US 12,457,913 B2
Automatic traveling system, automatic traveling method, and automatic traveling program
Maroi Kodama, Osaka (JP)
Assigned to Yanmar Holdings Co., Ltd., Osaka (JP)
Appl. No. 18/025,362
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
PCT Filed Sep. 13, 2021, PCT No. PCT/JP2021/033448
§ 371(c)(1), (2) Date Mar. 8, 2023,
PCT Pub. No. WO2022/065091, PCT Pub. Date Mar. 31, 2022.
Claims priority of application No. 2020-158531 (JP), filed on Sep. 23, 2020.
Prior Publication US 2023/0320246 A1, Oct. 12, 2023
Int. Cl. A01B 69/04 (2006.01); A01B 76/00 (2006.01); B60T 8/32 (2006.01)
CPC A01B 69/008 (2013.01) [A01B 76/00 (2013.01); B60T 8/321 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An automatic traveling method executing:
generating a target route including a work route on which a work vehicle moves forward on a field and a direction change route on which the work vehicle changes its direction;
measuring the position of the work vehicle;
causing the work vehicle to automatically travel along the target route based on the position of the work vehicle; and
executing a deceleration processing of decelerating a target speed of the work vehicle toward a direction change position at which a front-rear direction of the work vehicle is switched if the direction change position is within a predetermined distance from a predetermined area in a traveling direction of the work vehicle immediately before the work vehicle reaches the direction change position in a case where the work vehicle changes its direction on the direction change route.