JPS6465606A - Steering control device for automatic traveling working vehicle - Google Patents

Abstract

PURPOSE:To accurately correct a reference bearing by the small number of times of correction by adding right and left position deflecting variables from a set position obtained every traveling of a vehicle body by a set distance individually on the right and left sides and correcting the reference bearing to the side having a larger deflecting value out of the right and left sides. CONSTITUTION:Right and left deflecting variables in the lateral width direction of the vehicle body V are respectively added by a deflecting variable adder 101 from a measured distance from a tree F based on an ultrasonic sensor S1 in accordance with a prescribed table every arrival of the vehicle body V at a sampling point. Both the right and left deflecting variables are compared, a ratio is found out by dividing the smaller value by the larger value and the reference bearing is corrected so that the corrected value is increased in accordance with the decrease of the ration, i.e. the corrected value is increased in accordance with the increment of the deflected variable of the vehicle position in the lateral axis direction of the vehicle body V, based on a prescribed table. Thus, the reference bearing can be accurately corrected by the small number of times of correction.