The present invention relates to a kind of support systems to determine track, is then a kind of agricultural work vehicle, and when work is in field, which includes. Map unit is configurable for receiving: it is to be processed that step i) coordinates are related to border field And II) the relevant one or more obstacle boundaries of coordinate will avoid, by the Working vehicle One or more of obstacles are in the field Capacity parameter unit is configured to receive one or more capacity parameters and is related to the Operation Van Trajectory calculation unit, the track for being configured as calculation optimization are, followed by the Working vehicle The optimization track is that reception is calculated based on the coordinate by the converter unit It receives with one or more one or more of capacity parameters by the capacity parameter unit.
