| 摘要 |
A work vehicle coordinating system is configured to carry out a ground work by a main work vehicle (P) and an un-manned controlled sub work vehicle (C) that follows up the main work vehicle (P). This system includes a main-vehicle position detection module (61) detecting a position of the main work vehicle (P), a sub-vehicle position detection module (71) detecting a position of the sub work vehicle (C), a main-vehicle traveling path calculation section (62) calculating a traveling path of the main work vehicle (P) from the position of this main work vehicle (P), a work traveling target calculation section (82) calculating a target traveling position at time of a work traveling of the sub work vehicle (C), based on a ground working width of the main work vehicle (P), a ground working width of the sub work vehicle (C), a work traveling path of the main work vehicle (P) and a position of the sub work vehicle (C), and a steering control section (72) for un-manned controlling the sub work vehicle (C) based on the target traveling position. The system further includes a turning detection unit (64) detecting a turn traveling of the main work vehicle (P) in a turning area to shift from one work traveling to another work traveling, and a turn traveling target calculation section (83) calculating a turn traveling path of the sub work vehicle (C) in the turning area based on the ground working width of the main work vehicle (P), the ground working width of the sub work vehicle (C), a turn traveling start position and a turn traveling end position of the main work vehicle (P) and calculating also a turn traveling target position at the time of a turn traveling based on the turn traveling path. |
