US 12,135,557 B2
Path generation system
Yasuto Nishii, Osaka (JP); Kohei Ogura, Osaka (JP); and Nobuhiro Kimura, Osaka (JP)
Assigned to YANMAR POWER TECHNOLOGY CO., LTD., Osaka (JP)
Appl. No. 17/438,917
Filed by Yanmar Power Technology Co., Ltd., Osaka (JP)
PCT Filed Jan. 17, 2020, PCT No. PCT/JP2020/001482
§ 371(c)(1), (2) Date May 6, 2022,
PCT Pub. No. WO2020/183906, PCT Pub. Date Sep. 17, 2020.
Claims priority of application No. 2019-047446 (JP), filed on Mar. 14, 2019.
Prior Publication US 2022/0269278 A1, Aug. 25, 2022
Int. Cl. G05D 1/02 (2020.01); A01B 69/04 (2006.01); A01B 69/08 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0219 (2013.01) [A01B 69/008 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A path generation system comprising:
a travel path generation section configured to generate a target travel path on which a work vehicle is caused to automatically travel; and
a reference point setting section configured to set a first reference point and a second reference point used for generation of a first reference line and a third reference point used to set intervals, based on position information of the work vehicle when the work vehicle is caused to travel, and
wherein the travel path generation section is configured to:
generate, as the target travel path, a path including a plurality of parallel paths parallel to the first reference line based on the first reference point and the second reference point; and
set an interval between the first reference line and one of the parallel paths and an interval between the parallel paths, based on a distance between the second reference point and the third reference point.
 
7. An apparatus comprising:
a control unit configured to:
receive position information of a work vehicle that corresponds to a path traveled by the work vehicle;
determine a first reference point, a second reference point, and a third reference point based on the position information;
determine a first reference path based on the first and second reference points; and
determine a target travel path configured to be used by the work vehicle for autonomous travel, wherein the target travel path includes a plurality of paths including the first reference path, wherein each of the plurality of paths is parallel to the first reference path, and wherein a distance between each of the plurality of paths is based on a distance between the second reference point and the third reference point.