公开(公告)号：US11904851B2

公开(公告)日：2024-02-20

申请号：US17834430

申请日：2022-06-07

Applicant: KUBOTA CORPORATION

Inventor： Keishiro Nishi ,  Atsushi Shinkai ,  Tomofumi Fukunaga ,  Takahiro Nakatsuka ,  Atsushi Kobayashi

IPC: B60W30/09 ,  A01B69/04 ,  G01S7/481 ,  G01S7/521 ,  G01S15/931 ,  G05D1/00

CPC classification number: B60W30/09 ,  A01B69/008 ,  G01S7/481 ,  G01S7/521 ,  G01S15/931 ,  G05D1/0255 ,  B60W2300/152 ,  B60W2420/54

Abstract: The present invention is provided to more reliably keep a work vehicle from coming into contact with an obstacle during automated driving. The work vehicle includes an electronic control system for automated driving that automatically drives the vehicle body. The electronic control system includes an obstacle detection module configured to detect presence or absence of an obstacle, and a contact avoidance control unit configured to perform, upon the obstacle detection module detecting an obstacle, contact avoidance control to keep the vehicle body from coming into contact with the obstacle. The obstacle detection module includes a plurality of obstacle searchers that are distributed on the front end portion and the right and left end portions of the vehicle body such that the front side and the right and left lateral sides of the vehicle body are search-target areas.

公开(公告)号：US10976436B2

公开(公告)日：2021-04-13

申请号：US16810977

申请日：2020-03-06

Applicant: KUBOTA CORPORATION

Inventor： Atsushi Shinkai ,  Yushi Matsuzaki ,  Tomoya Omura ,  Tomofumi Fukunaga

IPC: G01S15/931 ,  G01S3/808 ,  G01S7/527 ,  G01S15/10

Abstract: An obstacle detection device includes an ultrasonic sensor, an obstacle detector to determine presence of an obstacle of interest if an intensity of a received ultrasonic wave exceeds a threshold value, and a threshold value setter to set a short-distance detection threshold value as the threshold value for the obstacle detection in a short-distance detection area in a vicinity of the ultrasonic sensor and to set a long-distance threshold value as the threshold value for the obstacle detection in a long-distance detection area located farther from the ultrasonic sensor than the short-distance detection area, the long-distance threshold value being less than the short-distance detection threshold value. The short-distance detection area is an area where variation in sound pressure distribution of transmitted ultrasonic waves is equal to or greater than the threshold value, and the long-distance detection area includes an area where the variation of the sound pressure distribution of transmitted ultrasonic wave is smaller than the threshold value.