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automatic steering system

An automatic steering system and steering control technology, applied in the direction of automatic steering control components, steering rods, steering mechanisms, etc., can solve the problems of larger radius of turning circle, larger interval, larger area, etc.

Active Publication Date: 2022-08-02
KUBOTA LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the distance between the two straight-going target paths connected by the turning target path is large so that the radius of the turning circle connecting the end points of the two straight-going target paths becomes large.
Therefore, there is a disadvantage that the area required for turning travel from one straight target path to another straight target path becomes large.

Method used

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Examples

Experimental program
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Embodiment Construction

[0045] Next, one Embodiment of the automatic steering system of this invention is demonstrated using drawing. figure 1 It is a side view of a tractor as an example of a vehicle equipped with the above-mentioned automatic steering system. like figure 1As shown, in this tractor, a cab 20 is provided in the center portion of the vehicle body 1 supported by the front wheels 11 and the rear wheels 12 . The rear part of the vehicle body 1 is equipped with a rotary tiller 30 as a working device via a hydraulic lift mechanism. The front wheels 11 function as steering wheels, and by changing the steering angle, the traveling direction of the tractor is changed. The steering angle of the front wheels 11 is changed according to the operation of the steering mechanism 13 . The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual running, the steering of the front wheels 11 is performed by the operation of the steering wheel 22 arranged in the cab 20...

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Abstract

The present invention relates to an automatic steering system capable of performing turning control capable of efficiently shifting from a front travel path to a rear travel path. The automatic steering system includes: a first steering control unit that performs steering control for a first turning travel away from the front travel path (Ls) and toward the rear travel path (Ln); and a second steering control unit, The second steering control unit performs steering control for the second turning travel that enters the rear travel path; the third steering control unit performs the transition travel between the first turning travel and the second turning travel Steering control for the vehicle; an imaginary turning circle calculating section that calculates a virtual turning circle (VC) used as a target route for the second turning travel; and a tangent calculating section that The tangent to the virtual turning circle is calculated from the vehicle body reference point during the first turning travel, and this is used as the target route for the transition travel.

Description

technical field [0001] The present invention relates to an automatic steering system of a vehicle with a function of detecting the position of the own vehicle, which is transferred from a front driving path to a rear driving path via turning driving. Background technique [0002] Patent Document 1 discloses an agricultural work vehicle that has a GPS receiver that receives radio waves from GPS satellites, and that automatically travels in farmland based on the calculated position of the vehicle so that the center of the front wheels is positioned. Follow the target path. The work vehicle includes automatic straight forward control for causing the vehicle body to travel along a straight target path, and automatic turning control for causing the vehicle body to travel with a turning circle as the target path. In automatic turning control, the position deviation and azimuth deviation are calculated by intersecting the turning circle with a straight line connecting the center o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D137/00
CPCB62D6/008G05D1/0212A01B69/008G05D1/0278A01B69/001B62D6/00G09B29/10G01S19/47G01S19/14
Inventor 新海敦阪口和央山口幸太郎须贺博基
Owner KUBOTA LTD
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