PROBLEM TO BE SOLVED: To achieve ground working travel targeting a U-turn work area and a circling work area by working vehicle collaborative control of causing a slave working vehicle to follow a master working vehicle.SOLUTION: The working vehicle collaborative system includes: a master travel trajectory calculation part for calculating a travel trajectory Tp of a master working vehicle 1P a circling travel detection part for detecting circling travel in a circling work area B to be defined at a periphery of a U-turn work area A a K-turn travel target calculation part for calculating a K-turn travel start point Pc1 and a K-turn travel completion point Pc3 of a slave working vehicle 1C from a K-turn travel trajectory of the master working vehicle 1P a circling work travel target calculation part for calculating a target travel position in the circling work travel of the slave working vehicle 1C from the K-turn travel completion point Pc3 to a next K-turn travel start point Pc1 on the basis of the circling work travel trajectory of the master working vehicle 1P and a steering control part for unmannedly steering the slave working vehicle 1C on the basis of the K-turn travel start point Pc1, the K-turn travel completion point Pc3, and the target travel position.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2018,JPO&INPIT【課題】Uターン作業領域と回り作業領域とを対象とする対地作業走行を、親作業車に子作業車を追従させる作業車協調制御で実現する。【解決手段】作業車協調システムは、親作業車1Pの走行軌跡Tpを算定する親走行軌跡算定部と、Uターン作業領域Aの周囲に規定される回り作業領域Bにおける回り走行を検知する回り走行検知部と、親作業車1Pの切り返し走行軌跡から子作業車1Cの切り返し走行開始点Pc1と切り返し走行完了点Pc3とを算定する切り返し走行目標算定部と、親作業車1Pの回り作業走行軌跡から切り返し走行完了点Pc3から次の切り返し走行開始点Pc1までの子作業車1Cの回り作業走行における目標走行位置を算定する回り作業走行目標算定部と、切り返し走行開始点Pc1と切り返し走行完了点Pc3と目標走行位置とに基づいて子作業車1Cを無人操縦する操縦制御部とを備えている。【選択図】図1
