Autonomous driving device for work machine

An automatic operating device for a working machine including a working device having a portion to interact with an object, the automatic operating device comprising:

• a processor, the processor being configured to
• acquire actual position data indicating an actual position of the portion,
• estimate estimative actual position data by inputting estimative force data to a first model defining a relation between force data indicating a force to occur on the portion and the actual position data by using a first parameter indicating characteristics of an interaction between the portion and the object,
• calculate a deviation between:
• target position data indicating a target position of the portion;
• and a difference between the estimative actual position data and the actual position data,
• compute estimative force data by inputting the deviation to a second model defining a relation between the deviation and force data for causing the actual position to meet the target position by using the first parameter,
• calculate a second parameter corresponding to the estimative actual position data and the estimative force data based on a parameter having been calculated in past, and sets the first parameter based on the second parameter,
• calculate an instructive value to the working machine from the estimative force data, and
• control operation of the working machine based on inputting of the instructive value.