Construction-vehicle autonomous travel control device

1. A construction-vehicle autonomous travel control device to correct a steering angle so as to direct a target point set on a target track comprising:

an expected arrival point calculator to calculate an expected arrival point of a vehicle to arrive after a predetermined time based on a vehicle speed and a steering angle; and

a corrected steering angle calculator to calculate a corrected steering angle so as to direct the expected arrival point to the target point,

wherein a target circle is set about the expected arrival point;

wherein the corrected steering angle calculator calculates the corrected steering angle so as to direct the expected arrival point to a next target point when the expected arrival point has approached within a predetermined distance from the target point and calculates the corrected steering angle so as to direct the expected arrival point to a target point outside the target circle, and

wherein a radius of the target circle is variably set to be large when the target track is a straight track or a curved track having a large radius of curvature, and to be small when the target track is a curved track having a small radius of curvature.

2. The construction-vehicle autonomous travel control device as claimed in claim 1 ,

wherein the construction-vehicle is a compactor to compact a ground with a drum, and

wherein the expected arrival point is calculated based on a center point of the drum.

3. The construction-vehicle autonomous travel control device as claimed in claim 1 , comprising a link storage storing coordinate data of the target point linked with construction data.

4. The construction-vehicle autonomous travel control device as claimed in claim 3 , wherein the construction data includes track data of the target track.

5. The construction-vehicle autonomous travel control device as claimed in claim 3 ,

wherein a vibrator to vibrate a rolling pressure wheel to compact a ground and a degree of compaction detector to detect degree of compaction of the ground are provided in a vehicle, and

wherein the construction data includes vibration condition data of the vibrator and degree of compaction data detected by the degree of compaction detector.

6. The construction-vehicle autonomous travel control device as claimed in claim 5 , wherein, when the vehicle reciprocates on the target track, the vibration condition data is changed for a next traveling based on a degree of compaction for every target point stored at a previous traveling.

7. The construction-vehicle autonomous travel control device as claimed in claim 5 , wherein, when the vehicle reciprocates on the target track, a vehicle speed is changed for a next traveling based on a degree of compaction for every target point stored at a previous traveling.

8. A construction-vehicle autonomous travel control device to correct a steering angle so as to direct a target point set on a target track comprising:

an expected arrival point calculator to calculate an expected arrival point of a vehicle to arrive after a predetermined time based on a vehicle speed and a steering angle; and

a corrected steering angle calculator to calculate a corrected steering angle so as to direct the expected arrival point to the target point,

wherein a target circle is set about the expected arrival point;

wherein the corrected steering angle calculator calculates the corrected steering angle so as to direct the expected arrival point to a target point outside the target circle, and

wherein a radius of the target circle is variably set to be large when the target track is a straight track or a curved track having a large radius of curvature, and to be small when the target track is a curved track having a small radius of curvature.