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Patent Searching and Data


Title:
AUTOMATIC TRAVEL CONTROL DEVICE, AUTOMATIC TRAVEL CONTROL METHOD, AND PROGRAM FOR AUTOMATIC TRAVEL CONTROL
Document Type and Number:
WIPO Patent Application WO/2020/100617
Kind Code:
A1
Abstract:
Processing to obtain a temporary curvature gradient as a control value for eliminating an azimuth deviation from a position deviation and the azimuth deviation, and with the position deviation, the azimuth deviation, and a provisional target curvature as premises, calculate a temporary position deviation that is a positon deviation from a target route generated when it is assumed that a work vehicle is caused to travel until the azimuth deviation is eliminated according to the temporary curvature gradient by an operation including a nonlinear element sinθ is performed while changing the provisional target curvature until the temporary position deviation is extremely reduced, and the work vehicle is steered using the obtained provisional target curvature as a target curvature. Thus, even in a state where nonlinearity is unignorable, the position deviation and the azimuth deviation can be rapidly eliminated.

Inventors:
YAMADA YUICHI (JP)
Application Number:
PCT/JP2019/042832
Publication Date:
May 22, 2020
Filing Date:
October 31, 2019
Export Citation:
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Assignee:
NAT AGRICULTURE & FOOD RES ORG (JP)
International Classes:
B62D6/00; B60W30/00; B60W30/10
Foreign References:
JP2016155491A2016-09-01
JP2008092818A2008-04-24
US20170297621A12017-10-19
EP3231270A12017-10-18
US20130304300A12013-11-14
Attorney, Agent or Firm:
TACHIBANA Kazuyuki (JP)
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