Patent ID: 11968917
Assignee: KUBOTA CORPORATION
Field: Other special machines (Mechanical engineering)
Classification: CPC A | IPC A

Claim 0:
1. A working vehicle comprising:
a traveling vehicle to travel on a scheduled traveling route and including a connector to which a towed vehicle is connected, the connector being provided on a rear portion of the traveling vehicle; and
an autonomous traveling controller configured or programmed to control autonomous traveling of the traveling vehicle based on the scheduled traveling route and a relative angle between the connector of the traveling vehicle and the towed vehicle connected to the connector; wherein
the autonomous traveling controller is configured or programmed such that:
when the traveling vehicle travels forward with the towed vehicle towed thereby and turns along a turn portion included in the scheduled traveling route, when the relative angle is less than a turn judgment value, the autonomous traveling controller performs a turn control in which the autonomous traveling controller determines at least one of a steering angle or a steering direction of the traveling vehicle so that a vehicle position of the traveling vehicle matches the turn portion and controls steering of the traveling vehicle based on the determined at least one of the steering angle or the steering direction, and when the relative angle becomes the turn judgment value or more in the turn control, the autonomous traveling controller stops the turn control; and
after the autonomous traveling controller stops the turn control when the relative angle becomes the turn judgment value or more in the turn control, the autonomous traveling controller performs a multi-point turn control in which the autonomous traveling controller changes at least one of the steering angle or the steering direction so that the traveling vehicle enters a straight-line portion included in the scheduled traveling route and continuing from the turn portion, and controls the steering of the traveling vehicle based on the changed at least one of the steering angle or the steering direction while causing the traveling vehicle to travel forward and backward.