Title:
AUTONOMOUS TRAVEL SYSTEM FOR WORK VEHICLE
Document Type and Number:
WIPO Patent Application WO/2019/054057
Kind Code:
A1
Abstract:
[Problem] To inhibit decline in work precision caused by travel offset arising from a steering angle error. [Solution] Provided is an autonomous travel system for a work vehicle comprising: a steering angle setting unit 16E for setting a target steering angle θs; and a steering angle sensor 18 for sensing a steering angle. The steering angle setting unit 16E comprises: a bearing angle deviation computation means 16Ea for computing a bearing angle deviation; a steering angle error detection means 16Eb for detecting a steering angle error; and a steering angle computation means 16Ec for computing the target steering angle θs from the bearing angle deviation and steering angle error. The bearing angle deviation computation means 16Ea sets a target point on a target path which is at a prescribed distance from the current position in the direction of progress during autonomous travel, generates a target bearing line from the present position to the target point, and computes the angle formed by the present bearing and the target bearing line as the bearing angle deviation.
Inventors:
KODAMA MAROI (JP)
Application Number:
PCT/JP2018/027855
Publication Date:
March 21, 2019
Filing Date:
July 25, 2018
Export Citation:
Assignee:
YANMAR CO LTD (JP)
International Classes:
G05D1/02; A01B69/00
Foreign References:
| JP2002358122A | 2002-12-13 | |||
| JP2017123804A | 2017-07-20 | |||
| JPS5932006A | 1984-02-21 | |||
| JPH03230203A | 1991-10-14 | |||
| JP2002182741A | 2002-06-26 | |||
| JP2004086410A | 2004-03-18 | |||
| US6445983B1 | 2002-09-03 |
Attorney, Agent or Firm:
MIYAJI Masahiro (JP)
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