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Control system for self-propelled working vehicle including vehicle course correction means

  • US 5,079,706 A
  • Filed: 02/13/1990
  • Issued: 01/07/1992
  • Est. Priority Date: 12/09/1986
  • Status: Expired due to Fees
First Claim
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1. A steering control system for a self-propelled working vehicle having steerable front and rear wheels and movable along a propelling target line, said steering control system comprising:

  • direction detecting means for detecting an inclination of vehicle running direction relative to said target line, said inclination relative to said target line being a directional error;

    sideways error detecting means for detecting a distance between said vehicle and said target line, said distance being a sideways error; and

    steering control means for steering said front and rear wheels in response to signals received from said direction detecting means and said sideways error detecting means, said steering control means comprising means for steering said front and rear wheels to the same steering angle in opposite directions in only a turn steering mode and for steering said front and rear wheels to the same steering angle in a same direction in only a parallel steering mode;

    wherein, when detection by said direction detecting means of said directional error of said vehicle and detection by said sideways error detecting means of said sideways error of said vehicle take place simultaneously and said front wheels are directionally displaced from said target line by a large amount compared with the rear wheels, said steering control means further increases steering angle of said front wheels by a predetermined front wheel offset with respect to the positions of said front and rear wheels in said parallel steering mode; and

    when detection by said direction detecting means of said directional error of said vehicle and detection by said sideways error detecting means of said sideways error of said vehicle take place simultaneously and said rear wheels are directionally displaced from said target line by a large amount compared with said front wheels, said steering control means further increases the steering angle of said rear wheels by a predetermined rear wheel offset with respect to positions of said front and rear wheels in said parallel steering mode; and

    wherein said steering control system detects a presence of obstacles laterally spaced from the vehicle and thereby corrects deviations from the target line.

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