Specific driving route system

Abstract

The present invention is a driving path specifying system capable of flexibly determining a starting path for autonomous driving. The system comprises: a path generating unit for generating predetermined driving paths (K1, K2) including a plurality of working paths (K1) for autonomous driving of a working vehicle; a control unit for causing the working vehicle (1) to autonomously drive along each predetermined driving path (K1, K2); an information acquiring unit for acquiring position information and orientation information of the working vehicle (1); and a specifying unit for specifying a candidate autonomous driving path (K3) on which the working vehicle (1) can start autonomous driving before the working vehicle (1) starts autonomous driving. The specifying unit is capable of setting a candidate specifying area (P) based on the position information and orientation information of the working vehicle (1), and specifying a working path (K1) included in the candidate specifying area (P3) among the plurality of working paths (K1) as a candidate autonomous driving path (K3).

Description

[0001] This application is a divisional application of the invention patent application with application number 201880007199.7 (international application number PCT / JP2018 / 001575), application date January 19, 2018, and invention name “Driving Path Specific System”. Technical Field

[0002] The present invention relates to a travel path specifying system for specifying a planned travel path for starting autonomous travel when a work vehicle is caused to travel autonomously. Background Art

[0003] The aforementioned driving path identification system is used in an autonomous driving system that causes a work vehicle to autonomously drive (see, for example, Patent Document 1). The system described in Patent Document 1 generates a predetermined driving path within a work area, including multiple work paths, and causes the work vehicle to autonomously drive along the predetermined driving path. Furthermore, when autonomous driving is initiated, the work vehicle is moved to the starting point of a predetermined starting path within the multiple work paths, and autonomous driving is initiated along the starting path.

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2015 / 119265 Summary of the Invention

[0006] In the system described in Patent Document 1, a starting path for starting autonomous driving within a plurality of work paths is pre-set. Therefore, for example, even if the current position of the work vehicle is sometimes far from the position of the starting path, the work vehicle must be moved to the starting end position of the starting path until autonomous driving begins, which requires a long time.

[0007] In addition, according to the system described in the above-mentioned patent document 1, since it is impossible to start autonomous driving from an operating path other than a pre-set starting path, it lacks flexibility in terms of the starting path for starting autonomous driving and cannot meet the requirement of starting autonomous driving from other operating paths.

[0008] In view of this actual situation, a main object of the present invention is to provide a driving route identification system that can flexibly determine a starting route for starting autonomous driving.

[0009] The first aspect of the present invention is characterized by comprising:

[0010] a path generating unit that generates a predetermined travel path including a plurality of work paths for the work vehicle to autonomously travel;

[0011] a control unit capable of causing the work vehicle to autonomously travel along each predetermined travel path;

[0012] an information acquisition unit that acquires position information and direction information of the work vehicle; and

[0013] a specifying unit that specifies, before the work vehicle starts autonomous driving, a candidate autonomous driving route on which the work vehicle can start autonomous driving;

[0014] The specifying unit may set a candidate specifying area based on the position information and the direction information of the work vehicle, and specify a work path included in the candidate specifying area among the plurality of work paths as the autonomous driving candidate path.

[0015] According to this configuration, the specifying unit sets candidate specifying areas based on the work vehicle's position information and orientation information. Therefore, for example, an area close to the work vehicle in its direction of travel can be set as a candidate specifying area. In other words, an area containing a work path suitable for starting autonomous travel can be set as a candidate specifying area. The specifying unit can specify a work path within a plurality of work paths that is included in the candidate specifying area as a candidate autonomous travel path. Therefore, the candidate autonomous travel path can be specified as containing a work path suitable for starting autonomous travel. Thus, since a starting path for starting autonomous travel can be determined based on the candidate autonomous travel paths, autonomous travel can be started using, for example, a work path close to the work vehicle in its direction of travel as the starting path. By appropriately determining the starting path for starting autonomous travel based on the work vehicle's position information and orientation information, it is possible to flexibly determine a starting path and start autonomous travel using the determined starting path.

[0016] A second aspect of the present invention is characterized in that even if a work route is included in the candidate identification area, the work route that meets the exclusion condition is not identified as the autonomous driving candidate route by the identifying unit.

[0017] According to this configuration, the specifying unit does not specify all work paths included in the candidate specifying area as candidate autonomous driving paths. Even if a work path is included in the candidate specifying area, a work path that meets the exclusion criteria will not be specified as a candidate autonomous driving path. Thus, for example, even if an undesirable work path is included in the candidate specifying area as a work path for starting autonomous driving due to an obstacle between the work vehicle and the starting point of the work path, the specifying unit can exclude that work path from the candidate autonomous driving path, thereby appropriately specifying a work path suitable for starting autonomous driving as a candidate autonomous driving path.

[0018] The third scheme of the present invention is characterized as follows, and is characterized in that, in the case where there is no work path within the multiple work paths: when the work path included in the candidate specific area does not exist, the specific unit specifies the autonomous driving candidate path based on the first straight line specified based on the position information of the work vehicle and the starting end position information of each work path, and the angle formed by the second straight line along the work path.

[0019] According to this configuration, the specifying unit can use the position information of the work vehicle and specify the autonomous driving candidate path based on the angle formed by the first straight line and the second straight line. Therefore, even if there is no work path included in the candidate specifying area, the autonomous driving candidate path can be appropriately specified.

[0020] The fourth aspect of the present invention is characterized in that:

[0021] The travel route specifying system includes: a specific area setting unit that sets a specific area in which the work vehicle autonomously travels;

[0022] The specific area includes a first area where the planned driving route is generated and a second area where the planned driving route is not generated.

[0023] When the work vehicle is located in the second area, the specifying unit does not specify the candidate autonomous driving route based on the angle between the first straight line and the second straight line, but continues to specify the candidate autonomous driving route based on the candidate specifying area.

[0024] According to this configuration, since no predetermined driving path is generated in the second area, if the identifying unit identifies a candidate autonomous driving path based on the angle between the first and second lines when the work vehicle is located in the second area, there is a risk that a work path unsuitable for starting autonomous driving will be identified as a candidate autonomous driving path. Therefore, when the work vehicle is located in the second area, the identifying unit does not identify a candidate autonomous driving path based on the angle between the first and second lines, but instead continues to identify a work path based on the candidate identification area until a work path is included in the candidate identification area. Thus, if a work path is included in the candidate identification area, the identifying unit can identify that work path as a candidate autonomous driving path. This allows the identifying unit to appropriately identify a work path suitable for starting autonomous driving as a candidate autonomous driving path even when the work vehicle is located in the second area. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a diagram showing a schematic configuration of an autonomous driving system.

[0026] Figure 2 This is a block diagram showing the schematic configuration of an autonomous driving system.

[0027] Figure 3 This is a diagram showing an example of an autonomous driving route (planned driving route).

[0028] Figure 4 This is a schematic diagram showing the state when a candidate autonomous driving route is being identified.

[0029] Figure 5 This is a schematic diagram showing the state when a candidate autonomous driving route is being identified.

[0030] Figure 6 This is a schematic diagram showing the state when a candidate autonomous driving route is being identified. DETAILED DESCRIPTION

[0031] An embodiment of an autonomous driving system using a driving route identification system according to the present invention will be described with reference to the drawings.

[0032] like Figure 1 As shown, the autonomous driving system includes a tractor 1 serving as a work vehicle that autonomously drives along an autonomous driving path (equivalent to a predetermined driving path), and a wireless communication terminal 2 capable of transmitting various information to the tractor 1. Furthermore, in this embodiment, a base station 4 is provided for acquiring positional information of the tractor 1.

[0033] Figure 1In the figure, the tractor 1 is illustrated as an example of the work vehicle. However, in addition to the tractor, a passenger-type work vehicle such as a rice transplanter, a combine harvester, a civil engineering work machine, a snowplow, or a walk-behind work vehicle can also be applied.

[0034] like Figure 2 As shown, the tractor 1 includes a vehicle-side wireless communication unit 14, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, and the base station 4 includes a base station-side wireless communication unit 41. Wireless communication between the vehicle-side wireless communication unit 14 and the terminal-side wireless communication unit 21 enables transmission and reception of various information between the tractor 1 and the wireless communication terminal 2, and wireless communication between the vehicle-side wireless communication unit 14 and the base station-side wireless communication unit 41 enables transmission and reception of various information between the tractor 1 and the base station 4. Furthermore, the wireless communication terminal 2 and the base station 4 are configured to transmit and receive various information via the tractor 1. Alternatively, wireless communication between the terminal-side wireless communication unit 21 and the base station-side wireless communication unit 41 allows the wireless communication terminal 2 and the base station 4 to directly transmit and receive various information without passing through the tractor 1. The frequency bands used for wireless communication between the wireless communication units may be common or different.

[0035] like Figure 2 As shown, the tractor 1 includes a positioning antenna 11, a vehicle-side control unit 12 (equivalent to a control unit), an information acquisition unit 13, a vehicle-side wireless communication unit 14, and an inertial measurement unit 15 (e.g., a device including a three-axis gyroscope and a three-directional accelerometer). The information acquisition unit 13 is configured to acquire the tractor 1's current position information based on positioning information received by the positioning antenna 11, and to acquire the tractor 1's posture information and direction of travel based on measurement information from the inertial measurement unit 15. The vehicle-side control unit 12 is configured to acquire its own current position information (the current position of the tractor 1) using the information acquisition unit 13 and to control various devices on the tractor 1, such as the regulating device, transmission, and steering system (not shown), thereby enabling autonomous driving of the tractor 1. The tractor 1 also includes a storage unit (not shown) that stores various types of information.

[0036] like Figure 1 As shown, the positioning antenna 11 is configured to receive signals from, for example, positioning satellites 3 constituting a satellite positioning system (GNSS). The positioning antenna 11 is disposed on, for example, the upper surface of the roof of the cab of the tractor 1 .

[0037] As a positioning method using a satellite positioning system, the following positioning methods can be applied, namely: Figure 1 As shown, a reference station 4 is provided at a predetermined reference point. Using positioning correction information from the reference station 4, the satellite positioning information of the tractor 1 (mobile station) is corrected to determine the current position of the tractor 1. For example, various positioning methods can be applied, such as DGPS (Differential GPS Positioning) and RTK (Real-Time Kinematic Positioning). Furthermore, the reference station 4 may not be provided, and independent positioning may be used.

[0038] In this embodiment, RTK positioning is applied, so Figure 1 and Figure 2 As shown, in addition to the positioning antenna 11 on the mobile station side, i.e., the tractor 1, a base station 4 is also provided. The location information of the reference point, i.e., the installation location of the base station 4, is pre-set and stored. The base station 4 is located at a location (reference point) that does not interfere with the travel of the tractor 1, such as around a field. The base station 4 includes a base station-side wireless communication unit 41 and a base station positioning antenna 42.

[0039] In RTK positioning, the carrier phase (satellite positioning information) from positioning satellites 3 is measured using both a base station 4 installed at a reference point and a positioning antenna 11 on the tractor 1, the mobile station for which position information is to be obtained. Each time positioning satellites 3 measure satellite positioning information, or at a set interval, the base station 4 generates positioning correction information containing the measured satellite positioning information and the reference point's position information. This positioning correction information is then transmitted from the base station-side wireless communication unit 41 to the vehicle-side wireless communication unit 14 of the tractor 1. The information acquisition unit 13 of the tractor 1 uses the positioning correction information transmitted from the base station 4 to correct the satellite positioning information measured by the positioning antenna 11, thereby determining the current position of the tractor 1. The information acquisition unit 13 determines, for example, latitude and longitude information as the current position of the tractor 1.

[0040] Wireless communication terminal 2 is comprised of, for example, a tablet-type personal computer with a touch panel. Various information can be displayed on the touch panel, and various information can be input by operating the touch panel. Wireless communication terminal 2 can be carried by the user outside tractor 1 for use, or can be attached to the side of the driver's seat of tractor 1 for use.

[0041] like Figure 2 As shown, the wireless communication terminal 2 includes a terminal-side wireless communication unit 21, a route generation unit 22, a specifying unit 23, and a specific area setting unit 24. The route generation unit 22 is configured to generate an autonomous driving route for the tractor 1 to autonomously travel. Furthermore, the wireless communication terminal 2 includes a storage unit (not shown) that stores various information, including information registered by the user.

[0042] When the tractor 1 is autonomously traveling, the user operates the touch panel of the wireless communication terminal 2 to input various information, and the path generation unit 22 of the wireless communication terminal 2 generates an autonomous driving path for the tractor 1 to autonomously travel based on the various input information. The path generation unit 22 specifies various information about the driving path, such as the starting point position, the end point position, the driving direction, and the shape of the path, to generate the autonomous driving path. For example, Figure 3 As shown, the path generation unit 22 generates: a working path K1 and a turning path K2 as autonomous driving paths, wherein the working path K1 is a path for the tractor 1 to autonomously drive and perform operations such as plowing, and the turning path K2 is a path for the tractor 1 to turn from the working path K1 to the next working path K1. The autonomous driving paths K1 and K2 generated by the path generation unit 22 are configured as follows: Figure 3 As shown, it can be displayed on the touch panel of the wireless communication terminal 2. Figure 3 The autonomous driving route shown is merely an example, and the autonomous driving route generated by the route generating unit 22 can be changed as appropriate.

[0043] like Figure 3 As shown, when the path generation unit 22 generates autonomous travel paths K1 and K2, the specific area setting unit 24 first sets a specific area H (e.g., a field) in which the tractor 1 autonomously travels. The specific area H includes a first area R1, where the autonomous travel paths K1 and K2 are generated, and a second area R2, where the autonomous travel paths K1 and K2 are not generated. The first area R1 includes a work area R1a, where work is performed, and a non-work area R1b, where no work is performed. The path generation unit 22 generates the work path K1 for the work area R1a of the first area R1 and a turning path K2 for the non-work area R1b of the first area R1. The work path K1 is a linear path that allows the tractor 1 to autonomously travel from one end to the other within the first area R1. Multiple linear paths are generated across the entire first area R1, adjacent to each other and arranged side by side in the width direction of the specific area H (field). The turning path K2 is generated at both ends of the first region R1 by connecting the ends of two work paths K1 arranged side by side in the width direction of the specific region H (field) to allow the tractor 1 to turn.

[0044] As described above, the path generation unit 22 generates autonomous driving paths K1 and K2. Therefore, autonomous driving can be initiated by selecting any one of the multiple working paths K1 as the starting path. The starting path is not predetermined for any of the multiple working paths K1. Instead, autonomous driving is initiated by selecting a single working path K1 from the multiple working paths K1. Incidentally, the only autonomous driving paths that can be selected as the starting path are those within the autonomous driving paths K1 and K2.

[0045] When determining the starting path, before the tractor 1 starts autonomous driving, first, the identifying unit 23 identifies autonomous driving candidate paths within the plurality of working paths K1 on which the tractor 1 can start autonomous driving. Figure 3 and Figure 4 As shown, the specifying unit 23 sets a candidate specifying area P based on the position information and orientation information of the tractor 1, and specifies the work path K1 in the plurality of work paths K1 and in the same travel direction as the travel direction of the tractor 1 as an autonomous driving candidate path K3. That is, the work path K1 included in the candidate specifying area P is specified as an autonomous driving candidate path K3.

[0046] The setting of the candidate specific area P is described as follows. Figure 3 As shown, a straight line T1 extending along the direction of travel of the tractor 1 is rotated left and right by an angle θ about the current position of the tractor 1, thereby setting a right straight line T2 and a left straight line T3. Furthermore, the area between the right straight line T2 and the left straight line T3, extending from the current position of the tractor 1 to a set distance L, is set as a candidate specific area P. This results in a quadrilateral candidate specific area P that extends in the direction of travel of the tractor 1, based on the current position of the tractor 1. The candidate specific area P is not limited to the quadrilateral shape described above; various shapes, such as triangles or arcs, can be used. The candidate specific area P can be set to exclude areas in the direction opposite to the direction of travel of the tractor 1, depending on various conditions. Furthermore, the candidate specific area P can be set as a fixed area, but can also be changed based on the current position of the tractor 1 and other conditions of the tractor 1.

[0047] The specifying unit 23 specifies the work path K1 in the same travel direction as the traveling direction of the tractor 1 and included in the candidate specifying area P as the autonomous travel candidate path K3. Figure 3 and Figure 4As shown, if the candidate identification area P includes a plurality of (for example, two) working paths K1, and the working paths K1 are working paths K1 in the same travel direction as the tractor 1, the identification unit 23 will identify the plurality of working paths K1 as autonomous driving candidate paths K3. The autonomous driving candidate paths K3 identified by the identification unit 23 are as follows: Figure 4 As shown by the bold line, it is possible to display on the touch panel of the wireless communication terminal 2 in a state where it is identifiable which work path K1 among the plurality of work paths K1 is specified as the autonomous driving candidate path K3 .

[0048] Here, the specifying unit 23 does not necessarily specify the work path K1 in the same travel direction as the traveling direction of the tractor 1 and included in the candidate specifying area P as the autonomous travel candidate path K3. Figure 5 As shown, the work path K1 in the same travel direction as the tractor 1 and included in the work path K1 in the candidate specific area P that meets the exclusion conditions is not specified as the autonomous travel candidate path K3. The following (1) to (4) are set as the exclusion conditions. In addition, Figure 5 The following exclusion conditions are met:

[0049] (1) Figure 5 As shown in FIG, if there is an out-of-field area W1 between the current position of the tractor 1 and the starting position of the working path K1, the working path K1 meets the exclusion condition. Figure 5 As shown, if there is a work path K1 that intersects with the right straight line T2 and the left straight line T3 in the candidate specific area P, if there is an obstacle W2 between the current position of the tractor 1 and the intersection point between the right straight line T2 or the left straight line T3 and the work path K1, the work path K1 meets the exclusion condition. Figure 5 In the example, the third work path K1 from the left is included in the candidate specific area P, but there is an out-of-field area W1 between the starting position of the work path K1 and the current position of the tractor 1. Figure 5 In FIG, although there is an intersection point where the fifth work path K1 from the left intersects with the right straight line T2, an obstacle W2 exists between the current position of the tractor 1 and the intersection point.

[0050] (2) Priority is determined based on the distance from the current position of the tractor 1 to the starting position or the intersection point with the right straight line T2 and the left straight line T3, and the work path K1 with the lower priority determined thereby meets the exclusion condition. Furthermore, the priority is set as follows: first, the distance from the current position of the tractor 1 to the starting position or the intersection point with the right straight line T2 and the left straight line T3 is calculated, and the work paths K1 with the shorter distance are ranked higher in order, starting with the work paths K1 with the shorter distance and ending at the upper limit. On the other hand, the work paths K1 exceeding the upper limit are ranked lower in priority.

[0051] (3) A work path K1 whose distance from the current position of the tractor 1 to the intersection with the right straight line T2 or the left straight line T3 is greater than the maximum set distance satisfies the exclusion condition. Alternatively, a work path K1 whose distance from the current position of the tractor 1 to the starting position is greater than the maximum set distance may also satisfy the exclusion condition.

[0052] (4) The operation path K1 that has been completed by autonomous driving meets the exclusion condition. Figure 6 As shown in the darker part in FIG, the wireless communication terminal 2 knows which operation path K1 in the plurality of operation paths K1 has completed the operation, and Figure 6 As shown in FIG. 1 , the completed work path K1 is displayed on the touch panel in a recognizable state such as being filled in.

[0053] The exclusion condition can be set appropriately. For example, one or more conditions in (1) to (4) above can be selected. In addition, as conditions other than (1) to (4) above, for example, Figure 3 As shown, a work path K1 where the angle α formed between the right straight line T2 or the left straight line T3 and the straight line V2 (equivalent to the second straight line) along the work path K1 exceeds a predetermined angle may also meet the exclusion condition. Here, the predetermined angle can be set, for example, to an angle smaller than the rotation angle θ used as a reference when setting the right straight line T2 and the left straight line T3.

[0054] In the case where there is no work path K1 in the same travel direction as the traveling direction of the tractor 1 and included in the candidate specific area P, Figure 6 As shown, according to the position information of the tractor 1 (located at Figure 6The identifying unit 23 identifies the first straight line V1 based on the position information of the tractor 1 on the left side of the center) and the starting point position information of each work path K1. Furthermore, the identifying unit 23 identifies the candidate autonomous travel path K3 based on the angle β formed between the first straight line V1 and the second straight line V2 along the work path K1. If there is a work path K1 in which the angle β formed between the first straight line V1 and the second straight line V2 is greater than a predetermined angle (e.g., 90 degrees), the identifying unit 23 identifies the work path K1 as the candidate autonomous travel path K3.

[0055] As described above, when the tractor 1 is located in the first region R1 (refer to Figure 3 and Figure 4 ), the specifying unit 23 continues the normal specifying process for a specified time, and the normal specifying process is a process of specifying the autonomous travel candidate path K3 based on the candidate specific area P. In the normal specifying process, if there is: a working path K1 in the same driving direction as the driving direction of the tractor 1, and the working path K1 is included in the candidate specific area P and does not meet the exclusion condition, then the specifying unit 23 specifies the working path K1 as the autonomous travel candidate path K3. Then, even if the normal specifying process is continued for a specified time, there is no working path K1 included in the candidate specific area P in the working path K1 in the same driving direction as the driving direction of the tractor 1. In this case, as Figure 6 As shown, the identifying unit 23 performs a starting point identifying process to identify a candidate autonomous travel path K3 based on the angle β formed between the first straight line V1 and the second straight line V2. During the starting point identifying process, if there is a work path K1 where the angle β formed between the first straight line V1 and the second straight line V2 is greater than or equal to a predetermined angle (e.g., 90 degrees), the identifying unit 23 identifies that work path K1 as a candidate autonomous travel path K3.

[0056] Here, the specifying unit 23 performs the starting point specifying process. This is not limited to the case where, even if the normal specifying process is performed, no work path K1 included in the candidate specifying area P exists within the work path K1 traveling in the same direction as the tractor 1. For example, the specifying unit 23 may also perform the starting point specifying process if the tractor 1 is located in a non-work area R1b where multiple turning paths K2 are generated. Thus, the specifying unit 23 may also perform the starting point specifying process based on the area within the field H where the tractor 1 is currently located.

[0057] In addition, if Figure 6As shown in the tractor 1 on the right side of the center, when the tractor 1 is located in the second region R2, the specifying unit 23 does not specify the candidate autonomous travel path K3 based on the angle β formed by the first straight line V1 and the second straight line V2, but instead continues to specify the candidate autonomous travel path K3 based on the candidate specification region P. Therefore, when the tractor 1 is located in the second region R2, the specifying unit 23 performs only normal specification processing, and continues to perform normal specification processing until a work path K1 is found that is oriented in the same direction as the tractor 1, is included in the candidate specification region P, and does not meet the exclusion criteria.

[0058] When the identifying unit 23 identifies the autonomous driving candidate path K3 in this manner, the wireless communication terminal 2 transmits the candidate path information related to the autonomous driving candidate path K3 identified by the identifying unit 23 to the tractor 1. When the vehicle-side control unit 12 of the tractor 1 obtains the candidate path information through the transmission from the wireless communication terminal 2, it confirms whether the autonomous driving start condition is satisfied. If the following four conditions (1) to (5), (1), (2), (3) or (4), (5) are satisfied, the vehicle-side control unit 12 determines that the autonomous driving start condition is satisfied and identifies the starting path for starting autonomous driving from the autonomous driving candidate paths K3. In addition, the conditions (1), (2), and (5) are conditions for identifying the starting path from the autonomous driving candidate paths K3. Even if there are multiple autonomous driving candidate paths K3, one autonomous driving candidate path K3 can be identified as the starting path.

[0059] (1) The lateral deviation between the current position of the tractor 1 and the autonomous driving candidate path K3 is within a predetermined distance (for example, ±100 cm).

[0060] (2) The azimuth difference between the azimuth of the traveling direction of the tractor 1 and the azimuth of the autonomous driving candidate path K3 is within a predetermined angle (for example, ±15 degrees).

[0061] (3) The current position of the tractor 1 is the working area R1a (see Figure 3 ), from the current position of the tractor 1 to the non-operation area R1b (refer to Figure 3 ) is greater than a specified distance (e.g., 10 m).

[0062] (4) When the current position of the tractor 1 is the non-operation area R1b (refer to Figure 3 ), from the current position of the tractor 1 to the working area R1a (refer to Figure 3 ) is within a specified distance (e.g., 5m).

[0063] (5) The autonomous driving candidate routes K3 that satisfy the above-mentioned (1) and (2) remain in the same state for a predetermined time (for example, 1 second).

[0064] If the autonomous driving start conditions are met, the vehicle-side control unit 12 transmits autonomous driving permission information indicating which specific route is the starting route for autonomous driving to the wireless communication terminal 2. As a result, the wireless communication terminal 2 displays on the touch panel which specific route is the starting route within the candidate autonomous driving routes K3, allowing identification, and thus enabling an instruction to start autonomous driving.

[0065] When the user operates the touch panel of the wireless communication terminal 2 to instruct the start of autonomous driving, the wireless communication terminal 2 transmits the autonomous driving start instruction to the tractor 1. Upon receiving the autonomous driving start instruction, the vehicle-side control unit 12 of the tractor 1 obtains its own current position information (the current position of the tractor 1) using the information acquisition unit 13, and then causes the tractor 1 to autonomously drive along the start path, thereby starting autonomous driving.

[0066] Here, in order to start autonomous driving, the vehicle-side control unit 12 needs to acquire starting route information related to the starting route. Therefore, acquisition of the starting route information will be described.

[0067] Before confirming whether the autonomous driving start conditions are met, the vehicle-side control unit 12 obtains candidate route information via a transmission from the wireless communication terminal 2. Since the starting route for autonomous driving is determined from the autonomous driving candidate routes K3, the candidate route information includes starting route information related to the starting route for autonomous driving. Thus, the vehicle-side control unit 12 obtains the starting route information by obtaining the candidate route information. This allows the vehicle-side control unit 12 of the tractor 1 to obtain the starting route information without transmitting the starting route information from the wireless communication terminal 2 to the tractor 1.

[0068] Furthermore, regarding the acquisition of the starting route information by the vehicle-side control unit 12, the starting route information can also be acquired from the wireless communication terminal 2 by transmitting the starting route information from the wireless communication terminal 2 to the tractor 1. In this case, the wireless communication terminal 2 can specify which autonomous driving candidate route K3 is the starting route for autonomous driving based on the autonomous driving permission information. Therefore, the wireless communication terminal 2 can transmit the starting route information to the tractor 1, and the vehicle-side control unit 12 can acquire the starting route information through the transmission of this starting route information.

[0069] After autonomous driving begins in this manner, the wireless communication terminal 2 transmits path information related to the autonomous driving route to the tractor 1 in response to a request from the tractor 1. This allows the vehicle-side control unit 12 to obtain the path information related to the autonomous driving route along which the tractor 1 is autonomously driving. Based on this path information, the vehicle-side control unit 12 uses the information acquisition unit 13 to obtain its own current position information (the current position of the tractor 1) and causes the tractor 1 to autonomously drive along the autonomous driving route.

[0070] [Other Implementation Methods]

[0071] (1) In the above embodiment, when the tractor 1 is located in the first region R1, if there is no work path K1 included in the candidate identification area P among the multiple work paths K1, the identification unit 23 identifies the autonomous driving candidate path K3 based on the angle β formed by the first straight line V1 and the second straight line V2. However, as in the case where the tractor 1 is located in the second region R2, the autonomous driving candidate path K3 may be identified based on the candidate identification area P instead of the angle β formed by the first straight line V1 and the second straight line V2.

[0072] (2) In the above embodiment, an example is given in which the path generation unit 22, the specifying unit 23, and the specific area setting unit 24 are provided in the wireless communication terminal 2. However, for example, the path generation unit 22, the specifying unit 23, and the specific area setting unit 24 may be provided in the vehicle-side control unit 12 of the tractor 1, or in an external management device. Therefore, the device in which the path generation unit 22, the specifying unit 23, and the specific area setting unit 24 are provided can be changed as appropriate.

[0073] Industrial applicability

[0074] The present invention can be applied to various travel route specifying systems for specifying a planned travel route for starting autonomous travel when a work vehicle is caused to travel autonomously.

[0075] Explanation of symbols

[0076] 1 Tractor (work vehicle)

[0077] 12 Vehicle-side control unit (control unit)

[0078] 13 Information Acquisition Department

[0079] 14 Vehicle-side wireless communication unit

[0080] 22 Path Generation Unit

[0081] 23 Specific Department

[0082] 24 Specific Area Setting Department

[0083] H Specific area (field)

[0084] K1 operation path (planned driving path)

[0085] K2 turning path (planned driving path)

[0086] K3 autonomous driving alternative path

[0087] R1 First Area

[0088] R2 Second Area

[0089] P Alternative special use area

[0090] V1 First straight line

[0091] V2 Second straight line

[0092] β Angle between the first and second straight lines

Claims

1. A driving route specific system, characterized in that: have: a path generating unit that generates a predetermined travel path including a plurality of work paths for the work vehicle to autonomously travel; a control unit capable of causing the work vehicle to autonomously travel along each predetermined travel path; an information acquisition unit that acquires position information of the work vehicle; as well as The specifying unit sets a candidate specifying area based on the position information of the work vehicle and specifies a work path included in the candidate specifying area among the plurality of work paths as an autonomous driving candidate path on which the work vehicle can autonomously drive.

2. The driving route identification system according to claim 1, characterized in that: Even if a work route is included in the candidate identification area, if the work route satisfies the exclusion condition, the identification unit will not identify the work route as the autonomous driving candidate route.

3. The driving route identification system according to claim 1 or 2, characterized in that: In the case where there is no work path included in the candidate specific area among the multiple work paths, the specific unit specifies the autonomous driving candidate path based on a first straight line specified based on the position information of the work vehicle and the starting end position information of each work path, and an angle formed by a second straight line along the work path.

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