US 11,937,526 B2
Control device for work vehicle configured to travel autonomously
Hiroki Suga, Sakai (JP); and Shunsuke Miyashita, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Appl. No. 17/297,526
Filed by KUBOTA CORPORATION, Osaka (JP)
PCT Filed Dec. 9, 2019, PCT No. PCT/JP2019/048044
§ 371(c)(1), (2) Date May 27, 2021,
PCT Pub. No. WO2020/129722, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 2018-238895 (JP), filed on Dec. 20, 2018.
Prior Publication US 2022/0007563 A1, Jan. 13, 2022
Int. Cl. A01B 69/04 (2006.01); A01D 41/127 (2006.01); G05D 1/00 (2006.01)
CPC A01B 69/008 (2013.01) [A01D 41/1278 (2013.01); G05D 1/0219 (2013.01); G05D 1/0223 (2013.01); G05D 1/0278 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A control device for a work vehicle configured to travel autonomously along a target travel path, the control device comprising:
a processor configured or programmed to define and function as:
a vehicle position calculator to calculate a vehicle position of the work vehicle;
a travel direction calculator to calculate a travel direction of the work vehicle, the travel direction being a front-back direction of a vehicle body of the work vehicle;
a steering state detector to obtain data on a steering state of the work vehicle;
a vehicle position estimator to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from the vehicle position of the work vehicle;
a deviation calculator to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path;
an estimated lateral deviation calculator to calculate an estimated lateral deviation, the estimated lateral deviation being a distance between the estimated vehicle position and the target travel path in a direction perpendicular or substantially perpendicular to a direction of the target travel path;
an estimated directional deviation calculator to calculate an estimated directional deviation, the estimated directional deviation being an angle defined by an estimated travel direction of the work vehicle at the estimated vehicle position and the target travel path;
a target steering amount calculator to calculate a target steering amount based on the estimated lateral deviation and the estimated directional deviation; and
an autonomous travel controller to control steering of the work vehicle based on the target steering amount.