To provide an automated travelling method, an automated travelling system, and an automated travelling program capable of improving accuracy of an azimuth angle of a work vehicle.SOLUTION: An estimation processing unit 112 estimates a vehicle azimuth angle indicating an azimuth angle of a work vehicle 10 with respect to a target route R. A calculation processing unit 113 calculates an antenna azimuth angle indicating an azimuth angle with respect to a target route R of a measurement antenna 164 provided on the work vehicle 10. A correction processing unit 114 corrects the antenna azimuth angle on the basis of an azimuth difference showing a difference between the vehicle azimuth angle and the antenna azimuth angle. A travelling processing unit 111 causes the work vehicle 10 to travel in an automated manner on the basis of a corrected azimuth angle indicating the antenna azimuth angle after correction and position information on the work vehicle 10.SELECTED DRAWING: Figure 1
【課題】作業車両の方位角の精度を向上させることが可能な自動走行方法、自動走行システム、及び自動走行プログラムを提供する。【解決手段】推定処理部112は、目標経路Rに対する作業車両10の方位角を示す車両方位角を推定する。算出処理部113は、作業車両10に設けられる測位用アンテナ164の目標経路Rに対する方位角を示すアンテナ方位角を算出する。補正処理部114は、前記車両方位角と前記アンテナ方位角との差を示す方位差に基づいて前記アンテナ方位角を補正する。走行処理部111は、補正後の前記アンテナ方位角を示す補正方位角と、作業車両10の位置情報とに基づいて、作業車両10を自動走行させる。【選択図】図1
AUTOMATED TRAVELLING METHOD, AUTOMATED TRAVELLING SYSTEM, AND AUTOMATED TRAVELLING PROGRAM
自動走行方法、自動走行システム、及び自動走行プログラム
2025-03-28
Patent
Electronic Resource
Japanese
IPC: | A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
AUTOMATED TRAVELLING SUPPORT DEVICE, WORK VEHICLE, AND AUTOMATED TRAVELLING METHOD OF WORK VEHICLE
European Patent Office | 2020
|TRAVELLING CONTROL DEVICE, TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL PROGRAM
European Patent Office | 2023
|European Patent Office | 2019
|TRAVELLING ANALYSIS METHOD, TRAVELLING ANALYSIS DEVICE AND TRAVELLING ANALYSIS PROGRAM
European Patent Office | 2016
|TRAVELLING VEHICLE, TRAVELLING CONTROL METHOD, TRAVELLING CONTROL PROGRAM, AND RECORDING MEDIUM
European Patent Office | 2020
|