VÉHICULE DE TRAVAIL À DÉPLACEMENT AUTOMATIQUE ET PROCÉDÉ POUR COMMANDER UN DÉPLACEMENT DE TRAVAIL D'UN VÉHICULE DE TRAVAIL À DÉPLACEMENT AUTOMATIQUE LE LONG D'UN ITINÉRAIRE DE DÉPLACEMENT CIBLE DANS UN CHAMP DE TRAVAIL
The present disclosure refers to an automatic traveling work vehicle in which steering control is performed in consideration of at least a state of a work field and a work type when a vehicle body deviating from a target travel route is returned to the target travel route. The automatic traveling work vehicle includes: a work traveling information storing unit (45) to store work traveling information including the state of the work field and the work type of the work device； a steering mechanism (13) to change a traveling direction of the vehicle body； an own vehicle position calculation unit (70) to calculate an own vehicle position； a travel route setting unit (51) to set a target travel route； a control input value calculation unit (502) to calculate a control input value based on a track deviation that is a deviation of the vehicle body from the target travel route based on the target travel route and the own vehicle position； a steering control unit (501) to calculate a control amount in which the steering mechanism is controlled based on the control input value and steering sensitivity； and a steering sensitivity setting unit (503) to derive the steering sensitivity from the state of the work field and the work type, which are read from the work traveling information. Further, a method for controlling work traveling for an automatic traveling work vehicle along a target travel route in a work field is provided.
