Swing control device and swing control method

Abstract

To provide a turning method which enables turning with small output without damaging a field as much as possible when a track vehicle is turned.SOLUTION: A turning control device (18) for automatically turning a track vehicle (10) having crawlers for traveling on both ends includes: an acquisition part (36) for acquiring a load values of a power source of both of the crawlers; a turning control part (46) for controlling both of the crawlers until the track vehicle face a target direction, and ultra-pivotal turning or pivotal turning the track vehicle; and a movement control part (48) for suspending the ultra-pivotal turning or pivotal turning by the turning control part every time the load value reaches a predetermined value, controlling both of the crawlers, and advancing or retracting the track vehicle by a predetermined distance.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a turning control device and a turning control method for automatically turning a rail-mounted vehicle equipped with crawlers (endless tracks, crawlers, track belts, caterpillars) for traveling left and right.

Background Art

[0002] A rail-mounted vehicle has crawlers for traveling left and right. The rail-mounted vehicle can achieve high cross-country performance on rough ground. For example, Patent Document 1 shows a rail-mounted vehicle using an electric motor as a power source.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the rail-mounted vehicle makes a sharp turn or a normal turn, the crawlers push soil in the turning direction. For example, when the rail-mounted vehicle makes a sharp left turn, soil lumps are formed on the left side of the front half of each crawler and on the right side of the rear half of the crawler. As the turning angle of the rail-mounted vehicle increases, the soil lumps become larger and the ground becomes rough. Furthermore, when the rail-mounted vehicle makes a sharp turn while pushing large soil lumps, the power source (such as an electric motor) needs to generate a large torque. Then, the energy consumption of the rail-mounted vehicle increases. For these reasons, a turning method that can turn with as little damage to the field as possible and with a small output during the turning of the rail-mounted vehicle is desired.

[0005] An object of the present invention is to solve the above-described problems.

Means for Solving the Problems

[0006] A first aspect of the present invention is a turning control device for performing automatic turning of a track-laying vehicle equipped with crawlers for traveling left and right, comprising: an acquisition unit that acquires load values of power sources of the left and right crawlers; a turning control unit that controls the left and right crawlers until the track-laying vehicle faces a target direction, and turns the track-laying vehicle in a skid steering or a coordinated steering manner; and a movement control unit that temporarily interrupts the skid steering or the coordinated steering by the turning control unit each time the load value reaches a predetermined value, and controls the left and right crawlers to move the track-laying vehicle forward or backward by a predetermined distance.

[0007] A second aspect of the present invention is a turning control method for performing automatic turning control of a track-laying vehicle equipped with crawlers for traveling left and right by using a computer, comprising: an acquisition step of acquiring load values of power sources of the left and right crawlers; a turning step of controlling the left and right crawlers until the track-laying vehicle faces a target direction, and turning the track-laying vehicle in a skid steering or a coordinated steering manner; and a movement step of temporarily interrupting the skid steering or the coordinated steering in the turning step each time the load value reaches a predetermined value, and controlling the left and right crawlers to move the track-laying vehicle forward or backward by a predetermined distance.

Advantages of the Invention

[0008] According to the present invention, it is possible to reduce the roughness of the ground and also reduce the energy consumption.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Best Mode for Carrying Out the Invention

[0010] [1 First Embodiment] [1-1 Configuration of Rail Laying Vehicle 10] FIG. 1 is a block diagram showing a rail laying vehicle 10. The rail laying vehicle 10 is provided with crawlers 12R and 12L on the left and right sides of the vehicle body. The rail laying vehicle 10 can move forward, backward, and turn by driving the left and right crawlers 12R and 12L. The rail laying vehicle 10 of the present embodiment is a vehicle that automatically performs turning control. For example, the rail laying vehicle 10 is an autonomous driving vehicle that automatically performs traveling control and turning control.

[0011] The rail laying vehicle 10 of the present embodiment has electric motors (traveling motors 50R and 50L) as power sources, but may have an engine, a hydraulic motor, or the like as a power source. Further, the rail laying vehicle 10 of the present embodiment has a pair of electric motors corresponding individually to the left and right crawlers 12R and 12L, but may have one electric motor. The output of one electric motor is distributed and supplied to the left and right crawlers 12R and 12L. In the present embodiment, as the rail laying vehicle 10, a small transporter that follows and moves forward following a preceding following target (for example, a person) is assumed. The small transporter transports, for example, agricultural products harvested by a person in a field.

[0012] The track-laying vehicle 10 includes an input device group 16, a travel control device 18, a battery 20, two motor control circuits 22R and 22L, and left and right drive devices 24R and 24L. The input device group 16 includes one or more cameras 26, an inertial measurement device 28, and two current sensors 30R and 30L. The one or more cameras 26 are sensors that acquire information such as the position of a following target. As a sensor for acquiring information on the following target, LiDAR may be used. Also, for automatically following the track-laying vehicle 10 as a following target, another following system using a beacon or the like may be used. Further, instead of the inertial measurement device 28, an attitude and azimuth reference device may be used. The drive device 24R includes a travel motor 50R, a power transmission mechanism 52R, and a crawler 12R. The drive device 24L includes a travel motor 50L, a power transmission mechanism 52L, and a crawler 12L. The travel motors 50R and 50L are power sources of the track-laying vehicle 10.

[0013] Hereinafter, the current sensors 30R and 30L are also simply referred to as the current sensor 30. The motor control circuits 22R and 22L are also simply referred to as the motor control circuit 22. Also, the travel motors 50R and 50L are also simply referred to as the travel motor 50. Further, the power transmission mechanisms 52R and 52L are also simply referred to as the power transmission mechanism 52. Also, the crawlers 12R and 12L are also simply referred to as the crawler 12.

[0014] The camera 26 images the periphery of the track-laying vehicle 10. At least one camera 26 images the front of the track-laying vehicle 10. The camera 26 outputs the image data acquired by imaging to the travel control device 18. The inertial measurement device 28 has a three-axis gyro and a three-direction acceleration sensor. The inertial measurement device 28 measures the acceleration and turning angular velocity of the track-laying vehicle 10. The inertial measurement device 28 outputs the measurement data to the travel control device 18. The current sensor 30R detects the current supplied from the motor control circuit 22R to the travel motor 50R. The current sensor 30L detects the current supplied from the motor control circuit 22L to the travel motor 50L. The current sensor 30 outputs the detection data to the travel control device 18.

[0015] The travel control device 18 controls the travel (forward, backward, turning, etc.) of the rail-mounted vehicle 10. That is, the travel control device 18 functions as a turning control device. The travel control device 18 includes an arithmetic unit 32 and a storage device 34.

[0016] The arithmetic unit 32 is a computer and has a processing circuit. The processing circuit may be a processor such as a CPU. The processing circuit may also be an integrated circuit such as an ASIC or an FPGA. The processor can execute various processes by executing programs stored in the storage device 34. The arithmetic unit 32 functions as an acquisition unit 36, a target recognition unit 38, a position recognition unit 40, an operation determination unit 42, a travel control unit 44, a turning control unit 46, and a movement control unit 48. At least a part of the plurality of processes may be executed by an electronic circuit including discrete devices.

[0017] The acquisition unit 36 acquires various data (image data of the camera 26, measurement data of the inertial measurement device 28, detection data of the current sensor 30, etc.) from the input device group 16. The target recognition unit 38 performs image recognition using the image data and recognizes the tracking target (person). The position recognition unit 40 recognizes each of the position and orientation of the rail-mounted vehicle 10 in the field based on the measurement data. The operation determination unit 42 determines the operation of the rail-mounted vehicle 10, such as the travel direction (movement direction), travel speed, necessity of turning, angle to be turned, etc., based on the recognition results of the target recognition unit 38 and the position recognition unit 40. The travel control unit 44 performs travel control of the rail-mounted vehicle 10 based on the determination result of the operation determination unit 42. The turning control unit 46 performs turning control of the rail-mounted vehicle 10 based on the determination result of the operation determination unit 42. The movement control unit 48 performs movement control of the rail-mounted vehicle 10 based on the determination result of the operation determination unit 42.

[0018] The storage device 34 has a volatile memory and a non-volatile memory. Examples of the volatile memory include a RAM or the like. The volatile memory is used as the working memory of the processor. The volatile memory temporarily stores data and the like necessary for processing or calculation. Examples of the non-volatile memory include a ROM, a flash memory, or the like. The non-volatile memory is used as a storage memory. The non-volatile memory stores programs, tables, maps, and the like. At least a part of the storage device 34 may be provided in the above-described processor, integrated circuit, or the like.

[0019] The storage device 34 stores various predetermined values used in various controls. For example, the storage device 34 stores, as predetermined values, a current threshold value of the traveling motor 50 and a predetermined distance by which the track-laying vehicle 10 moves forward and backward while turning.

[0020] The motor control circuit 22 has an inverter circuit or the like. The switching element of the inverter circuit switches according to the control signal output by the arithmetic unit 32. The motor control circuit 22 converts the direct current of the battery 20 into an alternating current and outputs it to the traveling motor 50.

[0021] The traveling motor 50 is an electric motor, for example, a three-phase alternating current motor. The traveling motor 50 is driven by the electric power supplied from the battery 20 via the motor control circuit 22. The output shaft of the traveling motor 50 is connected to a drive wheel (not shown) via a power transmission mechanism 52. The power transmission mechanism 52 has, for example, a speed reducer or the like. The drive wheel rotates the crawler 12.

[0022] [1-2 Turning Control and Movement Control] FIG. 2 is a flowchart showing the flow of control performed by the arithmetic unit 32 provided in the travel control device 18. When the track-laying vehicle 10 travels following a following target, the operation determination unit 42 determines the rotation direction and rotation speed of each travel motor 50 so that the direction of the track-laying vehicle 10 coincides with the direction of the following target. When the angular difference between the direction of the track-laying vehicle 10 and the direction of the following target is equal to or greater than a predetermined value, the operation determination unit 42 determines that turning is necessary. In this specification, this angular difference is referred to as the turning angle, that is, the target angle of turning. The operation determination unit 42 calculates the target angle and stores it in the storage device 34. The storage device 34 stores the target angle until the turning is completed. When the track-laying vehicle 10 turns, the travel control device 18 performs the process shown in FIG. 2.

[0023] In step S1, the turning control unit 46 performs turning control. Here, the turning control unit 46 performs super-credential turning control as turning control. Note that the turning control unit 46 may perform credential turning control as turning control. The turning control unit 46 performs super-credential turning by rotating each of the travel motor 50R and the travel motor 50L in opposite directions to each other. The turning control unit 46 may make the rotation speed of the travel motor 50R equal to the rotation speed of the travel motor 50L or different from each other during super-credential turning. When step S1 ends, the process proceeds to step S2.

[0024] In step S2, the acquisition unit 36 acquires the detection data of each current sensor 30, that is, the current value of each travel motor 50. When step S2 ends, the process proceeds to step S3.

[0025] In step S3, the acquisition unit 36 acquires the measurement data of the inertial measurement device 28. The position recognition unit 40 calculates the turning angle based on the measurement data. The turning angle is the angle by which the track-laying vehicle 10 has turned at one or more positions from the start of turning control by the turning control unit 46 to the current time. When step S3 ends, the process proceeds to step S4.

[0026] In step S4, the turning control unit 46 compares the turning angle with the target angle. If the turning angle is less than the target angle (step S4: YES), the process proceeds to step S5. At this stage, the turning has not ended. Therefore, the turning control unit 46 continues the turning control. On the other hand, if the turning angle is greater than or equal to the target angle (step S4: NO), the series of processes shown in FIG. 2 ends. At this stage, the track-laying vehicle 10 is facing the target to be followed.

[0027] When shifting from step S4 to step S5, the turning control unit 46 compares each current value acquired in step S2 with the current threshold value stored in the storage device 34. If any of the current values is greater than or equal to the current threshold value (step S5: YES), the process proceeds to step S6. On the other hand, if each current value is less than the current threshold value (step S5: NO), the process returns to step S1.

[0028] When shifting from step S5 to step S6, the movement control unit 48 temporarily interrupts the turning control performed by the turning control unit 46. When step S6 ends, the process proceeds to step S7.

[0029] In step S7, the movement control unit 48 advances or retreats the track-laying vehicle 10 by a predetermined distance by rotating each traveling motor 50 in the same direction by a predetermined amount. After the movement control unit 48 rotates the traveling motor 50 in the same direction by a predetermined amount, it releases the interruption of the turning control. When step S7 ends, the process returns to step S1.

[0030] [1-3 Operations of the Track-Laying Vehicle 10] [1-3-1 First Example] FIG. 3 is an operation explanatory diagram showing the first example of the turning operation of the track-laying vehicle 10 in time series. The first example is a control example in which the movement control unit 48 advances the track-laying vehicle 10 in the movement control (step S7 in FIG. 2).

[0031] At time t0 to time t1, the turning control unit 46 causes the track-laying vehicle 10 to perform a sharp turn counterclockwise (arrow A) (step S1 in FIG. 2). During the turning of the track-laying vehicle 10, soil masses 56 are formed on the left side of the front half of the crawler 12 and on the right side of the rear half of the crawler 12. In FIG. 3, the area marked with dots is the soil mass 56. As the soil mass 56 grows larger, the current value of the traveling motor 50 detected by the current sensor 30 increases.

[0032] At time t1, the turning control unit 46 determines that the current value of any one of the current sensors 30 is equal to or greater than the current threshold (step S5 in FIG. 2: YES). The turning control unit 46 temporarily interrupts the turning control (step S6 in FIG. 2).

[0033] At time t1 to time t2, the movement control unit 48 moves the track-laying vehicle 10 forward by a predetermined distance (arrow B) (step S7 in FIG. 2). When the track-laying vehicle 10 advances by at least half of the crawler length L (L / 2), the front half of the crawler 12 can move to a position where there is no soil mass 56 on the left side, and the rear half of the crawler 12 can move to a position where there is no soil mass 56 on the right side. On the other hand, if the moving distance of the track-laying vehicle 10 is too long, the displacement of the turning center of the track-laying vehicle 10 will increase before the turning angle of the track-laying vehicle 10 reaches the target angle. In order to reduce the displacement of the turning center, it is preferable that the predetermined distance be as small as possible. From the above, the predetermined distance that the track-laying vehicle 10 moves during one turning interruption is preferably a length that is at least half of the crawler length L (L / 2) and not more than the crawler length L. More specifically, the predetermined distance is preferably half of the crawler length L (L / 2). Note that the crawler length L is the length from the front end to the rear end of the crawler 12.

[0034] After time t2 (time t2 to time t5), the turning control unit 46 performs the same control as the control from time t0 to time t2 until the turning angle reaches the target angle. When the turning angle reaches the target angle, the turning control unit 46 terminates the turning control. At this point, the track-laying vehicle 10 is facing the target to be followed. The traveling control unit 44 controls each traveling motor 50 so that the track-laying vehicle 10 travels following the target to be followed.

[0035] Thus, in the first example, when the traveling control device 18 (swing control device) swings the tracked vehicle 10 by a target angle, it alternately performs swing control and movement control. In other words, the tracked vehicle 10 swings by the target angle while moving the swing position (swing center position). The size of each soil mass 56 formed by the first example is smaller than the size of the soil mass 56 formed by swinging by the target angle at one location. Therefore, the traveling control device 18 can reduce the size of the soil mass 56 formed when the tracked vehicle 10 swings. As a result, the torque required for the traveling motor 50 when the tracked vehicle 10 swings is reduced. That is, by performing the operation of the first example, the traveling control device 18 can reduce the roughness of the ground and also reduce the power consumption.

[0036] [1-3-2 Second Example] FIG. 4 is an operation explanatory diagram showing a second example of the swing operation of the tracked vehicle 10 in time series. The second example is a control example in which the movement control unit 48 alternately performs movement control to move the tracked vehicle 10 forward and movement control to move the tracked vehicle 10 backward.

[0037] The operations from time point t0 to time point t3 in the second example are the same as the operations from time point t0 to time point t3 in the first example. The first example and the second example differ in the moving direction of the tracked vehicle 10 at time points t3 to t4, that is, the moving direction of the second movement control. In the first example, at time points t3 to t4, the movement control unit 48 moves the tracked vehicle 10 forward (arrow B) by a predetermined distance (half the distance of the crawler length L). On the other hand, in the second example, at time points t3 to t4, the movement control unit 48 moves the tracked vehicle 10 backward (arrow C) by the distance of the crawler length L.

[0038] Thus, in the second example, the movement control unit 48 moves the rail-laying vehicle 10 forward during the odd-numbered movement controls (step S7 in FIG. 2) and moves the rail-laying vehicle 10 backward during the even-numbered movement controls (step S7 in FIG. 2). Note that the movement control unit 48 may move the rail-laying vehicle 10 backward during the odd-numbered movement controls and move the rail-laying vehicle 10 forward during the even-numbered movement controls. In short, the movement control unit 48 makes the moving direction of the rail-laying vehicle 10 at the nth (n is a natural number of 2 or more) turning interruption opposite to the moving direction of the rail-laying vehicle 10 at the (n - 1)th turning interruption.

[0039] Note that the movement control unit 48 may move forward and backward in a preset order.

[0040] By performing the operation of the second example, the traveling control device 18 not only achieves the same effect as the first example, but can further reduce the positional deviation of the turning center. In addition, by alternately switching the moving direction of the rail-laying vehicle 10 by the traveling control device 18, the rail-laying vehicle 10 moves on a part of the soil mass 56 formed immediately before the nth movement. Then, the soil mass 56 is compacted. That is, by performing the operation of the second example, the traveling control device 18 can further reduce the roughness of the ground compared to the first example.

[0041] [2 Second Embodiment] FIG. 5 is a block diagram showing the rail-laying vehicle 10 according to the second embodiment. The rail-laying vehicle 10 according to the second embodiment has additional functions in addition to the functions of the rail-laying vehicle 10 according to the first embodiment. The rail-laying vehicle 10 according to the second embodiment has each component of the rail-laying vehicle 10 according to the first embodiment. In the second embodiment, the same reference numerals are given to the same components as those in the first embodiment. In the first embodiment, the current threshold value is a fixed value stored in the storage device 34 in advance. In contrast, in the second embodiment, the current threshold value is a variable value. The parts different from the first embodiment in the second embodiment will be described.

[0042] In the second embodiment, the arithmetic unit 32 also functions as a remaining amount acquisition unit 60 and a setting unit 62. The remaining amount acquisition unit 60 acquires the remaining amount of the battery 20. For example, the remaining amount acquisition unit 60 acquires the current value, voltage value, and temperature of the battery 20, and calculates the state of charge (SOC) of the battery 20. The setting unit 62 sets a current threshold based on the SOC of the battery 20. For example, the storage device 34 stores a map associating the SOC of the battery 20 with the current threshold, or an arithmetic expression for calculating the current threshold from the SOC of the battery 20. The setting unit 62 sets the current threshold using the map or arithmetic expression stored in the storage device 34 immediately before step S1 shown in FIG. 2.

[0043] When the track-laying vehicle 10 turns while the SOC of the battery 20 is low, there is a possibility that the vehicle may not be able to turn even if the soil mass 56 is relatively small. According to the second embodiment, the travel control device 18 can turn the track-laying vehicle 10 even when the SOC of the battery 20 is low.

[0044] [3 Other Embodiments] The track-laying vehicle 10 according to the first and second embodiments moves forward while following a following target (person). However, the track-laying vehicle 10 may move forward along a preset travel route. In this case, the target recognition unit 38 recognizes the travel route. The operation determination unit 42 determines the direction in which the track-laying vehicle 10 should travel, the angle at which the track-laying vehicle 10 should turn, etc., based on the travel route recognized by the target recognition unit 38 and the position and orientation of the track-laying vehicle 10 recognized by the position recognition unit 40.

[0045] Alternatively, the track-laying vehicle 10 may be an attended vehicle in which the user performs control other than turning control and the turning control is automatically performed only. Further, the track-laying vehicle 10 may be a remotely operated vehicle that the user operates from a remote location. When the track-laying vehicle 10 is an attended vehicle or a remotely operated vehicle, for example, when the user gives an instruction to turn (such as a button operation), the turning control unit 46 and the movement control unit 48 perform the automatic control shown in FIG. 2.

[0046] When calculating the turning angle of the track-laying vehicle 10, the position recognition unit 40 does not necessarily have to use the measurement data of the inertial measurement device 28. For example, the position recognition unit 40 can also calculate the turning angle of the track-laying vehicle 10 based on the turning time, the load of the power source (the current value of the traveling motor 50 in the above embodiment), and the like.

[0047] [4 Invention Obtained from Embodiment] The invention that can be grasped from the above embodiment will be described below.

[0048] The first aspect of the present invention is a turning control device (18) that performs automatic turning of a track-laying vehicle (10) equipped with crawlers (12) for traveling on the left and right, the acquisition unit (36) that acquires the load values of the power sources of the left and right crawlers, and the left and right crawlers are controlled until the track-laying vehicle faces the target direction, and the turning control unit (46) that turns the track-laying vehicle in a skid steering or a coordinated steering, and the skid steering or coordinated steering by the turning control unit is temporarily interrupted each time the load value reaches a predetermined value, and the left and right crawlers are controlled, and the moving control unit (48) that moves the track-laying vehicle forward or backward by a predetermined distance.

[0049] In the first aspect, the moving control unit may move the track-laying vehicle forward or backward by a distance equal to or greater than half (L / 2) of the crawler length (L), which is the length from the front end to the rear end of the crawler, and equal to or less than the crawler length.

[0050] In the first aspect, the moving control unit may move the track-laying vehicle forward or backward by a distance equal to half of the crawler length.

[0051] In the first aspect, the moving control unit may set the moving direction of the track-laying vehicle at the nth (n is a natural number of 2 or more) turning interruption to be opposite to the moving direction of the track-laying vehicle at the (n - 1)th turning interruption.

[0052] In the first aspect, the power source may be an electric motor (50).

[0053] The turning control device according to the first aspect may include a battery (20) that supplies power to the electric motor, a remaining amount acquisition unit (60) that acquires the remaining amount of the battery, and a setting unit (62) that sets the predetermined value based on the remaining amount acquired by the remaining amount acquisition unit.

[0054] A second aspect of the present invention is a turning control method for performing automatic turning control of a track-laying vehicle equipped with crawlers for traveling left and right using a computer, the method including: an acquisition step of acquiring load values of power sources of the left and right crawlers; a turning step of controlling the left and right crawlers to turn the track-laying vehicle in a skid steering or a coordinated turning until the track-laying vehicle faces a target direction; and a movement step of temporarily interrupting the skid steering or the coordinated turning in the turning step each time the load value reaches a predetermined value, and controlling the left and right crawlers to move the track-laying vehicle forward or backward by a predetermined distance.

Explanation of Reference Numerals

[0055] 10... Track-laying vehicle 12... Crawler 18... Travel control device (turning control device) 20... Battery 36... Acquisition unit 46... Turning control unit 48... Movement control unit 50... Travel motor (electric motor) 60... Remaining amount acquisition unit 62... Setting unit

Claims

1. A turning control device for automatically turning a track-laying vehicle equipped with crawlers for traveling left and right, comprising: an acquisition unit that acquires load values of power sources of the left and right crawlers; a turning control unit that controls the left and right crawlers until the track-laying vehicle faces a target direction, and turns the track-laying vehicle in a skid steering or a coordinated steering; a movement control unit that temporarily interrupts the skid steering or the coordinated steering by the turning control unit each time the load value reaches a predetermined value, and controls the left and right crawlers to move the track-laying vehicle forward or backward by a predetermined distance.

2. The turning control device according to Claim 1, wherein the movement control unit moves the track-laying vehicle forward or backward by a distance equal to at least half of the crawler length, which is the length from the front end to the rear end of the crawler, and not more than the crawler length.

3. The turning control device according to Claim 2, wherein the movement control unit moves the track-laying vehicle forward or backward by a distance equal to half of the crawler length.

4. The turning control device according to any one of Claims 1 to 3, wherein the movement control unit sets the moving direction of the track-laying vehicle at the nth (n is a natural number of 2 or more) turning interruption to be opposite to the moving direction of the track-laying vehicle at the (n - 1)th turning interruption.

5. The turning control device according to any one of Claims 1 to 4, wherein the power source is an electric motor.

6. The turning control device according to Claim 5, comprising: a battery that supplies power to the electric motor; a remaining amount acquisition unit that acquires the remaining amount of the battery; and a setting unit that sets the predetermined value based on the remaining amount acquired by the remaining amount acquisition unit.

7. A turning control method for performing automatic turning control of a track-laying vehicle equipped with crawlers for traveling left and right using a computer, comprising: an acquisition step of acquiring load values of power sources of the left and right crawlers; a turning step of controlling the left and right crawlers until the track-laying vehicle faces a target direction, and turning the track-laying vehicle in a skid steering or a coordinated steering; and a movement step of temporarily interrupting the skid steering or the coordinated steering in the turning step each time the load value reaches a predetermined value, and controlling the left and right crawlers to move the track-laying vehicle forward or backward by a predetermined distance.

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