Automated driving system for work vehicle
This automatic travel system for a work vehicle is provided with: a position information obtaining unit; and an automatic travel control unit that causes a work vehicle to automatically travel along a target path. The automatic travel control unit sets a control target position on the target path including a plurality of work paths arranged in parallel with each other and a plurality of turning paths that connect the work paths in an order of travel of the work vehicle, to enable automatic travel of the work vehicle along the target path. The automatic travel control unit, when the work vehicle is positioned on a work path in the vicinity of a boundary with a turning path, sets the control target position on an extension of the work path. The automatic travel control unit, when the work vehicle is positioned on a turning path in the vicinity of a boundary with a work path, sets the control target position on the work path.
1. An automated driving system for a work vehicle, comprising a position information obtainment part, which obtains position information of the work vehicle, and an automated driving control part, which makes the work vehicle perform automated driving according to a target path that is generated in advance,
wherein the target path includes a plurality of work paths, which are aligned in parallel at a predetermined interval, and a plurality of turning paths, which connect the plurality of work paths in a driving order of the work vehicle,
the automated driving control part sets a control target position, so as to thereby enable automated driving of the work vehicle according to the target path,
the automated driving control part sets the control target position on an extension of the work path when the work vehicle is located on the work path in a vicinity of a boundary to the turning path, and
the automated driving control part sets the control target position on the work path when the work vehicle is located on the turning path in a vicinity of a boundary to the work path.
2. The automated driving system for the work vehicle according to claim 1 , wherein to maintain the position and posture of the work vehicle on the turning path, when the work vehicle is located on the turning path, the automated driving control part:
sets the control target position on the work path, and
prevents setting of the control target position on an extension of the turning path.
3. The automated driving system for the work vehicle according to claim 1 , comprising an inclination information obtainment part, which obtains inclination information of a work site on which the target path is generated,
wherein the work vehicle is equipped with a spray part that sprays spray liquid, a storage part that stores the spray liquid, and a remaining amount detection part that detects a remaining amount of the spray liquid in the storage part, and
the automated driving control part enables correction of the control target position, based on the inclination information and the remaining amount of the spray liquid, in a case where the work vehicle is located on the turning path.
4. The automated driving system for the work vehicle according to claim 1 , comprising an obstacle detection part that detects an obstacle,
wherein, in a case where the work vehicle is located on the work path, when the obstacle detection part detects the obstacle existing in a travel direction of the work vehicle, the automated driving control part sets the control target position outside the work path, based on the detection by the obstacle detection part.