経路WPに沿うように自動操舵する農業用車両1である。農業用車両1は、自車位置Pを算出する自車位置算出部11と、位置偏差Δdを算出する位置偏差算出部12と、自車方位θpを算出する自車方位算出部21と、方位偏差Δθを算出する方位偏差算出部22とを備える。農業用車両1は、位置偏差Δdに基づく制御により第一操舵値を算出する第一制御演算部41と、方位偏差Δθに基づく制御により第二操舵値を算出する第二制御演算部42とを備える。農業用車両1は、第一操舵値および第二操舵値に基づいて算出された値である基本舵角に、前後輪の間隔WBを乗ずるとともに、走行の速度Vおよび補正係数で除した値を目標舵角δとする目標舵角算出部50と、目標舵角δに基づいて操舵する操舵部60とを備える。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    AGRICULTURAL VEHICLE


    Additional title:

    農作業用車両


    Contributors:

    Publication date :

    2021-10-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft



    Agricultural Vehicle

    JI WON KIM | European Patent Office | 2023

    Free access

    Agricultural Vehicle

    JEONG MAENGCHAN / YANG DONG HO | European Patent Office | 2020

    Free access

    AGRICULTURAL VEHICLE

    NAM CHEUNG HYUN | European Patent Office | 2019

    Free access

    Agricultural Vehicle

    European Patent Office | 2023

    Free access

    Agricultural Vehicle

    JONG JAE CHOI / HAN YEOL YU / CHAN HWAN CHOI | European Patent Office | 2023

    Free access