AUTONOMOUS TRAVEL SYSTEM OF FARM WORK VEHICLE

To provide an autonomous travel system of a farm work vehicle capable of making a farm work vehicle autonomously travel along a ridge with high accuracy, regardless of the shape change of the ridge.SOLUTION: An autonomous travel system of a farm work vehicle makes a farm work vehicle 10, which performs farm work by straddling a ridge 5 in a farm field, autonomously travel along the ridge 5. The autonomous travel system comprises: the farm work vehicle 10 comprising a pair of travel parts 20 being provided at an interval and traveling on travel planes 7I, 7II on both sides of one line of the ridge 5; a ridge tracking LiDAR 50 which is installed on the farm work vehicle 10 so as to include the travel planes 7I, 7II on both sides of the ridge 5 being straddled by the farm work vehicle 10, in a detection area; and a control unit for, on the basis of information on the two lines of the travel planes 7I, 7II, estimating a center line RCL of the ridge 5 straddled by the farm work vehicle 10, and on the basis of an error between the center line RCL of the ridge 5 estimated, and a center line of the farm work vehicle 10, making the farm work vehicle 10 travel along the ridge 5.SELECTED DRAWING: Figure 13 【課題】農作業車両の自律走行システムにおいて、畝の形状変化に左右されることなく、農作業車両を畝に沿って高い精度で自律走行させる技術を提供する。【解決手段】圃場内で畝５を跨ぎながら農作業を行う農作業車両１０を、畝５に沿って自律走行させる農作業車両の自律走行システムである。１条の畝５の両隣の走行面７I，７IIを走行するように離間して設けられた一対の走行部２０を有する農作業車両１０と、農作業車両１０によって跨がれている畝５の両隣の走行面７I，７IIを検出領域に含むように農作業車両１０に設置された畝倣い用ＬｉＤＡＲ５０と、２条の走行面７I，７IIに関する情報に基づいて、農作業車両１０によって跨がれている畝５の中心線ＲＣＬを推定するとともに、推定された畝５の中心線ＲＣＬと農作業車両１０の中心線との誤差に基づいて、農作業車両１０を畝５に沿うように走行させる制御装置と、を備えている。【選択図】図１３