Autonomous travel method, autonomous travel system, and autonomous travel program
AssigneeYanmar Holdings Co., Ltd.
InventorsTaishi Tanaka, Yuji Yamaguchi, Masaaki Murayama, Masafumi Saito
Life of this patent
Estimating the term…
Abstract
On a straight advancing route in which a straight advancing vehicle speed is preset following a turning route in which a turning vehicle speed is preset, a traveling processor causes a combine to travel at a straight advancing vehicle speed if the distance of the straight advancing route is not less than a predetermined distance, and causes a combine to travel at a turning vehicle speed if the distance of the straight advancing route is less than the predetermined distance.
Claims11
An autonomous travel method comprising:
- on a second route in a target route along which a work vehicle travels, the target route including a first route for which a first vehicle speed is preset and the second route following the first route for which a second vehicle speed different from the first vehicle speed is preset:
- causing the work vehicle to travel at the second vehicle speed based on a distance of the second route being greater than or equal to a predetermined distance, wherein a maximum speed position of an operation lever of the work vehicle corresponds to the second vehicle speed when the distance of the second route is greater than or equal to the predetermined distance;
- or
- changing the second vehicle speed to cause the work vehicle to travel at the changed second vehicle speed and changing the speed corresponding to the maximum speed position of the operation lever to the changed second vehicle speed based on the distance of the second route being less than the predetermined distance,
- wherein the first route is a turning route, and the second route is a straight route.
An autonomous travel system comprising:
- a traveling processor configured to, on a second route in a target route along which a work vehicle travels, the target route including a first route for which a first vehicle speed is preset and the second route following the first route for which a second vehicle speed different from the first vehicle speed is preset:
- cause the work vehicle to travel at the second vehicle speed based on a distance of the second route being greater than or equal to a predetermined distance, wherein a maximum speed position of an operation lever of the work vehicle corresponds to the second vehicle speed when the distance of the second route is greater than or equal to the predetermined distance;
- or
- change the second vehicle speed to cause the work vehicle to travel at the changed second vehicle speed and change the speed corresponding to the maximum speed position of the operation lever to the changed second vehicle speed based on the distance of the second route being less than the predetermined distance;
- wherein the first route is a turning route, and the second route is a straight route.
An autonomous travel method for a work vehicle on a second route in a target route along which the work vehicle travels, the target route including a first route for which a first vehicle speed is preset and the second route following the first route for which a second vehicle speed different from the first vehicle speed is preset, the method comprising:
- causing, if a distance of the second route is greater than or equal to a predetermined distance, the work vehicle to travel at the second vehicle speed, wherein a maximum speed position of an operation lever of the work vehicle corresponds to the second vehicle speed when the distance of the second route is greater than or equal to a predetermined distance;
- changing, if the distance of the second route is less than the predetermined distance, the second vehicle speed to cause the work vehicle to travel at the changed second vehicle speed;
- and
- changing, if the distance of the second route is less than the predetermined distance, the speed corresponding to the maximum speed position of the operation lever to the changed second vehicle speed,
- wherein the first route is a straight route, and the second route is a turning route.
Dependencies are inferred from the claim text.