Patent ID: 9708001
Date: 2017-07-18
CPC Classifications: A01B,B62D,G05D

Claim:
1. An automatic steering system for a working vehicle, for automatic maneuvering of the working vehicle running on a working ground surface along a desired running path, the automatic steering system comprising: a measurement section for acquiring measurements including those of position, velocity, heading direction, and attitude of the vehicle; and a data processing section; wherein the data processing section comprises: wherein the automatic steering system is adapted for operation in a working mode which is to be adopted when the working vehicle runs on the working ground surface and in a pre-adjustment mode which is to be adopted in advance to an operation of the automatic steering system in the working mode; wherein, during an operation of the automatic steering system in the pre-adjustment mode, the vehicle related parameter estimator determines the value of the vehicle related parameter on the basis of the measurements acquired by the measurement section; wherein, during an operation of the automatic steering system in the working mode, the vehicle related parameter estimator updates the value of the vehicle related parameter and the ground surface related parameter estimator determines the value of the ground surface related parameter on the basis of the measurements acquired by the measurement section, wherein the measurement section further measures an acceleration and an angular velocity of the vehicle, wherein the vehicle related parameter includes at least a parameter indicating vibration components of a vehicle body, wherein the ground surface related parameter includes at least a parameter indicating ground surface slipperiness, wherein the parameter indicating the ground surface slipperiness includes a measured slipperiness parameter based on measurements by the measurement section and an estimated slipperiness parameter, wherein the ground surface related parameter estimator calculates the parameter indicating the vibration components of the vehicle body that are attributable to ground surface based on the acceleration and the angular velocity of the vehicle and the parameter indicating vibration components of the vehicle body, and wherein the ground surface related parameter estimator calculates the estimated slipperiness parameter by filtering the parameter indicating vibration components of the vehicle that are attributable to the ground surface.