Automated driving system for work vehicle
This automated driving system for a work vehicle is provided with: an inertia measuring device that obtains tilt information of a work vehicle; and an automated driving control unit that causes the work vehicle to automatically travel along a target path. The work vehicle is provided with a work device that carries out a predetermined work with respect to a part to be worked on that is positioned away from the ground. The automated driving control unit calculates an offset amount on the basis of height information of a work center of the work device and the tilt information, and controls the location of the work vehicle with respect to the target path on the basis of the offset amount.
1 . An automated driving system for a work vehicle comprising an inertial measuring device, which obtains inclination information of the work vehicle, and an automated driving control part, which makes the work vehicle perform automated driving according to a target path,
wherein the work vehicle is equipped with a work device that performs a predetermined work on a work target part that is located away from a ground, and
the automated driving control part calculates an offset amount based on altitude information of a work center of the work device as well as the inclination information, in order to control a position of the work vehicle relative to the target path, based on the offset amount.
2 . The automated driving system for the work vehicle according to claim 1 ,
wherein the work device is equipped with a space, which allows the work target part to pass through, and left and right work parts, which perform the predetermined work from left and right sides on the work target part that passes through the space, and
the automated driving control part calculates the offset amount with which contacting of the work target part with the left and right work parts can be suppressed when the work target part passes through the space.
3 . The automated driving system for the work vehicle according to claim 1 ,
wherein the work vehicle is further equipped with a plurality of work devices of which the altitude information is different from each other, and
the automated driving control part uses average altitude information of the plurality of work devices as the altitude information, in order to calculate the offset amount.
4 . The automated driving system for the work vehicle according to claim 1 ,
wherein the work vehicle is further equipped with a plurality of work devices of which the altitude information is different from each other, and
the automated driving control part calculates the offset amount, based on the altitude information of one of the plurality of work devices.