To make it possible, when a travel path of a work vehicle changes over from a turning path to a straight advance path, to make the work vehicle perform accurate automatic travel from a position of the changeover along the straight path.SOLUTION: An automatic travel system for a work vehicle includes a control unit 23 for making the work vehicle perform automatic travel according to a target path, the control unit including: a target position setting unit 23Fa for setting a target travel position to a predetermined position separated on the travel direction side by a predetermined distance from the current position of the work vehicle; and an automatic steering control unit 23H for controlling actuation of a steering unit 17 so that the work vehicle follows the target travel position. The target position setting unit 23Fa determines whether or not the target travel position has reached a terminal position of a turning path connected to a straight advance path and, when it is determined that the target travel position has reached the terminal position of the turning path, changes setting of the target travel position from a position on the turning path to a position on the straight advance path.SELECTED DRAWING: Figure 3

    【課題】作業車両の走行経路が旋回経路から直進経路に切り換わる場合に、その切り換え位置から作業車両を直線経路に従って精度よく自動走行させることを可能にする。【解決手段】作業車両用の自動走行システムにおいて、作業車両を目標経路に従って自動走行させる制御ユニット23には、作業車両の現在位置から進行方向側に所定距離を隔てた所定位置に目標走行位置を設定する目標位置設定部23Faと、作業車両が目標走行位置を追従するようにステアリングユニット17の作動を制御する自動ステアリング制御部23Hとが含まれており、目標位置設定部23Faは、目標走行位置が直進経路に連接された旋回経路の終端位置に到達したか否かを判定し、目標走行位置が旋回経路の終端位置に到達したと判定した場合に、目標走行位置を、旋回経路上の位置から直進経路上の位置に設定変更する。【選択図】図3


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    Title :

    AUTOMATIC TRAVEL SYSTEM FOR WORK VEHICLE


    Additional title:

    作業車両用の自動走行システム


    Contributors:
    KODAMA YUTO (author) / NISHII YASUTO (author)

    Publication date :

    2021-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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