Control system for work vehicle, method for setting trajectory of work implement, and work vehicle

1. A control system for a work vehicle including a blade, the control system comprising:

a controller programmed to

set a target orientation for the work vehicle,

acquire the target orientation as a travel direction of the work vehicle,

acquire current terrain data indicating a current terrain existing in the travel direction of the work vehicle,

calculate a height of the current terrain at a plurality of reference points located in the travel direction of the work vehicle,

acquire the height of the current terrain at the plurality of reference points as the current terrain data,

decide on a target surface profile of a work site based on the current terrain data,

generate a command signal to operate the blade according to the target surface profile,

update the travel direction of the work vehicle, and

update the target surface profile based on the updated travel direction.

2. The control system for a work vehicle according to claim 1 , wherein

the controller is further programmed to

update the current terrain data based on the updated travel direction, and

update the target surface profile based on the updated current terrain data.

3. The control system for a work vehicle according to claim 1 , wherein

the controller is further programmed to

sense an actual orientation of the work vehicle, and

acquire the actual orientation as the travel direction of the work vehicle.

4. The control system for a work vehicle according to claim 1 , further comprising:

a storage device that stores work site terrain data in which the current terrain is divided into a plurality of areas in a grid in a horizontal plane, the work site terrain data indicating a height of each of the areas;

the controller being further programmed to

calculate the height of the current terrain at the plurality of reference points located in the travel direction of the work vehicle from the height of the area including each reference point.

5. The control system for a work vehicle according to claim 1 , wherein

the controller is further programmed to

decide a target design terrain in which the current terrain is displaced vertically, and

set the target design terrain as the target surface profile.

6. The control system for a work vehicle according to claim 1 , wherein

the controller is further programmed to

acquire the travel direction of the work vehicle at a starting point of a travel path of the work vehicle,

decide a first target surface profile based on the travel direction at the starting point, and

decide a second target surface profile based on the updated travel direction when the travel direction is updated in a middle of the travel path.

7. A method executed by a processor for setting a trajectory of a blade of a work vehicle, the method comprising:

setting a target orientation of the work vehicle, the target orientation being acquired as a travel direction of the work vehicle,

acquiring current terrain data indicating a current terrain existing in the travel direction of the work vehicle;

calculating a height of the current terrain at a plurality of reference points located in the travel direction of the work vehicle, the height of the current terrain at the plurality of reference points being acquired as the current terrain data,

deciding a target surface profile of a work site based on the current terrain data,

updating the travel direction of the work vehicle; and

updating the target surface profile based on the updated travel direction.

8. The method for setting the trajectory of a blade according to claim 7 , further comprising

updating the current terrain data based on the updated travel direction, the target surface profile being updated based on the updated current terrain data.

9. The method for setting the trajectory of a blade according to claim 7 , further comprising sensing an actual orientation of the work vehicle, the actual orientation being acquired as the travel direction of the work vehicle.

10. The method for setting the trajectory of a blade according to claim 7 , further comprising

referring to work site terrain data in which the current terrain is divided into a plurality of areas in a grid in a horizontal plane, the work site terrain data indicating a height of each of the areas; and

calculating the height of the current terrain at the plurality of reference points located in the travel direction of the work vehicle from the height of the area including each reference point.

11. The method for setting the trajectory of a blade according to claim 7 , further comprising deciding a target design terrain in which the current terrain is displaced vertically, the target design terrain being set as the target surface profile.

12. The method for setting the trajectory of a blade according to claim 7 , wherein

the travel direction of the work vehicle is acquired at a starting point of a travel path of the work vehicle,

a first target surface profile is decided based on the travel direction at the starting point, and

a second target surface profile is decided based on the updated travel direction when the travel direction is updated in a middle of the travel path.

13. A work vehicle comprising:

a blade; and

a controller programmed to

set a target orientation for the work vehicle,

acquire the target orientation as the travel direction of the work vehicle,

acquire current terrain data indicating a current terrain existing in the travel direction of the work vehicle,

calculate a height of the current terrain at a plurality of reference points located in the travel direction of the work vehicle,

acquire the height of the current terrain at the plurality of reference points as the current terrain data,

decide on a target surface profile of the work site based on the current terrain data,

generate a command signal to operate the blade according to the target surface profile,

update the travel direction of the work vehicle, and

update the target surface profile based on the updated travel direction.

14. The work vehicle according to claim 13 , wherein the controller is further programmed to

update the current terrain data based on the updated travel direction, and

update the target surface profile based on the updated current terrain data.

15. The work vehicle according to claim 13 , wherein the controller is further programmed to

sense an actual orientation of the work vehicle, and

acquire the actual orientation as the travel direction of the work vehicle.

16. The work vehicle according to claim 13 , wherein the controller is further programmed to

refer to work site terrain data in which a current terrain is divided into a plurality of areas in a grid in a horizontal plane, the work site terrain data indicating a height of each of the areas,

calculate the height of the current terrain at the plurality of reference points located in the travel direction of the work vehicle from the height of the area including each reference point.

17. The work vehicle according to claim 13 , wherein the controller is further programmed to

decide a target design terrain in which the current terrain is displaced vertically, and

set the target design terrain as the target surface profile.

18. The work vehicle according to claim 13 , wherein the controller is further programmed to

acquire the travel direction of the work vehicle at a starting point of a travel path of the work vehicle,

decide a first target surface profile based on the travel direction at the starting point, and

decide a second target surface profile based on the updated travel direction when the travel direction is updated in a middle of the travel path.