JPH10234204A - Assist device for traveling - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assist device for traveling by which the driving burden or worker is reduced and steering property is improved, by displaying information finding predetermined traveling distance information and target azimuth information repeatedly with traveling. SOLUTION: When traveling a traveling car body provided with a steering operating means 21 to be manually operated along with a predetermined traveling route, the predetermined traveling distance information for finding a remaining traveling distance from the current position of traveling car body to a set target position on the predetermined traveling route and the target azimuth infuriation for finding the azimuth to move the traveling car body forward from the current position toward the set target position are found repeatedly with traveling and this found information is displayed. In this case, it is preferable that this assist device for traveling is provided with a position detecting means 102 for detecting the current position of traveling car body and a storage means 103 for storing reference information on the position of traveling car body and detects the planned traveling distance based on reference information corresponding to the current position of traveling car body detected by the position detecting means 102 and reference information corresponding to the set target position in the reference information stored in the storage means 103.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel assist device for assisting a driver when a traveling vehicle such as a work vehicle is manually driven along a predetermined traveling route.

[0002]

2. Description of the Related Art For example, when an agricultural tractor is driven to perform a plowing operation, a basal fertilization operation, or the like on a field, there is no running target in a field scene. Based on conditions such as width, for example, a traveling route is set by a plurality of linear work steps juxtaposed in a rectangular field, and the current vehicle position and the distance to the end of the stroke for each work step are visually observed. While judging, the steering operation was performed so as to travel along each work process as much as possible.

[0003]

However, in the above-mentioned prior art, it is difficult to set an appropriate traveling route, and in addition, since the steering operation is performed based on visual judgment, the driving burden on the operator is large. However, it is difficult to avoid problems such as the occurrence of an unworked part or a part that is repeatedly worked in a field. Although automatic driving by automatic driving is also possible, there is a disadvantage that the configuration of the device is complicated due to various automatic control devices, and the cost becomes excessive.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object to solve the above-mentioned disadvantages of the prior art by reducing the driving load on an operator and performing scheduled driving of a vehicle body by manual operation. An object of the present invention is to provide a traveling assist device for traveling in a proper steering state along a route.

[0005]

According to a first aspect of the present invention, there is provided scheduled travel distance information which is a remaining travel distance from a current position of a traveling vehicle body to a set target position on a planned travel route, and the traveling vehicle is moved from the current position to the set target distance. The target azimuth information, which is the azimuth to be advanced toward the position, is displayed. The driver looks at the display of both information and manually operates the steering operation means provided on the traveling vehicle body to move the traveling vehicle body to the planned traveling route. To run along.

Accordingly, the position on the route is determined by displaying the expected travel distance, that is, the remaining travel distance to the set target position. For example, when approaching the set target position, the traveling speed is reduced, and the travel speed is reduced at the set target position. It is possible to appropriately respond to operations such as turning and stopping to be performed, and it is possible to appropriately judge the steering content for turning the vehicle body to the set target position by displaying the target azimuth, so that the driver himself can make the above-mentioned planned traveling distance and The steering operation based on the display information can cause the vehicle body to travel along the planned traveling route in an appropriate steering state while reducing the driving burden as compared with determining the target direction.

According to a second aspect of the present invention, in the first aspect, the current position of the traveling vehicle is detected, and reference information relating to the position of the traveling vehicle corresponding to the planned traveling route is stored. The planned traveling distance is detected based on reference information corresponding to the current position of the traveling vehicle body and reference information corresponding to the set target position.

Accordingly, the planned travel distance is detected from the reference information of the proper vehicle body position corresponding to the planned travel route stored in advance and the current position detection information of the traveled vehicle body. The distance to the current point obtained by integrating the above is subtracted from the distance from the traveling start point to the set target position, compared to detecting the planned traveling distance,
The expected traveling distance can be accurately detected in a state where the error is small, so that the preferable means of the first aspect is obtained.

According to a third aspect of the present invention, in the second aspect, the vehicle body direction of the traveling vehicle body with respect to the scheduled traveling path is detected, and the current position detection information of the traveling vehicle body and the traveling vehicle body of the reference information are included. Based on the reference information corresponding to the current position of, the displacement amount of the traveling vehicle body in the vehicle width direction from the planned traveling route is detected, and each of the vehicle body direction, the vehicle body width direction displacement amount, and the planned traveling distance The target direction information is obtained based on the detection information.

Therefore, for example, the larger the ratio of the amount of displacement in the vehicle width direction to the expected traveling distance is, the larger the steering operation angle for reducing the displacement is. By correcting the angle with the information of the body direction with respect to the planned traveling route and displaying it as target direction information, the driver feels the steering operation aiming at the set target position from the vehicle position shifted laterally with respect to the planned traveling route. Appropriate target azimuth information that is suitable and easy to drive is obtained, and thus the preferable means of the second aspect is obtained.

According to a fourth aspect, the first to third aspects are described.
In any one of the above, displacement information of the traveling vehicle body from the planned traveling route in the vehicle width direction is displayed.

[0012] Accordingly, while the vehicle body is directed to the set target position by the operation based on the target azimuth information, and the steering operation is further performed so that the displacement amount in the vehicle body width direction becomes zero, the vehicle body can be set on the planned traveling route. Along with the vehicle, the vehicle can be driven in a more appropriate state.
The preferred means of any one of (3) is obtained.

Further, according to claim 5, according to claims 2 to 4,
In any one of the above, at the reference position on the ground side,
The carrier signal from the GPS satellite is received by the GPS reference station, and the carrier phase information at the GPS reference station is transmitted toward the vehicle body. On the other hand, in the traveling vehicle body, the carrier signal from the GPS satellite received by the GPS mobile station and the Based on the double phase difference information obtained from the carrier phase information at the GPS reference station obtained by receiving the transmission information from the reference side, the position of the traveling vehicle body is obtained as time-sequential position data. The current position of the traveling vehicle body is detected.

Therefore, using the current position information of the traveling vehicle body accurately detected by the GPS position detection based on the double phase difference information of the carrier signal from the GPS satellite, the expected traveling distance, the displacement amount in the vehicle width direction, and the like. The target azimuth can be determined more accurately, and the preferable means according to any one of claims 2 to 4 can be obtained.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of a traveling assist device according to the present invention will be described in which a farming tractor (hereinafter referred to as a work vehicle V) is used for tilling work along a planned traveling route in a predetermined range of a field. A case in which the vehicle travels while performing the operation will be described with reference to the drawings.

As shown in FIG. 2, for example, a local horizontal coordinate system E (east direction), N (north direction), H (earth center Is installed at a ground-side reference position whose position (coordinate values in the coordinate system E, N, H) is known with high precision in the height direction from the ground, and spreads the spectrum from at least four GPS satellites 2. GPS receiving modulated carrier signal
An antenna 19a for a reference station R (hereinafter also simply referred to as the reference station R), a GPS receiver 19 for processing a received signal of the antenna 19a to obtain carrier phase information,
A ground-side data transceiver 20 having a transmission antenna 20a for transmitting carrier phase information at the GPS reference station from the receiver 19 is provided.

On the other hand, the work vehicle V includes a GPS receiving antenna 17a for receiving a carrier signal from the GPS satellite 2, a GPS receiver 17 for processing a signal received by the GPS receiving antenna 17a to obtain carrier phase information, A data transceiver 18 having a data receiving antenna 18a for receiving transmission information (carrier phase information at the reference station R) of the transceiver 20 on the ground side is provided, and the GPS mobile station I (hereinafter simply referred to as mobile station I) is provided. ) Is configured.

The GPS receivers 19 and 17 of the reference station R and the mobile station I have substantially the same configuration as shown in FIG. 3, and have respective GPS receiving antennas 19a and 19a.
The radio signal received at 17a is first sent to the high-frequency signal processor 3
It is input to 0, 40 and converted to a low frequency. The C / A code analyzers 31 and 41 decode the low frequency-converted signals into satellite numbers and the like, and the carrier wave phase measurement units 33 and 43 create C / A signals created according to the satellite numbers. The carrier is reproduced in correlation with the code, and the phases of the carrier are measured at set time intervals by built-in clocks 34 and 44. At the same time, the C / A code analysis units 31 and 4
1 based on the information from the route message decoding unit 32,
At 42, satellite position information and the like are determined. Then, information from each of the above-described units is transmitted to the respective control computers 35 and 4.
5 to obtain carrier phase information at each reference station R and mobile station I.

Further, the carrier phase information at the reference station R output from the reference station R side computer 35 is transmitted from the transmitting antenna 20a through the transceiver 20 on the ground side, received by the antenna 18a on the work vehicle V side, and transmitted and received. The data is input to the computer 45 on the mobile station I side via the device 18. Then, the mobile station I-side computer 45 obtains double phase difference information from the carrier phase information at the mobile station I and the received carrier phase information at the reference station R, and based on the double phase difference information, A position data calculating means 45 for obtaining the position of the mobile station I, that is, the traveling body 5 of the work vehicle V with respect to R as time-series position data at predetermined time intervals is configured.

The outline of the double phase difference information will now be described. Each carrier signal from two different satellites 2 is
Received by each of the two receiving stations (the reference station R and the mobile station I),
The two phase differences corresponding to each satellite 2 are obtained, and the difference between these two phase differences is called a double phase difference. As a result, the influence of the phase disturbance of the transmission signal in each satellite 2 is removed, and the influence of the synchronization shift of the clock for measuring the phase of each receiving station is removed. Accurate phase difference information with less influence of errors can be obtained. In order to determine the position vector r of the mobile station I with respect to the reference station R (see FIG. 4), three independent double phase differences are actually determined based on carrier signals from four different satellites 2. become.

The detection of the position of the traveling vehicle body 5 based on the three pieces of double phase difference information will be specifically described. First, the work vehicle V is positioned at a position whose position is known with high accuracy in the local horizontal coordinate system E, N, H, and received by the GPS receivers 17 and 19 on the mobile station I side and the reference station R side. Three double phase differences are calculated from the information, and since the relative position between the reference station R and the mobile station I is known, an uncertainty (integer value bias) of an integral multiple of the carrier wavelength included in the double phase difference information is obtained.
Confirm. Next, as shown in FIG. 4, a position vector r from the reference station R to the work vehicle V is obtained from three pieces of double phase difference information when the work vehicle V is moved to an unknown point in the field F, From the position vector r and the position of the reference station R,
The position of the work vehicle V (the traveling vehicle body 5) on the ground is determined.

As described above, the position detecting means 102 capable of detecting the current position of the traveling vehicle body 5 includes the GPS reference station R and the data transmitter / receiver 20 as the reference side communication means for transmitting the carrier phase information at the GPS reference station R. Is installed at a reference position on the ground, and the GPS mobile station I,
The data transmission / reception device 18 as the vehicle body side communication means for receiving the transmission information of the data transmission / reception device 20 on the ground side and the position data calculation means 45 are provided in the traveling vehicle body 5.

Next, the configuration of the working and traveling devices of the work vehicle V will be described. As shown in FIG.
A vertically movable top link 26 and a pair of left and right lower links 27 constituting a three-point link mechanism are supported by a rear side transmission case 25.
7, a rotary tillage device 6 is connected to be able to move up and down and tilt freely. Power is transmitted from the drive shaft 28 at the rear of the vehicle body to the tillage device 6 so that the internal tillage claw rotates.

A pair of left and right lift arms 29, which are vertically oscillated by the lifting hydraulic cylinder 13, are provided above the transmission case 25. The pair of lift arms 29 and the lower link 27 are connected to a lift rod 36 and a lower rod 27. They are connected via a double-acting tilt hydraulic cylinder 23.
Here, the raising / lowering position of the tilling device 6 with respect to the vehicle body 5 can be changed by operating the lifting / lowering hydraulic cylinder 13, and the tilting hydraulic cylinder 23 can be operated to activate the vehicle body 5 of the tilling device 6.
(The inclination in the vehicle width direction around the connection point with the lift rod 36) can be changed.

The tillage depth of the tillage device 6 for the field scene is
Rear cover 6A provided on tilling device 6 to be able to swing up and down
And a stroke sensor S2 for detecting the inclination of the tillage device 6 with respect to the vehicle body 5 in the width direction of the vehicle as the amount of expansion and contraction of the hydraulic cylinder 23 for tilting. .

As shown in FIG. 1, a pair of left and right front wheels 3 and rear wheels 4 provided on a traveling vehicle body 5 are configured to be steerable independently of each other as left and right pairs, and hydraulic cylinders 7 and 8 for steering are provided.
And electromagnetically operated control valves 9 and 10 corresponding thereto, and a handle 21 as a steering operation means which is manually operated. That is, a two-wheel steering system in which only one of the front wheels 3 or the rear wheels 4 is steered by a changeover switch (not shown), a four-wheel steering system in which the front and rear wheels 3 and 4 are steered in opposite phases and at the same angle, front and rear wheels It is possible to select three types of steering modes, that is, a parallel steering mode in which the steering wheels 3 and 4 are steered in the same phase and at the same angle. Note that straight traveling along a later-described scheduled traveling route (working stroke L) is performed by a two-wheel steering system in which only the front wheels 3 are steered.

In FIG. 1, E is an engine, and 11 is an engine E
A continuously variable transmission that drives the front and rear wheels 3 and 4 at the same time by changing the output from the motor, 12 is an electric motor for gear shifting operation, 14 is a control valve for the hydraulic cylinder 13 for elevation, and 24 is A control valve 15 for the tilt hydraulic cylinder 23 is an electromagnetically operated tilling clutch that intermittently transmits power from the engine E to the tilling device 6. Reference numeral 16 denotes a control device using a microcomputer for controlling the running of the work vehicle V, the operation of the tilling device 6, and the like, based on detection information of various sensors and work data stored in advance, and controls the speed change motor 12, The valves 9, 10, 14, 24, the tilling clutch 15 and the like are operated.

The sensors installed in the work vehicle V will be described. As shown in FIG. 1, the steering angles of the front and rear wheels 3, 4 are detected in addition to the tillage depth sensor S1 and the stroke sensor S2. Steering angle detection sensor R using potentiometer
1, R2, a vehicle speed sensor R3 using a potentiometer for indirectly detecting the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and a steering using a potentiometer for detecting the steering angle (rotation angle) of the steering wheel 21. An angle detection sensor R4, an encoder S3 that counts the number of revolutions of the output shaft of the transmission 11 to detect a traveling distance, and an azimuth detecting unit that detects an azimuth of the traveling vehicle body 5 with respect to a planned traveling path (working stroke L). And a geomagnetic azimuth sensor S4.

Then, the control device 16 controls the tillage depth sensor S1.
The control valve 14 is actuated to operate the lifting hydraulic cylinder 13 to raise and lower the tillage device 6 so that the detected value of the tillage becomes the setting tillage depth set by a tillage depth setting device (not shown). Automatic attitude control for driving the control valve 24 and operating the tilt hydraulic cylinder 23 to maintain the tilling apparatus 6 in the leaning attitude with respect to the vehicle body such that the detection value of the sensor S2 is set to a tilting state set by a tilt setting device (not shown). And execute

As shown in FIG. 4, as a planned traveling route in a rectangular field F, a plurality of work steps L are arranged adjacent to each other along a longitudinal direction of the field and at a set interval in a short direction. At the headland at the end of each stroke, a turning movement path to the next adjacent stroke is set. A storage means 10 for storing reference information relating to the position of the traveling vehicle body 5 corresponding to the planned traveling route in the control device 16.
3 are configured. Specifically, the information on the appropriate vehicle position in each work process L is represented by E, N coordinates (H coordinates are constant) on the ground side, as shown in FIG.
In the case where the longitudinal direction is along the E-axis direction, one N
With respect to the coordinate values, each work process L as data of E coordinate values representing a straight line connecting one end side and the other end side of one work process L
It is stored every time. In FIG. 4, St indicates a traveling start position on the planned traveling route of the field, and Se indicates a traveling end position. Although not shown, input means for inputting field shape / dimension data such as a long side and a short side of the field, work stroke width data, and the like are connected to the control device 16.

When working in a different work mode, for example, by replacing the tilling device 6 with another work device, appropriate vehicle body position information corresponding to a change in work part conditions such as a work width and a work interval is set. In order to be able to
A work mode selection switch 22 is provided for storing information for each work and for inputting work mode selection information to the control device 16 as shown in FIG.

As shown in FIG. 5, on the front side of the driver's seat,
When the driver causes the traveling vehicle body 5 to travel along the respective work steps L, the planned traveling distance information of the traveling vehicle body 5 to the set target positions in the respective work steps L and the target for the set target position of the traveling vehicle body 5 A display device 1 for displaying azimuth information is provided. Here, since the set target position is set at the end position of each work stroke L, the planned traveling distance is the remaining traveling distance up to this end position.

The display device 1 displays a remaining distance display section 1Y for displaying the above-mentioned planned traveling distance (in units of m) in both a vertical bar graph and a numerical display, and displays target azimuth information by rotating about a vertical axis p. Arrow-shaped indicator 1C, and furthermore, the work process L
And a lateral displacement display section 1X for displaying the lateral displacement amount (in cm) with respect to the appropriate vehicle body position at the lighting position moving in the left-right direction. Then, in a state where the arrow-shaped indicator 1C faces the vehicle front-rear direction (neutral position), the driver maintains the current steering angle, and when the arrow turns left or right, the driver turns to the side where the arrow turns. This will change the steering angle. In the figure, the letters "adjacent" are lit when traveling along each work process L, and "headlands" are lit when turning to an adjacent process at the end of the process. A display unit 1Z is also provided.

As shown in FIG. 1, a display motor 1A for rotating the arrow-shaped display 1C about the vertical axis p is driven by the control device 16, and
The detection information of the display angle sensor 1B for detecting the rotation angle of the arrow-shaped display 1C is input to the control device 16. The remaining distance display section 1Y and the lateral displacement display section 1X
And the adjacent headland display section 1Z are driven by the control device 16 for display.

The control unit 16 is provided with the storage unit 103
Out of the reference information stored in the
The estimated travel distance is detected on the basis of the reference information corresponding to the current position of the traveling vehicle body 5 and the reference information corresponding to the set target position (the end position of the traveling work process L). At the same time, based on the current position information of the traveling vehicle body 5 and the reference information corresponding to the current position of the traveling vehicle body 5 among the reference information stored in the storage means 103, the work process L of the traveling vehicle body 5 Of the vehicle body in the vehicle width direction is detected.

Specifically, as shown in FIG. 6, a case where the vehicle body position is displaced to the right from a straight line L0 indicating an appropriate vehicle body position of the work path L, for example, is a vertical line lowered from the vehicle body position to the straight line L0. The distance between the position and the stroke end position e is the expected travel distance y, and the length x of the perpendicular is the displacement amount in the vehicle width direction.

Further, the control device 16 determines the vehicle azimuth φ detected by the geomagnetic azimuth sensor S4, the displacement x in the vehicle width direction, and the detection information of the expected traveling distance y based on the detected information. Obtain target direction information. Specifically, as shown in FIG. 6, an angle α corresponding to the ratio between the displacement x in the vehicle body width direction and the planned mileage y is obtained based on the following equation (the displacement α with respect to the planned mileage y). The angle α increases as x increases
Is larger), and the current body direction φ is subtracted from the angle α to obtain the target direction θ. Here, the angle α is such that the direction of viewing the stroke end e from the current vehicle position is the work stroke L.
The vehicle body direction φ is a plus side when the vehicle body front-rear direction is to the left with respect to the direction of the work path L, and the target direction θ is a plus direction when the vehicle is steered to the left. Take to the side.

[0038]

Α = tan ⁻¹ (x / y) θ = α−φ

Therefore, in the example of FIG. 6, the angle α is plus,
Since the body azimuth φ is minus, the target azimuth θ is obtained by adding the absolute value of the angle α and the absolute value of the body azimuth φ and adding a plus sign. The arrow-shaped display 1C is rotated leftward when the sign of the target azimuth θ is positive, and turned rightward when the sign of the target azimuth θ is negative, so that the larger the value of the azimuth θ, the larger the angle.

Next, the operation of the control device 16 will be described with reference to the flowchart shown in FIG. First, when a work mode is selected by the mode selection switch 22, reference information (here, information on the work process L shown in FIG. 4) of the vehicle body position corresponding to a predetermined planned traveling route is read out, and is read as control data. Is set.

Next, when the work vehicle V is manually moved to the work start point (St in FIG. 4) and a start input is made with a switch or the like, "adjacent" is displayed, and the remaining distance (planned) is displayed. The display of the traveling distance y), the display of the lateral shift x, and the display of the azimuth (target azimuth θ) are displayed. The driver drives the vehicle toward the stroke end e while watching these displays. If it is detected that the vehicle has reached the turning point (stroke end e), the control is terminated if it is the end point (Se in FIG. 4).

If it is not the end point, if it is determined that the turning operation has been performed and the vehicle has traveled to the headland portion by determining that the turning direction of the vehicle body has exceeded 45 degrees, "headland" is displayed, and The remaining distance and the lateral displacement with respect to the turning path are displayed.
When it is detected that the turning point to the next work stroke L has been reached after the travel of the stroke width has been completed, the turning state of the vehicle body has exceeded 45 degrees, and the vehicle has entered the running state to the next work stroke L. Then, the flow returns to the flow from the display of “adjacent”.

[Alternative Embodiment] In the above embodiment, the expected travel distance to the set target position is the travel distance to the end of the work path L, which is the expected travel route. However, the present invention is not limited to this. For example, the set target position may be set at an intermediate position such as an intermediate position of the work process L that is the planned traveling route.

In the above embodiment, the target azimuth θ is obtained based on the detection information of the vehicle azimuth φ, the displacement x in the vehicle width direction, and the expected traveling distance y. However, the present invention is not limited to this.
It may be determined based on other information. Further, also in the case of based on the above three pieces of information φ, x, y, it may be obtained by an arithmetic expression other than the expression shown in Expression 1.

The means for displaying the target azimuth θ is not limited to the one displayed on the movable arrow display 1C, but may be displayed by changing the direction of an arrow or straight line image displayed on a display device such as a liquid crystal display. You may do it.

The position detecting means 102 is not limited to the configuration based on the GPS reception data shown in the above embodiment. For example, a reference beam light is projected along a planned traveling route (working process L) to detect a vehicle body position based on light reception information of an optical sensor on a vehicle body side, or from a high-frequency line installed around a field. The magnetic field may be detected to detect the vehicle body position, or the traveling distance from the traveling start point at the edge of the field may be detected by an encoder that counts the number of rotations of the wheels.

In the above embodiment, the steering operation means which is manually operated is constituted by the handle 21. However, the steering operation means is not limited to this. For example, a steering clutch which separates power transmission to the left and right wheels. May be.

In the above embodiment, the case where the travel assist device is applied to an agricultural tractor is illustrated, but other riding-type agricultural machines and civil engineering machines may be used.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control configuration of a work vehicle.

FIG. 2 is a schematic side view showing a work vehicle and a GPS reference station.

FIG. 3 is a block diagram showing a configuration of a GPS receiving station.

FIG. 4 is a schematic plan view showing a planned traveling route of a work vehicle.

FIG. 5 is a front view showing display of target direction information.

FIG. 6 is a diagram showing a display of a planned traveling distance to a target position and a displacement amount in a vehicle width direction.

FIG. 7 is a perspective view showing a working device of the working vehicle.

FIG. 8 is a flowchart of a control operation.

[Explanation of symbols]

 Reference Signs List 5 running vehicle body 18 vehicle body side communication means 20 reference side communication means 21 steering operation means 45 position data calculation means 102 position detection means 103 storage means S4 direction detection means R GPS reference station I GPS mobile station

Claims (5)

[Claims] 1. When a traveling vehicle body provided with a steering operation means which is manually operated is run along an expected traveling route, a remaining portion from a current position of the traveling vehicle body to a set target position on the expected traveling route is provided. Scheduled travel distance information obtained as the travel distance of the vehicle and target azimuth information obtained as the azimuth for moving the traveling vehicle body from the current position toward the set target position are repeatedly obtained along with traveling, and the obtained information is displayed. Traveling assist device configured to be driven. 2. A vehicle comprising: a position detecting means capable of detecting a current position of the traveling vehicle body; and a storage means for storing reference information relating to a position of the traveling vehicle body corresponding to the planned traveling route. Out of the reference information corresponding to the current position of the traveling vehicle body detected by the position detecting means and the reference information corresponding to the set target position. The traveling assist device according to claim 1, wherein the traveling assist device is configured. 3. An azimuth detecting means for detecting a vehicle azimuth of the traveling vehicle body with respect to a planned traveling route, wherein current position information of the traveling vehicle body detected by the position detecting means and a reference stored in the storage means are provided. Of the information, based on the reference information corresponding to the current position of the traveling vehicle body,
Detecting the displacement amount in the vehicle width direction from the planned traveling route of the traveling vehicle body, the vehicle direction, the displacement amount in the vehicle width direction, and the target direction information based on each detection information of the planned traveling distance. 3. The driving assist device according to claim 2, wherein the driving assist device is configured to obtain the information. 4. The traveling assist device according to claim 1, wherein information on a displacement amount of the traveling vehicle body in a lateral width direction of the traveling vehicle from a predetermined traveling route is displayed. 5. The position detecting means includes: a GPS reference station for receiving a carrier signal from a GPS satellite; and a reference communication means for transmitting carrier wave phase information at the GPS reference station. A GPS mobile station for receiving a carrier signal from the GPS satellite; a vehicle body side communication means for receiving transmission information of the reference side communication means; a carrier phase information at the GPS mobile station and the vehicle body side communication means. Position data calculating means for obtaining the position of the traveling vehicle body as time-series position data based on the double phase difference information obtained from the carrier wave phase information received by the GPS reference station. The travel assist device according to any one of claims 2 to 4, which is configured as follows.