US 12,459,561 B2
Work vehicle, control system for work vehicle, and control method
Kohei Okura, Sakai (JP); Ryo Kurata, Sakai (JP); and Kenta Hanajima, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Dec. 19, 2023, as Appl. No. 18/544,508.
Claims priority of application No. 2022-211141 (JP), filed on Dec. 28, 2022.
Prior Publication US 2024/0217578 A1, Jul. 4, 2024
Int. Cl. B62D 6/00 (2006.01); A01B 69/04 (2006.01); B60K 35/28 (2024.01); G01S 19/43 (2010.01); G05D 1/248 (2024.01); G05D 1/65 (2024.01); G05D 105/15 (2024.01); G05D 107/20 (2024.01); G05D 109/10 (2024.01); G05D 111/50 (2024.01)
CPC B62D 6/001 (2013.01) [A01B 69/008 (2013.01); B60K 35/28 (2024.01); G01S 19/43 (2013.01); G05D 1/248 (2024.01); G05D 1/65 (2024.01); B60K 2360/178 (2024.01); G05D 2105/15 (2024.01); G05D 2107/21 (2024.01); G05D 2109/10 (2024.01); G05D 2111/52 (2024.01); G05D 2111/54 (2024.01)] 13 Claims
OG exemplary drawing
 
1. A work vehicle capable of performing auto-steer driving in both of forward travel and backward travel, comprising:
a position sensor to output chronological position data of the work vehicle;
a controller configured or programmed to, in an automatic steering mode, perform steering control for the work vehicle based on the chronological position data and a target path that is previously set; and
a toggling switch to switch between forward travel and backward travel of the work vehicle; wherein
the controller is configured or programmed to:
in the automatic steering mode, when a moving speed of the work vehicle is lower than a first speed, determine a traveling direction of the work vehicle based on the chronological position data and a state of the toggling switch;
in the automatic steering mode, if a switching operation between forward travel and backward travel is performed using the toggling switch while the moving speed is lower than the first speed, transition to a standby mode in which the automatic steering is temporarily canceled;
resume the automatic steering mode from the standby mode if a resuming condition is satisfied within a predetermined first time from a time of transitioning to the standby mode, the resuming condition including a first condition that a traveling direction estimated from the chronological position data coincides with a traveling direction indicated by the toggling switch;
transition from the standby mode to a manual steering mode if the resuming condition is not satisfied within the first time from the time of transitioning to the standby mode; and
in the manual steering mode, maintain the manual steering mode until a user performs an operation to switch to the automatic steering mode.