US 12,188,205 B2
Control system, method of controlling work vehicle, and work vehicle
Takuya Sonoda, Tokyo (JP); Takeshi Kamimae, Tokyo (JP); and Yukihisa Sakai, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/638,236
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Jul. 7, 2020, PCT No. PCT/JP2020/026508
§ 371(c)(1), (2) Date Feb. 25, 2022,
PCT Pub. No. WO2021/065135, PCT Pub. Date Apr. 8, 2021.
Claims priority of application No. 2019-179568 (JP), filed on Sep. 30, 2019.
Prior Publication US 2022/0298749 A1, Sep. 22, 2022
Int. Cl. B62D 5/065 (2006.01); B62D 6/00 (2006.01); B62D 6/04 (2006.01); B62D 11/06 (2006.01); E02F 3/84 (2006.01); E02F 9/20 (2006.01)
CPC E02F 9/2087 (2013.01) [B62D 5/065 (2013.01); B62D 6/00 (2013.01); B62D 6/04 (2013.01); B62D 11/06 (2013.01); E02F 3/842 (2013.01); E02F 9/2045 (2013.01); E02F 3/841 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control system that controls a steering mechanism of a work vehicle, the control system comprising:
a control unit that:
receives, from a sensor on the work vehicle, an acceleration and an angular velocity of the work vehicle,
calculates a position and an orientation of the work vehicle based on the received acceleration and the received angular velocity of the work vehicle,
calculates a rate of change in a direction of travel per unit travel distance of the work vehicle based on the calculated position of the work vehicle and the calculated orientation of the work vehicle when a trigger for starting control of the steering mechanism of the work vehicle is provided, and
controls the steering mechanism of the work vehicle such that the calculated rate of change in the direction of travel per unit travel distance of the work vehicle is maintained constant.