TRAVEL AUXILIARY DEVICE FOR WORK VEHICLE AND WORK VEHICLE INCLUDING THE SAME: Fid-Bau Portal

TRAVEL AUXILIARY DEVICE FOR WORK VEHICLE AND WORK VEHICLE INCLUDING THE SAME

TOKUYAMA TAKASHI / HAMAGUCHI SEIJI / KAWAI HIROAKI / NODA DAISUKE / KAMIMURA YUSUKE

To provide a travel auxiliary device for work vehicle capable of assisting travel of a work vehicle so as to safely travel on a passage member having limited width, and to provide a work vehicle including the same.SOLUTION: A travel auxiliary device 3 includes: a distance information acquisition part 20 for acquiring information of distance distribution around a shovel 10; a calculation part 304 for calculating side edge location information of a pair of ladder members 50 from the distance information. The calculation part 304 calculates a pair of straight lines with respect to side edges of the ladder members 50 from the n-th calculation result of the side edge location information, and prior to the m-th (m>n) calculation of the side edge location information, extracts a first measurement point group constituted by a plurality of measurement points in which the distance with respect to the pair of straight lines is smaller than a preset first threshold value, out of the plurality of measurement points included in the distance information, and executes the m-th calculation of the side edge location information based on the distance distribution in the first measurement point group.SELECTED DRAWING: Figure 5

【課題】限られた幅を有する通路部材上を安全に走行できるように前記作業車両の走行を補助することが可能な作業車両の走行補助装置およびこれを備えた作業車両を提供する。【解決手段】走行補助装置３は、ショベル１０の周囲の距離分布の情報を取得する距離情報取得部２０と、前記距離情報から一対の梯子部材５０の側縁位置情報を演算する演算部３０４とを有する。演算部３０４は、ｎ回目の前記側縁位置情報の演算結果から梯子部材５０の側縁に対応する一対の直線を演算し、ｍ回目（ｍ＞ｎ）の前記側縁位置情報の演算に先立って、前記距離情報に含まれる複数の測定点のうち、前記一対の直線に対する距離が予め設定された第１閾値よりも小さい複数の測定点から構成される第１測定点群を抽出し、当該第１測定点群における前記距離分布に基づいて前記ｍ回目の前記側縁位置情報の演算を実行する。【選択図】図５

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