Control method, control program, and control system

Abstract

Provided are a control method, a control program, and a control system with which it is possible to prevent a decrease in work efficiency when an obstacle is detected during automatic travel of a work vehicle. The automatic travel system (1) executes different response processing depending on whether a detection object detected by the obstacle sensor (54) is inside or outside the field during automatic travel of the work vehicle (10) inside the field.

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle capable of autonomous driving when an obstacle is detected. Background Art

[0002] Conventionally, technologies are known for enabling work vehicles to autonomously travel within a work area according to a pre-set target path. Furthermore, technologies are known for measuring the distance to objects in the direction of travel of the work vehicle to determine the presence of obstacles and performing collision avoidance control to prevent the work vehicle from colliding if the obstacle is within a predetermined detection range (e.g., see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-65115

[0004] However, in conventional technology, even if an object outside a field is detected, it is still determined to be an obstacle and collision avoidance control is performed. This approach, when objects (detection targets) with a low probability of collision with an autonomous work vehicle are determined to be obstacles and collision avoidance control is performed, results in reduced efficiency in operations involving autonomous work vehicles. Summary of the Invention

[0005] An object of the present invention is to provide a control method, a control program, and a control system that can prevent a decrease in the working efficiency of a working vehicle when it detects a detection object during automatic driving.

[0006] The control method of the present invention is to execute different response processes according to whether a detection object detected by a detection unit is located within or outside the work area when a work vehicle is automatically traveling within the work area.

[0007] In addition, the control method involved in the present invention is: when the working vehicle is automatically driving in the working area and the detection object detected by the detection unit is located in the above-mentioned working area, different response processing is performed according to whether the above-mentioned detection object is located within the vehicle control range set based on the above-mentioned working vehicle or outside the above-mentioned vehicle control range.

[0008] In addition, the control program involved in the present invention is used to enable one or more processors to execute different response processes according to whether the detection object detected by the detection unit is located within the above-mentioned work area or outside the above-mentioned work area when the work vehicle is automatically traveling in the work area.

[0009] Furthermore, the control system according to the present invention executes different response processes depending on whether the detection target detected by the detection unit is located within or outside the work area while the work vehicle is automatically traveling within the work area.

[0010] According to the present invention, it is possible to provide a control method, a control program, and a control system that can prevent a decrease in work efficiency when a work vehicle detects an obstacle during autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0012] Figure 2 This is an external view showing an example of a work vehicle according to an embodiment of the present invention.

[0013] Figure 3 This is a diagram showing an example of the measurement range of the obstacle sensor according to the embodiment of the present invention.

[0014] Figure 4 It is a diagram showing an example of detection of a detection target by a work vehicle according to an embodiment of the present invention.

[0015] Figure 5 This is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0016] Figure 6 This is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0017] Figure 7A This is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention.

[0018] Figure 7B This is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention.

[0019] Figure 7C This is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention.

[0020] Figure 8 This is a diagram showing an example of a selection screen and an information display screen displayed on the operation terminal according to the embodiment of the present invention.

[0021] Figure 9 This is a diagram showing an example of detection information displayed on the selection screen of the operation terminal according to the embodiment of the present invention.

[0022] Figure 10 This is a diagram showing an example of detection information displayed on the camera screen of the operation terminal according to the embodiment of the present invention.

[0023] Figure 11 This is a diagram showing an example of detection information displayed on the operation terminal according to the embodiment of the present invention.

[0024] Figure 12 This is a diagram showing an example of detection information displayed on the selection screen of the operation terminal according to the embodiment of the present invention.

[0025] Figure 13 This is a flowchart showing an example of the procedure of obstacle detection processing executed by the automatic driving system according to the embodiment of the present invention.

[0026] Figure 14 This is a diagram showing an example of detection information displayed on the information display screen of the operation terminal according to the embodiment of the present invention.

[0027] Description of Reference Numerals

[0028] 1…Automatic driving system; 10…Work vehicle; 11…Vehicle control device; 15…Obstacle detection device; 20…Operation terminal; 21…Operation control unit; 51…Detection control unit; 53…Camera (detection unit); 54…Obstacle sensor (detection unit); 111…Driving processing unit; 211…Setting processing unit; 212…Display processing unit; 213…Acceptance processing unit; 511…Acquisition processing unit; 512…Determination processing unit; 513…Output processing unit; F…Field (work area); M1…Notification message (detection information); M2…Confirmation message (detection information) detection information); M3…Notification mark (detection information); M4…Message (detection information); P1…Selection screen; P2…Information display screen; P3…Camera screen; Ra…Stop control range (Vehicle control range); Rb…Deceleration control range (Vehicle control range); Rc…Report control range (Vehicle control range); Rd1…First vehicle control range (Vehicle control range); Rd2…Second vehicle control range (Vehicle control range); Rm1…First measurement range; Rm2…Second measurement range; Rn…Non-vehicle control range; Rs…Non-detection range. DETAILED DESCRIPTION

[0029] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0030] like Figure 1 As shown, the automatic driving system 1 according to the embodiment of the present invention includes a working vehicle 10 and an operation terminal 20. The working vehicle 10 may be one or more. In this embodiment, the automatic driving system 1 includes a plurality of working vehicles 10 (in Figure 1The case where there are two work vehicles 10a and 10b is described as an example. In addition, hereinafter, when the work vehicle 10a and the work vehicle 10b are not distinguished, they are referred to as "the work vehicle 10".

[0031] The work vehicle 10 and the operation terminal 20 can communicate via the communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet line network, or a wireless LAN.

[0032] In this embodiment, the case where the work vehicle 10 is a tractor is cited as an example for explanation. In addition, as other embodiments, the work vehicle 10 may also be a combine harvester, a rice transplanter, a spreader, an engineering machine, or a snowplow. In addition, the work vehicle 10a and the work vehicle 10b may be vehicles of different types, or vehicles of the same type. The work vehicle 10 has a structure that can automatically travel (autonomously travel) within a field (work area) according to a pre-set target path. In addition, the work vehicle 10 can perform prescribed operations while automatically traveling within the field. Furthermore, the work vehicle 10 has a structure that can automatically travel on a road (connecting road) connecting a plurality of fields according to a pre-set path between fields.

[0033] The work vehicle 10 can automatically travel along a pre-set target route and inter-field route within and outside a field (including roads, etc.) based on the current position information of the work vehicle 10 calculated by the positioning unit 17. Furthermore, the work vehicle 10 can also automatically travel with an operator on board.

[0034] For example, if a target route including a work route, a travel start position, and a travel end position are set for a field, the work vehicle 10 automatically travels from the travel start position to the travel end position in accordance with the target route while performing predetermined work in the field.

[0035] Furthermore, after work on one field is completed, work vehicle 10 can move to another field and continue work. For example, after work on a first field is completed, work vehicle 10 automatically travels along a pre-set inter-field route on the road and moves to a second field. Once work vehicle 10 reaches the second field, it automatically travels along a pre-set target route while continuing to perform designated work in the second field.

[0036] The target path within the field is set appropriately based on the work being done. Furthermore, the inter-field path is pre-set based on operator input (teaching). The inter-field path can be a dedicated path for work vehicles, such as farm roads, forest roads, highways, private roads, or motorways, or it can be a path accessible to general vehicles (such as passenger cars).

[0037] The operation terminal 20 is an information processing device that displays various information related to the work vehicle 10. For example, for pre-registered work vehicles 10, the operation terminal 20 displays information such as the current location, driving status, and work status. The user of the operation terminal 20 (operator, monitor) can remotely monitor the work vehicle 10 by viewing this information.

[0038] [Work vehicle 10]

[0039] like Figure 1 and Figure 2 As shown, work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work machine 14, an obstacle detection device 15, a communication unit 16, and a positioning unit 17. Vehicle control device 11 is electrically connected to storage unit 12, travel device 13, work machine 14, obstacle detection device 15, and positioning unit 17. Furthermore, vehicle control device 11 and obstacle detection device 15 may be capable of wireless communication, and vehicle control device 11 and positioning unit 17 may also be capable of wireless communication.

[0040] The communication unit 16 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly, and performing data communication with external devices (such as the operation terminal 20 ) via the communication network N1 in accordance with a predetermined communication protocol.

[0041] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the automatic driving program can be downloaded from a server (not shown) via the communication network N1 to the work vehicle 10 and stored in the storage unit 12. The storage unit 12 also stores target route data and the like.

[0042] The travel device 13 is a driving unit that drives the work vehicle 10. Figure 2 As shown, the travel device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. Furthermore, the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. Furthermore, the travel device 13 is not limited to a wheeled type having the front wheels 132 and the rear wheels 133, and may also be a crawler type having crawler tracks provided on the left and right sides of the work vehicle 10.

[0043] The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven by fuel supplied from a fuel tank (not shown). The travel device 13 may also include an electric motor as a driving source together with or instead of the engine 131. In addition, the engine 131 is connected to a generator (not shown), and power is supplied from the generator to electrical components such as the vehicle control device 11, the obstacle detection device 15, and the positioning unit 17 provided in the work vehicle 10, as well as batteries. In addition, the above-mentioned battery is charged by the power supplied from the above-mentioned generator. Therefore, the electrical components such as the vehicle control device 11, the obstacle detection device 15, and the positioning unit 17 provided in the work vehicle 10 can be driven using the power supplied from the above-mentioned battery even after the engine 131 stops.

[0044] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. Furthermore, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 is autonomously traveling, the travel device 13 performs travel operations based on commands from the vehicle control device 11. Furthermore, the travel device 13 decelerates and stops the work vehicle 10 based on commands from the vehicle control device 11.

[0045] The work machine 14 is, for example, a tiller, a mower, a plow, a fertilizer spreader, a sprayer (agent spreader), a harrow, or a seed drill, and can be loaded and unloaded from the work vehicle 10. Thus, the work vehicle 10 can perform various operations using each work machine 14. Figure 2 , the case where the working machine 14 is a tiller is shown.

[0046] The steering wheel 137 is an operating unit operated by an operator or the vehicle control device 11. For example, in the travel device 13, in response to the operation of the steering wheel 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown), thereby changing the direction of travel of the work vehicle 10.

[0047] In addition to the steering wheel 137, the travel device 13 also includes a shift lever (not shown), an accelerator, and a brake, all of which are operated by the vehicle control device 11. Furthermore, in the travel device 13, the shift lever is operated by the vehicle control device 11, and the gear position of the transmission 134 is switched to a forward or reverse gear, thereby switching the travel mode of the work vehicle 10 to forward or reverse. Furthermore, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. Furthermore, the vehicle control device 11 operates the brakes to apply electromagnetic brakes to the rotation of the front wheels 132 and rear wheels 133.

[0048] The positioning unit 17 is a communication device including a positioning control unit 171, a storage unit 172, a communication unit 173, and a positioning antenna 174. Figure 2 As shown, positioning unit 17 is installed above cab 138, where the operator rides. Positioning unit 17 is not limited to cab 138. Positioning control unit 171, storage unit 172, communication unit 173, and positioning antenna 174 of positioning unit 17 may also be dispersed and located at different locations within work vehicle 10. Furthermore, as described above, positioning unit 17 is connected to the battery and can operate even when engine 131 is stopped. Alternatively, a mobile phone, smartphone, tablet computer, or quantum compass may be used in place of positioning unit 17.

[0049] The positioning control unit 171 is a computer system equipped with one or more processors, nonvolatile memory, and storage memory such as RAM. The storage unit 172 is a nonvolatile memory that stores data such as programs used by the positioning control unit 171 to execute positioning processing, positioning information, and movement information. For example, the programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 172. Alternatively, the programs can be downloaded from a server (not shown) via the communication network N1 to the positioning unit 17 and stored in the storage unit 172.

[0050] The communication unit 173 is a communication interface for connecting the positioning unit 17 to the communication network N1 via a wired or wireless connection and performing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[0051] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0052] The positioning control unit 171 calculates the current position of the work vehicle 10 based on GNSS signals received from satellites by the positioning antenna 174. For example, when the work vehicle 10 is autonomously traveling in a field, if the positioning antenna 174 receives radio waves (including transmission time and orbital information) transmitted from multiple satellites, the positioning control unit 171 calculates the distance between the positioning antenna 174 and each satellite and, based on the calculated distances, calculates the current position (latitude and longitude) of the work vehicle 10. Alternatively, the positioning control unit 171 can perform positioning using a real-time kinematic (RTK) GNSS positioning method (RTK), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) located near the work vehicle 10. In this way, the work vehicle 10 uses RTK positioning information for autonomous driving. Furthermore, the current position of the work vehicle 10 may be the same as the positioning position (e.g., the position of the positioning antenna 174) or may be offset from the positioning position. Furthermore, the positioning control unit 171 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0053] When the work vehicle 10 detects a detection target (obstacle) during autonomous driving, the obstacle detection device 15 outputs measurement information to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a storage unit 52, a camera 53, an obstacle sensor 54, a communication unit 55, and the like. The obstacle detection device 15 may be comprised of a single unit mounted on the work vehicle 10, or multiple components may be dispersed throughout the work vehicle 10.

[0054] The communication unit 55 is a communication interface for connecting the obstacle detection device 15 to the communication network N1 via a wired or wireless connection and performing data communication with external equipment (such as the operation terminal 20 ) via the communication network N1 in accordance with a predetermined communication protocol.

[0055] The storage unit 52 is a non-volatile storage unit such as a HDD, SSD or flash memory that stores various information. The storage unit 52 stores information for the obstacle detection device 15 to perform obstacle detection processing (see Figure 13 ) and other control programs. For example, the obstacle detection program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 52. Alternatively, the obstacle detection program may be downloaded from a server (not shown) via the communication network N1 to the obstacle detection device 15 and stored in the storage unit 52.

[0056] The camera 53 is a digital camera that captures images of a subject within a predetermined capturing range and outputs the images as digital image data. The camera 53 continuously captures the subject at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and sequentially transmits the images to the detection control unit 51. The camera 53 also transmits the image data of the captured images to the operation terminal 20 via the communication unit 55. The operation terminal 20 can display the captured images on the operation screen of the operation display unit 23 (see FIG. Figure 7A wait).

[0057] The cameras 53 include a front camera 53a capable of capturing a front shooting range when viewed from the work vehicle 10, a rear camera 53b capable of capturing a rear shooting range when viewed from the work vehicle 10, a left camera 53c capable of capturing a left shooting range when viewed from the work vehicle 10, and a right camera (not shown) capable of capturing a right shooting range when viewed from the work vehicle 10. Figure 2 As shown, the front camera 53a is disposed on the upper front side of the cab 138, the rear camera 53b is disposed on the upper rear side of the cab 138, the left camera 53c is disposed on the upper left side of the cab 138, and the right camera is disposed on the upper right side of the cab 138. Alternatively, the cameras 53 may consist of only the front camera 53a and the rear camera 53b. Alternatively, the cameras 53 may consist of a single panoramic camera capable of capturing images of all directions around the work vehicle 10.

[0058] The obstacle sensor 54 is a sensor that uses infrared rays, ultrasonic waves, etc. to detect detection objects within a specified detection range. For example, the obstacle sensor 54 may be a radar sensor (distance sensor) that can three-dimensionally measure the distance to the detection object using laser, or a sonar sensor having multiple sonars that can measure the distance to the detection object using ultrasonic waves. The obstacle sensor 54 is provided at the central front portion, central rear portion, etc. of the body of the work vehicle 10 to monitor the surroundings of the work vehicle 10 and detect obstacles. In this embodiment, the following case is cited as an example for explanation, that is, the obstacle sensor 54 includes: a front obstacle sensor 54a that can detect detection objects within the detection range in the front and side (left and right) when observed from the work vehicle 10, and a rear obstacle sensor 54b that can detect detection objects within the detection range in the rear and side (left and right) when observed from the work vehicle 10. As Figure 2As shown, the front obstacle sensor 54a is located on the upper front side of the cab 138, and the rear obstacle sensor 54b is located on the upper rear side of the cab 138. The front obstacle sensor 54a and the rear obstacle sensor 54b can detect objects within a predetermined detection range around the work vehicle 10. Alternatively, the front camera 53a and the front obstacle sensor 54a may be formed as a single unit, while the rear camera 53b and the rear obstacle sensor 54b may be formed as a single unit. Furthermore, the obstacle sensors 54 may include a left obstacle sensor capable of detecting objects within the detection range on the left side when viewed from the work vehicle 10, and a right obstacle sensor capable of detecting objects within the detection range on the right side when viewed from the work vehicle 10.

[0059] Figure 3 An example of the measurement range (detection range) of each of the front obstacle sensor 54a and the rear obstacle sensor 54b is shown in . In the following description, the front obstacle sensor 54a and the rear obstacle sensor 54b are collectively referred to as "obstacle sensor 54."

[0060] The obstacle sensor 54 uses, for example, laser light (such as a near-infrared laser) to measure the distance to each distance measurement point (measurement target) within the distance measurement range and generates a distance image based on the measurement information. The obstacle sensor 54 includes an integrated electronic control unit, such as a microcontroller, and a processing unit constructed using various control programs. The obstacle sensor 54 is connected to the detection control unit 51, the vehicle control device 11, and other components via a CAN bus for communication.

[0061] like Figure 2 and Figure 3 As shown, the front obstacle sensor 54a sets a first measurement range Rm1 from the cab 138 to the front as the measurement range (detection range), and the rear obstacle sensor 54b sets a second measurement range Rm2 from the cab 138 to the rear as the measurement range (detection range).

[0062] like Figure 3As shown, the front obstacle sensor 54a and the rear obstacle sensor 54b are positioned on the left-right center line of the work vehicle 10, similar to the front camera 53a and the rear camera 53b. The front obstacle sensor 54a is positioned at the left-right center of the upper portion of the front end of the cab 138, with the front lowered and the rear higher, as viewed from an oblique upper position looking down at the front of the work vehicle 10. Consequently, the front obstacle sensor 54a defines a predetermined range on the front side of the vehicle body, with the left-right center line of the work vehicle 10 as the axis of symmetry, as a first measurement range Rm1. The rear obstacle sensor 54b is positioned at the left-right center of the upper portion of the rear end of the cab 138, with the front higher and the rear lower, as viewed from an oblique upper position looking down at the rear of the work vehicle 10. Consequently, the rear obstacle sensor 54b defines a predetermined range on the rear side of the vehicle body, with the left-right center line of the work vehicle 10 as the axis of symmetry, as a second measurement range Rm2.

[0063] The front obstacle sensor 54a and the rear obstacle sensor 54b measure the distance from each obstacle sensor 54a, 54b to each ranging point in the first measurement range Rm1 or the second measurement range Rm2 using the Time of Flight (TOF) method. This method measures the distance to the ranging point based on the round-trip time it takes for an emitted laser to reach the ranging point and return. The front obstacle sensor 54a scans the laser beam vertically and horizontally across the entire first measurement range Rm1 at high speed, sequentially measuring the distance to the ranging point at each scanning angle (coordinate), thereby performing three-dimensional measurement within the first measurement range Rm1. The front obstacle sensor 54a sequentially measures the intensity (reflection intensity) of the reflected light from each ranging point. The front obstacle sensor 54a repeatedly measures the distance to each ranging point in the first measurement range Rm1, the reflection intensity, and other parameters in real time.

[0064] The rear obstacle sensor 54b scans the entire second measurement range Rm2 vertically and horizontally at high speed, sequentially measuring the distance to the ranging point at each scanning angle (coordinate), thereby performing three-dimensional measurement within the second measurement range Rm2. The rear obstacle sensor 54b sequentially measures the intensity of reflected light (reflection intensity) from each ranging point obtained. The rear obstacle sensor 54b repeatedly measures the distance to each ranging point in the second measurement range Rm2, the reflection intensity, and other parameters in real time.

[0065] The front obstacle sensor 54a and the rear obstacle sensor 54b generate a distance image based on measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) relative to each ranging point, and extract the ranging point group that is inferred to be an obstacle, and send the measurement information related to the extracted ranging point group as measurement information related to the obstacle to the detection control unit 51.

[0066] Furthermore, the front obstacle sensor 54a and the rear obstacle sensor 54b perform clipping and masking processing on the first measurement range Rm1 or the second measurement range Rm2 based on vehicle body information, thereby setting a first vehicle control range Rd1 on the forward side of the work vehicle 10 and a second vehicle control range Rd2 on the backward side of the work vehicle 10 within the obstacle detection range of the front obstacle sensor 54a and the rear obstacle sensor 54b (see FIG. Figure 3 ).

[0067] During the clipping process, the front obstacle sensor 54a and the rear obstacle sensor 54b communicate with the vehicle control device 11 to obtain the maximum left-right width of the vehicle body including the work implement 14 (in this embodiment, the left-right width of the tiller). The vehicle control width W1 of the obstacle is determined by adding the specified safety zone to the maximum left-right width of the vehicle body. Then, within the first measurement range Rm1 and the second measurement range Rm2, the left-right range that deviates from the vehicle control width W1 is clipped and set as the non-vehicle control range Rn, thereby excluding it from the vehicle control ranges Rd1 and Rd2.

[0068] In addition, during the shielding processing, the front obstacle sensor 54a and the rear obstacle sensor 54b set the range obtained by adding the range of the front end side of the work vehicle 10 entering the first measurement range Rm1 and the range of the rear end side of the work machine 14 entering the second measurement range Rm2 to the specified safety belt area as the non-detection range Rs by means of shielding processing and exclude it from each measurement range Rm1, Rm2 (detection range).

[0069] In this way, the detection range of the detection object is set to the first measurement range Rm1 and the second measurement range Rm2, and the vehicle control range is set in each measurement range Rm1 and Rm2, so that processing corresponding to the position of the detection object within each measurement range Rm1 and Rm2 when the detection object is detected can be performed (the response processing described later).

[0070] Information on the first vehicle control range Rd1 , the second vehicle control range Rd2 , the non-vehicle control range Rn, and the non-detection range Rs is included in the above-mentioned distance image and is transmitted to the detection control unit 51 together with the distance image.

[0071] like Figure 3As shown, the vehicle control ranges Rd1 and Rd2 of the front obstacle sensor 54a and rear obstacle sensor 54b are divided into a stop control range Ra, a deceleration control range Rb, and a notification control range Rc based on the collision determination process with a collision prediction time of a set time (e.g., 3 seconds). Specifically, the stop control range Ra is set to the range from the front obstacle sensor 54a or rear obstacle sensor 54b to the determination reference position of the collision determination process. The deceleration control range Rb is set to the range from the determination reference position to the deceleration start position. The notification control range Rc is set to the range from the deceleration start position to the measurement limit position of the front obstacle sensor 54a or rear obstacle sensor 54b. The above-mentioned determination reference position is set to a position a certain distance L1 (e.g., 2 meters) away from the front or rear end of the vehicle body, including the work machine 14, in the vehicle body front-to-back direction. In this embodiment, the range of distance L1 from the work vehicle 10 is set as the stop control range Ra, the range from distance L1 to distance L2 (for example, less than 5m) is set as the deceleration control range Rb, and the range from distance L2 to distance L3 (for example, less than 10m) is set as the reporting control range Rc.

[0072] Furthermore, the non-vehicle control range Rn of the front obstacle sensor 54a and the rear obstacle sensor 54b, i.e., the range of the first measurement range Rm1 and the second measurement range Rm2 excluding the stop control range Ra, the deceleration control range Rb, and the notification control range Rc, is set as a range in which the driving control processes for stopping and decelerating and the warning sound notification process are not executed. Furthermore, the first measurement range Rm1 and the second measurement range Rm2 are set as a range in which notification processing is executed to notify the operator (remote monitor) that the detected object has been detected. In another embodiment, the notification control range Rc and the non-vehicle control range Rn can also be set as a single range in which the same processing (reporting process and notification process) is executed.

[0073] Furthermore, the control ranges Ra, Rb, and Rc within the first vehicle control range Rd1 of the front obstacle sensor 54a and the second vehicle control range Rd2 of the rear obstacle sensor 54b can be set according to the type, model, work content, vehicle speed, and other factors of the work vehicle 10. Furthermore, the first measurement range Rm1 of the front obstacle sensor 54a and the second measurement range Rm2 of the rear obstacle sensor 54b do not need to be clipped.

[0074] As another embodiment, during the clipping process of the first measurement range Rm1 and the second measurement range Rm2, the non-vehicle control range Rn may be set as a non-detection range in which the detection object is not detected. In this case, when the detection object is detected within the non-vehicle control range Rn, the notification process of notifying the operator of the detection of the detection object is not performed. As another embodiment, the operator may be able to select whether to set the non-vehicle control range Rn as a non-detection range. When the non-vehicle control range Rn is set as a non-detection range, the control ranges Ra, Rb, and Rc may also be set to a range in which the notification process is performed in addition to the above-mentioned vehicle control process.

[0075] The detection control unit 51 outputs measurement information obtained from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is autonomously traveling, the detection control unit 51 sequentially outputs measurement information to the vehicle control device 11 each time the work vehicle 10 obtains measurement information from the obstacle sensor 54. In another embodiment, the detection control unit 51 may determine the type of detection target (measurement target) (human, vehicle, structure, material, etc.) based on the captured image obtained from the camera 53 and the measurement information obtained from the obstacle sensor 54, and output the determination result to the vehicle control device 11. The following description uses as an example a case where the work vehicle 10 detects a detection target ahead while traveling forward, and omits the case where the work vehicle 10 detects a detection target behind while traveling backward.

[0076] The detection control unit 51 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary storage (a work area) for the various processes performed by the CPU. The detection control unit 51 controls the obstacle detection device 15 by having the CPU execute various control programs pre-stored in the ROM or storage unit 52.

[0077] Specifically, if Figure 1 As shown, the detection control unit 51 includes various processing units, such as an acquisition processing unit 511, a determination processing unit 512, and an output processing unit 513. Furthermore, the obstacle detection device 15 functions as the various processing units described above by using the CPU to execute various processes in accordance with the obstacle detection program. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the obstacle detection program may be a program that causes multiple processors to function as the processing units described above.

[0078] The acquisition processing unit 511 acquires captured images from the camera 53 and acquires measurement information from the obstacle sensor 54. Specifically, when the work vehicle 10 starts to travel automatically, the acquisition processing unit 511 sequentially acquires captured images of the capturing range in the front direction of the vehicle from the front camera 53a during the automatic travel. The acquisition processing unit 511 stores the acquired captured images in the storage unit 52. In addition, when the work vehicle 10 starts to travel automatically, the acquisition processing unit 511 sequentially acquires the first measurement range Rm1 in the front direction of the vehicle (refer to FIG. 1 ) from the front obstacle sensor 54a during the automatic travel. Figure 3 The acquisition processing unit 511 stores the acquired measurement information in the storage unit 52.

[0079] The determination processing unit 512 determines the calibration position of the detection object based on the measurement information obtained by the acquisition processing unit 511. Specifically, the determination processing unit 512 determines whether the detection object is located inside or outside the field F based on the current position of the work vehicle 10 in the field F and the measurement information. Figure 4 As shown, if the work vehicle 10 autonomously travels near the boundary (outer edge) of the field F, the first measurement range Rm1 may extend outside the field F. In this case, if a detection object X1 exists outside the field F, the detection object X1 is included in the first measurement range Rm1, and the front obstacle sensor 54a detects the detection object X1. The determination processing unit 512 determines the position of the detection object based on the current position (positioning position) of the work vehicle 10 within the field F and the measurement information from the front obstacle sensor 54a, and determines whether the detection object is inside or outside the field F.

[0080] exist Figure 4 In the illustrated example, the determination processing unit 512 determines that the detection object X1 is located outside the field F when the detection object X1 is detected, and determines that the detection objects X2 and X3 are located inside the field F when the detection objects X2 and X3 are detected. Furthermore, the detection object X4 is located outside the first measurement range Rm1 of the front obstacle sensor 54a and is therefore not detected by the front obstacle sensor 54a.

[0081] Furthermore, the determination processing unit 512 determines whether the detection target is within or outside the vehicle control range set based on the work vehicle 10. The vehicle control range is a range within which, when the detection target is within the vehicle control range, a predetermined vehicle control process (such as a driving control process such as a stop process or a deceleration process, or a notification process such as an external warning sound) is executed on the work vehicle 10.

[0082] Specifically, the determination processing unit 512 determines whether the detection target is within or outside the first vehicle control range Rd1 based on the current position of the work vehicle 10 within the field F and the aforementioned measurement information. Furthermore, for example, the determination processing unit 512 determines whether the detection target is within or outside of the stop control range Ra, the deceleration control range Rb, or the notification control range Rc based on the current position of the work vehicle 10 and the aforementioned measurement information. Furthermore, the determination processing unit 512 determines whether the detection target is within or outside of the stop control range Ra, the deceleration control range Rb, the notification control range Rc, or the non-vehicle control range Rn.

[0083] exist Figure 4 In the example shown, when the detection object X2 is detected, the determination processing unit 512 determines that the detection object X2 is outside the first vehicle control range Rd1 (not within the vehicle control range Rn); when the detection object X3 is detected, it determines that the detection object X3 is within the first vehicle control range Rd1 and within the stop control range Ra.

[0084] As another embodiment, the determination processing unit 512 may determine whether the detection object is within or outside the first vehicle control range Rd1 based on the determination that the detection object is within the field F. Therefore, the determination processing unit 512 may not determine whether the detection object X1 is within the first vehicle control range Rd1 when the detection object X1 is detected outside the field F.

[0085] As another embodiment, the determination processing unit 512 may determine the position of the detection target based on the image captured by the camera 53 . Alternatively, the determination processing unit 512 may determine the position of the detection target based on the image captured by the camera 53 and measurement information from the obstacle sensor 54 .

[0086] The output processing unit 513 outputs the response information corresponding to the determination result of the determination processing unit 512 to the vehicle control device 11 and the operation terminal 20. Specifically, when the detection object is detected, the output processing unit 513 outputs (notifies) the detection information indicating that the detection object is detected to the operation terminal 20, so that the above-mentioned detection information is displayed in the operation terminal 20. In addition, the output processing unit 513 can also send the above-mentioned detection information to the operation terminal 20 by email. In addition, when the detection object is detected, the output processing unit 513 outputs the vehicle control information (stop instruction, deceleration instruction, report instruction, etc.) for controlling the work vehicle 10 to the vehicle control device 11, so that the vehicle control device 11 performs vehicle control processing (stop processing, deceleration processing, report processing, etc.). Specific examples of the display processing of the above-mentioned detection information and the above-mentioned vehicle control processing will be described later.

[0087] In addition, the detection control unit 51 can also be configured to determine whether the detection object is an obstacle based on the image captured by the camera 53, and if it is determined that the detection object is an obstacle, output the above-mentioned response information to the vehicle control device 11 and the operation terminal 20; if it is determined that the detection object is not an obstacle, not output the above-mentioned response information to the vehicle control device 11 and the operation terminal 20.

[0088] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a nonvolatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as temporary memory for the various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0089] Specifically, if Figure 1 As shown, the vehicle control device 11 includes various processing units, such as a driving processing unit 111. Furthermore, the vehicle control device 11 functions as the various processing units described above by using the CPU to execute various processes in accordance with the automatic driving program. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the automatic driving program may be a program that causes multiple processors to function as the processing units described above.

[0090] The travel processing unit 111 controls the travel of the work vehicle 10. For example, if the travel mode of the work vehicle 10 is automatic travel (automatic travel mode), the travel processing unit 111 causes the work vehicle 10 to travel automatically based on the position information (positioning information) indicating the current position of the work vehicle 10 as determined by the positioning unit 17. For example, if the work vehicle 10 meets the conditions for starting automatic travel and receives a travel start instruction from the operator, the travel processing unit 111 starts automatic travel of the work vehicle 10 based on the positioning information. For example, the travel processing unit 111 causes the work vehicle 10 to travel automatically from the travel start position to the travel end position according to a target route pre-generated and set on the operation terminal 20.

[0091] Furthermore, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), the work vehicle 10 can be driven manually based on the operator's operation (manual steering control). For example, the driving processing unit 111 obtains operation information corresponding to driving operations such as steering wheel operation, gear shift operation, driving direction switching operation, and brake operation performed by the operator, and causes the driving device 13 to execute a driving operation based on this operation information.

[0092] Furthermore, when the work vehicle 10 detects a detection target (obstacle) during autonomous driving, the driving processing unit 111 executes a predetermined response process. Specifically, based on the response information (such as a stop instruction, a deceleration instruction, and a warning instruction) output from the detection control unit 51 (output processing unit 513), the driving processing unit 111 executes response processes such as driving control processing to control the driving of the work vehicle 10 and reporting processing to issue a warning sound. Specific examples of these response processes are described later.

[0093] The travel processing unit 111 controls travel based on instructions received from the operation terminal 20. For example, if a travel start instruction is received from the operation terminal 20, the travel processing unit 111 starts automatic travel of the work vehicle 10. If a travel stop instruction is received from the operation terminal 20, the travel processing unit 111 stops automatic travel of the work vehicle 10.

[0094] [Operation Terminal 20]

[0095] like Figure 1 As shown, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. For example, the operation terminal 20 is a smart phone (see Figure 2 ), tablet computer terminals and other mobile terminals. In addition, the operation terminal 20 can also be a fixed (desktop) personal computer.

[0096] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 via a wired or wireless connection and performing data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0097] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as a touch panel, mouse, or keyboard for accepting operations. The display unit displays a map of a specified area including the field to be worked, specified information related to the work vehicle 10, and the like. The specified information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current working status of the work vehicle 10. From a location away from the work vehicle 10, the operator can use the specified information displayed on the operation terminal 20 to understand the driving status of the work vehicle 10, obstacle detection results, and the like, while autonomously traveling in fields, roads, etc. In other words, the operator can remotely monitor the work vehicle 10 using the operation terminal 20.

[0098] The display unit also displays an operation screen for instructing the work vehicle 10 to start traveling, stop traveling, or resume traveling. The display unit also displays a registration screen for registering work vehicle information, field information, and work information.

[0099] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reader (not shown), and stored in the storage unit 22. Alternatively, the control program can be downloaded from a server (not shown) via the communication network N1 to the operation terminal 20 and stored in the storage unit 22.

[0100] The storage unit 22 also stores data such as information related to the work vehicle 10, namely, work vehicle information, and information related to the target route, namely, target route information. The work vehicle information includes information such as the vehicle number and model number for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model number is the model number of the work vehicle 10. Furthermore, the storage unit 22 can store the work vehicle information related to a single work vehicle 10 or to multiple work vehicles 10. In this embodiment, the storage unit 22 stores the work vehicle information related to each of the two work vehicles 10a and 10b.

[0101] The target route information includes information such as the route name, field name, address, field area, and operation time for each target route. The route name is the name of the target route generated by the operation terminal 20. The field name is the name of the field to be worked on for the target route. The address is the address of the field, and the field area is the area of ​​the field. The operation time is the time required for the work vehicle 10 to perform work on the field.

[0102] If the target route is a route corresponding to a road (an inter-field route), the target route information includes information such as the route name, address, travel distance, and travel time. The route name is the name of the road, and the address is the address of the road. The travel distance is the distance traveled by the work vehicle 10 on the road, for example, the distance from a first field to a second field. The travel time is the time it takes for the work vehicle 10 to travel on the road, for example, the time required to move from a first field to a second field.

[0103] Furthermore, the storage unit 22 may store the target path information associated with a single target path or multiple target paths. For example, if an operator has generated multiple target paths for one or more fields under their management, the storage unit 22 may store the target path information associated with each target path. Furthermore, a single target path or multiple target paths may be set for a single field. Furthermore, a single inter-field path or multiple inter-field paths may be set for a group of fields. In this embodiment, the storage unit 22 stores target path information corresponding to the target path for work vehicle 10a to travel through a first field and target path information corresponding to the target path for work vehicle 10b to travel through a second field.

[0104] As another embodiment, part or all of the work vehicle information, target route information, and other information may be stored on a server accessible from the operation terminal 20. Alternatively, an operator may register the work vehicle information and target route information on the server (e.g., a personal computer, cloud server, etc.). In this case, the operation control unit 21 may obtain the information from the server to execute various processes.

[0105] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various computations. The ROM is a non-volatile storage unit that pre-stores control programs such as the BIOS and OS that enable the CPU to perform various computations. The RAM is a volatile or non-volatile storage unit that stores various information and serves as a temporary storage memory (work area) for the various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs pre-stored in the ROM or storage unit 22.

[0106] like Figure 1 As shown, the operation control unit 21 includes various processing units, such as a setting processing unit 211, a display processing unit 212, and a reception processing unit 213. Furthermore, the operation control unit 21 functions as the various processing units described above by executing various processes in accordance with the control program using the CPU. Furthermore, some or all of the processing units described above may be comprised of electronic circuits. Furthermore, the control program may be a program for causing multiple processors to function as the processing units described above.

[0107] The setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information), information related to the field (hereinafter referred to as field information), and information related to how to perform work specifically (hereinafter referred to as work information).

[0108] Specifically, information such as the model of the work vehicle 10, the position of the positioning antenna 174 installed in the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning is set by the setting processing unit 211 through the operator's registration operation on the operation terminal 20.

[0109] In addition, information such as the position and shape of the field, the work start position (travel start position) and the work end position (travel end position), and the work direction are set by the setting processing unit 211 through registration operations performed on the operation terminal 20.

[0110] The location and shape of a field can be automatically acquired, for example, by an operator riding in work vehicle 10 and driving around the perimeter of the field while recording the change in positional information of positioning antenna 174. Alternatively, the location and shape of a field can be acquired based on a polygon created by an operator operating operation terminal 20 and specifying multiple points on a map displayed on the map.

[0111] In addition, the setting processing unit 211 is configured to be able to set whether or not the work vehicle 10 (unmanned tractor) and the manned work vehicle 10 cooperate in work, the number of work paths skipped when the work vehicle 10 turns at the edge of the field, that is, the number of skips, the width of the edge of the field, and the width of the non-arable land, etc., as work information.

[0112] Furthermore, the setting processing unit 211 generates a target route for the work vehicle 10 to automatically travel within the field based on the aforementioned setting information. Specifically, the setting processing unit 211 generates the target route within the field based on the travel start and end positions registered during field settings. For example, based on the operator's setting operations, the setting processing unit 211 generates a target route that includes the travel start and end positions, a straight path, and a curve path. The setting processing unit 211 associates the generated target route with the field and registers it.

[0113] The display processing unit 212 displays various information on the operation display unit 23. Specifically, the display processing unit 212 displays pre-registered work vehicles 10 on the selection screen P1 so that the operator can select them. For example, if the operator has registered work vehicles 10a and 10b as monitoring targets (management targets), the display processing unit 212 displays work vehicles 10a and 10b on the selection screen P1 so that they can be selected. The work vehicle 10 displayed on the selection screen P1 can be a work vehicle 10 whose information is registered on the operation terminal 20, or it can be a work vehicle 10 selected by the operator from among multiple registered work vehicles 10 to start work from now on.

[0114] Figure 5 An example of the selection screen P1 is shown in FIG. Figure 5 As shown in FIG. 1 , the display processing unit 212 displays a map of a predetermined area including the current positions of the pre-registered work vehicles 10a and 10b on the selection screen P1. In addition, the display processing unit 212 displays the identification information of the work vehicle 10 at a position corresponding to the current position of the work vehicle 10 on the map. Specifically, Figure 5 As shown, the display processing unit 212 displays the icon image A1 of the work vehicle 10a at a position corresponding to the current position of the work vehicle 10a, and displays the icon image B1 of the work vehicle 10b at a position corresponding to the current position of the work vehicle 10b on the map. The display processing unit 212 obtains position information (positioning information) from the work vehicle 10 and displays the icon image of the work vehicle 10 on the map. The display processing unit 212 updates the position of the icon image on the map in real time. As another embodiment, the display processing unit 212 may also display the name (text information) of the work vehicle 10a on the map instead of the icon image.

[0115] Furthermore, the display processing unit 212 may display the icon image A1 of the work vehicle 10a and the icon image B1 of the work vehicle 10b in a recognizable manner. For example, the display processing unit 212 may display the name of the work vehicle 10a near the icon image A1 and the name of the work vehicle 10b near the icon image B1. Furthermore, the display processing unit 212 may display identification information (such as the name) of the work vehicle 10a when the operator touches or hovers the mouse over the icon image A1, and display identification information (such as the name) of the work vehicle 10b when the operator touches or hovers the mouse over the icon image B1.

[0116] Furthermore, the display processing unit 212 may also enlarge or reduce the map display in response to an operation to enlarge or reduce the map on the selection screen P1. Furthermore, the display processing unit 212 may automatically adjust the display magnification based on the position of the work vehicle 10 being monitored. For example, the display processing unit 212 may determine the display magnification of the map so that the icon images of all the work vehicles 10 being monitored fit on a single screen (on the same page).

[0117] according to Figure 5 The selection screen P1 shown allows the operator to grasp the current positions of all work vehicles 10 being monitored. Furthermore, the display processing unit 212 may be configured to display work vehicles 10 not in operation and stored at a storage location (such as a warehouse) on the selection screen P1, or may be configured to exclude work vehicles 10 not in operation and stored at a storage location from being displayed on the selection screen P1. Furthermore, the operator may be able to set whether or not to display work vehicles 10 not in operation and stored at a storage location on the selection screen P1.

[0118] In addition, the display processing unit 212 displays the identification information in the map in a display form corresponding to the current state of the work vehicle 10. Specifically, the display processing unit 212 displays the icon image in the map in a manner that can identify whether the work vehicle 10 is automatically traveling or stopped. That is, the display processing unit 212 displays the work vehicle 10 in a different display form when the work vehicle 10 is automatically traveling and when the work vehicle 10 is stopped. Figure 6 In the example shown, when the work vehicle 10a has stopped, the display processing unit 212 displays the icon image A1 in a manner indicating that the work vehicle 10b is stopped. In addition, when the work vehicle 10b is driving automatically, the display processing unit 212 displays the icon image B1 in a manner indicating that the work vehicle 10b is driving automatically. In addition, the above-mentioned display form can be the type, color, thickness, etc. of the line of the frame image surrounding the icon image, or the color, size, display method (lighting, flashing), etc. of the icon image. For example Figure 6 As shown, the display processing unit 212 displays the frame image A2 of the icon image A1 and the frame image B2 of the icon image B1 in different display modes.

[0119] As another embodiment, the display processing unit 212 may hide the frame image when the work vehicle 10 is normally traveling automatically, and display the frame image when the work vehicle 10 stops traveling automatically.

[0120] Furthermore, the display processing unit 212 may display a message (text information) indicating that the vehicle is stopped near the icon image A1 and a message indicating that the vehicle is in automatic driving near the icon image B1. Furthermore, the display processing unit 212 may display the message indicating that the vehicle is stopped when the operator touches or hovers the mouse over the icon image A1, and display the message indicating that the vehicle is in automatic driving when the operator touches or hovers the mouse over the icon image B1.

[0121] In addition, the work vehicle 10 stops automatic driving when, for example, a detection object (obstacle) is detected, the work is completed, the remaining amount of the sowing material or fuel is less than a specified amount, the harvest amount is more than a specified amount, the DPF (Diesel Particulate Filter) regeneration operation is required, or the urea water replenishment operation is required.

[0122] Furthermore, the display processing unit 212 may display identification information on the selection screen P1 that allows identification of the work status. For example, when the work vehicle 10a has completed work in the target field, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color. Furthermore, for example, if the work vehicle 10a is a vehicle (spreader) that spreads seed material (such as liquid pesticides and water), and the remaining seed material in the work vehicle 10a is less than a predetermined amount or the time to refill the seed material has arrived, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color. Furthermore, for example, if the work vehicle 10a is a vehicle (such as a combine harvester) that harvests a crop, and the harvested crop exceeds a predetermined amount or the time to discharge the crop has arrived, the display processing unit 212 may illuminate or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color.

[0123] In this way, the display processing unit 212 can also display the stop status of the work vehicle 10 in an identifiable manner in the selection screen P1 when the work vehicle 10 has stopped automatic driving, and display identification information that can determine the reason why the work vehicle 10 stopped in the selection screen P1 when the work vehicle 10 has stopped automatic driving.

[0124] according to Figure 6 The selection screen P1 shown allows the operator to understand the current status of each work vehicle 10 to be monitored.

[0125] Here, the display processing unit 212 selects the screen P1 (see Figure 5 and Figure 6 ) in a selectable manner. Specifically, the display processing unit 212 displays the icon images A1 and B1 on the map of the selection screen P1 in a selectable manner. The acceptance processing unit 213 accepts the icon image selection operation from the operator in the selection screen P1. For example, when the operator touches the icon image A1 of the work vehicle 10a displayed on the selection screen P1 with a finger, the acceptance processing unit 213 accepts the touch operation. For example, if the operator observes the selection screen P1 and understands that the work vehicle 10a has stopped automatic driving, the operator touches the icon image A1 of the work vehicle 10a to confirm the reason for the stop.

[0126] The display processing unit 212 displays the prescribed information related to the work vehicle 10 selected by the operator on the operation display unit 23. Specifically, the display processing unit 212 displays the prescribed information on the information display screen P2 (the second screen of the present invention). The prescribed information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current working status of the work vehicle 10. For example, when the operator selects the icon image A1 of the work vehicle 10a, as shown in FIG. Figure 7A As shown, the display processing unit 212 displays the image of the surrounding area of ​​the work vehicle 10a captured by the camera 53 mounted on the work vehicle 10a on the information display screen P2. Here, the display processing unit 212 obtains the front image, rear image, left image, and right image of the work vehicle 10a from the camera 53 and displays them on the information display screen P2. Figure 7A As shown, the display processing unit 212 displays the front image on the upper side of the information display screen P2, and displays the rear image, the left image, and the right image on the lower side of the information display screen P2. Figure 7BAs shown, the display processing unit 212 may display the front image on the lower side of the information display screen P2 and the rear image, left image, and right image on the upper side of the information display screen P2. In addition, the operator may set (customize) the arrangement, size, and display / non-display of each image.

[0127] In addition, the display processing unit 212 may also display the image of the detection object among the plurality of images captured by the camera 53 on the information display screen P2 in a recognizable manner when the work vehicle 10a detects the detection object. For example, when the obstacle sensor 54 of the work vehicle 10a detects the detection object in front of the work vehicle 10a, Figure 7A As shown, the display processing unit 212 emphasizes and displays the front image on the information display screen P2.

[0128] In this way, the display processing unit 212 displays the icon images of the plurality of work vehicles 10 registered in advance on the map of the selection screen P1 in a display mode corresponding to the current state of the work vehicle 10 (see Figure 6 ), the image of the surroundings of the work vehicle 10 captured by the camera 53 mounted on the work vehicle 10 corresponding to the icon image selected by the operator among the multiple icon images in the selection screen P1 is displayed on the information display screen P2 (refer to Figure 7A ).

[0129] In addition, the display processing unit 212 displays a switch button ("next item" button, "return button") for switching the display image on the information display screen P2. If the operator presses the "next item" button once, the display processing unit 212 enlarges and displays the previous image (see Figure 7C ). Then, if the operator presses the "Next" button once, the display processing unit 212 enlarges and displays the right image. Then, if the operator presses the "Next" button once, the display processing unit 212 enlarges and displays the rear image. Then, if the operator presses the "Next" button once, the display processing unit 212 enlarges and displays the left image. Every time the operator presses the "Next" button, the display processing unit 212 switches the front image, the right image, the rear image, and the left image in sequence. In addition, every time the operator presses the "Back" button, the display processing unit 212 switches the front image, the left image, the rear image, and the right image in sequence. In addition, if the operator presses Figure 7C The "4 cameras" button on the information display screen P2 shown in FIG. 1 is displayed. The display processing unit 212 displays the captured images in four directions (front image, rear image, left image, and right image) on the information display screen P2 (see FIG. 1 ). Figure 7A ).

[0130] In addition, the display processing unit 212 may also be able to Figures 7A to 7C The information display screen P2 shown in FIG. 1 changes (zooms) the display magnification (field size) of the captured image. For example, Figure 7C In the information display screen P2 shown, if the operator zooms in (expands), the display processing unit 212 magnifies (expands) the front image. If the operator zooms out (pinches), the display processing unit 212 reduces (reduces) the front image. Furthermore, the display processing unit 212 can also change the shooting range (shooting direction) of the camera 53 in response to the operator's operation.

[0131] The display processing unit 212 may also highlight the detected object or the tracked object by surrounding it with a frame image in the captured image. Furthermore, the display processing unit 212 may display information on the distance to the detected object and the type of the object (human, vehicle, structure, material, etc.) on the information display screen P2. Furthermore, the camera 53 may be configured so that a portion of the work vehicle 10 is reflected in the image to facilitate understanding of the distance to the detected object.

[0132] In addition, the display processing unit 212 displays a "Start" button and a "Stop" button on the information display screen P2. If the operator presses the "Start" button, the reception processing unit 213 accepts the operation and outputs an instruction to the work vehicle 10 to start or restart automatic driving. For example, in a case where the work vehicle 10a detects the detection object and stops automatic driving, if the operator selects the work vehicle 10a in the selection screen P1 and confirms the safety of the work vehicle 10a in the information display screen P2, the operator presses the "Start" button. As a result, the reception processing unit 213 outputs an instruction to restart automatic driving to the work vehicle 10a, and the work vehicle 10a starts automatic driving again according to the above instruction. As another embodiment, the reception processing unit 213 can also permit the pressing of the "Start" button on the condition that the detection object is no longer detected.

[0133] Furthermore, for example, if the operator selects work vehicle 10b on selection screen P1 and presses the "Stop" button on information display screen P2 while work vehicle 10b is automatically traveling, reception processing unit 213 outputs an instruction to stop automatic travel to work vehicle 10b. Work vehicle 10b then stops automatic travel in accordance with the instruction.

[0134] Furthermore, when the operator presses the "map" button on the information display screen P2, the display processing unit 212 switches to the selection screen P1 (see Figure 5 and Figure 6 ). In this way, the operator can switch between the selection screen P1 and the information display screen P2.

[0135] As another embodiment, the display processing unit 212 may also display the selection screen P1 and the information display screen P2 side by side in the left-right direction or the top-bottom direction. Figure 8 As shown, the display processing unit 212 displays the selection screen P1 on the left display area of ​​the operation display unit 23, and displays the information display screen P2 corresponding to the work vehicle 10a selected in the selection screen P1 on the right display area. Figure 8 If the "map" button is pressed on the information display screen P2 shown, the display processing unit 212 enlarges and displays the selection screen P1 (see Figure 6 ), if the operator presses the "camera" button, the display processing unit 212 enlarges the information display screen P2 (refer to Figure 7A ). In addition, the display processing unit 212 may display the front image on the lower side of the information display screen P2, and display the rear image, left image, and right image on the upper side of the information display screen P2. In addition, the operator may set (customize) the arrangement, size, and display / non-display of each image.

[0136] Furthermore, the operation control unit 21 instructs the work vehicle 10 to automatically drive. For example, when the operator selects a field and presses a start button (not shown) to start the work vehicle 10's automatic driving, the operation control unit 21 outputs path data for the target path to the work vehicle 10. The path data generated by the operation terminal 20 is transferred to the work vehicle 10, which then stores it in the storage unit 12. The work vehicle 10 detects its current position using the positioning antenna 174 and executes the automatic driving process based on this path data. The current position of the work vehicle 10 typically coincides with the position of the positioning antenna 174.

[0137] Furthermore, the work vehicle 10 is configured to be capable of automatic travel when its current position coincides with the travel start position within the field or is within a predetermined range (when the conditions for starting automatic travel are satisfied). When the work vehicle 10 satisfies these start conditions and the operator issues a travel start instruction by pressing a start button on an operation screen (not shown), the travel processing unit 111 of the work vehicle 10 initiates automatic travel along the target route.

[0138] Furthermore, the setting processing by the setting processing unit 211 and the process of initiating automatic driving by the operation control unit 21 may also be performed by a device separate from the operation terminal 20. For example, an operator may perform the setting operations for the aforementioned various setting information, generate a target route, and provide automatic driving instructions on a tablet terminal separate from the operation terminal 20. In this case, the operation terminal 20 may only have a monitoring function for monitoring the work vehicle 10, and the tablet terminal may perform the setting operations for the aforementioned various setting information, generate a target route, and provide automatic driving instructions. Furthermore, the operation terminal 20 involved in this embodiment may be implemented by adding the aforementioned monitoring function to the tablet terminal. Furthermore, as another embodiment, the operation control unit 21 may display the selection screen P1 and the information display screen P2 on separate devices. For example, the operation control unit 21 may display the selection screen P1 on the operation terminal 20 and display the information display screen P2 on a device separate from the operation terminal 20 (such as the tablet terminal, the operator's or worker's mobile terminal, etc.).

[0139] Furthermore, the operation terminal 20 can also access a website (agricultural support website) for agricultural support services provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program using the operation control unit 21. Furthermore, the server includes the aforementioned processing units and executes the various processes.

[0140] Hereinafter, a specific example of the response process executed in the work vehicle 10 and the operation terminal 20 will be described.

[0141] As described above, when the detection control unit 51 detects a detection target (obstacle), it determines whether the detection target is located within the field F. If the detection target is located within the field F, it further determines whether the detection target is within the vehicle control range. The detection control unit 51 then executes a response process based on the determination result (the location of the detection target).

[0142] [Specific example 1 of the response]

[0143] When the detected object is located in the field F, the detection control unit 51 notifies the operation terminal 20 that displays the driving status of the working vehicle 10 that is driving automatically of the detection information indicating that the object has been detected (an example of the first response process). Figure 4 In the example shown, when the detection object X2 exists in the field F, if the work vehicle 10 approaches the detection object X2 and the front obstacle sensor 54a detects the detection object X2, the detection control unit 51 outputs detection information (an example of response information) to the operation terminal 20, and the detection information is displayed on the operation terminal 20. Figure 9 As shown, when the work vehicle 10a detects the detection target in the field F, the detection control unit 51 of the work vehicle 10a displays a notification message M1 (an example of detection information) indicating that the detection target is detected in the field F on the selection screen P1 of the operation terminal 20.

[0144] When the operation control unit 21 of the operation terminal 20 obtains the aforementioned detection information from a work vehicle 10a that has detected a detection target while the current positions and statuses of all work vehicles 10 under monitoring are displayed on the selection screen P1, it causes a notification message M1 to pop up and appear on the selection screen P1. The notification message M1 includes the vehicle number of the work vehicle 10a that detected the detection target, a request to confirm the camera image, and a switch button ("Camera Image" button) for switching to the camera image. Furthermore, the operation control unit 21 may also play a sound upon obtaining the aforementioned detection information.

[0145] The operation control unit 21 may also display identification information that allows identification of the detected object on the selection screen P1. For example, when the work vehicle 10a detects the detection object, the operation control unit 21 may light or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color.

[0146] By displaying the notification message M1 on the operation terminal 20 , the operator (remote monitor) can understand that the detection target (obstacle) has been detected in the field F.

[0147] When the operator presses the camera image switching button on the selection screen P1, the operation control unit 21 makes the Figure 10 The camera screen P3 shown is displayed. For example, the operation control unit 21 is used to make the camera image (in Figure 10 The image (shown in the figure) is enlarged and displayed. Furthermore, the operation control unit 21 displays a confirmation message M2 (an example of detection information) on the camera screen P3. The confirmation message M2 includes a confirmation request for the detection object, a confirmation button, and the like. The operator confirms the detection object through the camera image and determines whether it is okay to continue the automatic driving. For example, if the operator determines that it is okay to continue the automatic driving of the work vehicle 10a, the operator presses the confirmation button. If the operator determines that it is necessary to stop the automatic driving of the work vehicle 10a, the operator presses the stop button ("Stop").

[0148] Furthermore, the detection control unit 51 obtains the details of the operator's operations in response to the notification message M1 and the confirmation message M2 and performs predetermined processing. For example, if the operator presses the confirmation button in the confirmation message M2, the detection control unit 51 outputs an instruction to continue automatic driving to the vehicle control device 11. Alternatively, the detection control unit 51 may be configured to not output any instructions to the vehicle control device 11 when continuing the automatic driving of the work vehicle 10a.

[0149] On the other hand, for example, when the operator displays the notification message M1 (see Figure 9 ) within a specified time, or after the confirmation message M2 (see Figure 10 ), if the confirmation button is not pressed within a predetermined time from the time the confirmation button is pressed, the detection control unit 51 outputs an instruction to stop the automatic travel to the vehicle control device 11. Upon receiving the stop instruction, the vehicle control device 11 stops the automatic travel of the work vehicle 10a. In this case, the operation control unit 21 may also change the color of the frame image A2 of the icon image A1 of the work vehicle 10a on the selection screen P1 to a color indicating that the work vehicle 10a is stopped.

[0150] In this way, when the detection object is detected in the field, the detection control unit 51 notifies the operator and prompts confirmation using the camera image. If the operator confirms, the automatic driving continues, and if the operator does not confirm, the automatic driving stops.

[0151] Furthermore, it is also possible to set conditions for resuming automatic driving after stopping the work vehicle 10a. For example, the vehicle control device 11 can be set so that either the remote monitor's operation terminal 20 or the remote controller used by the assistant (close range monitor) to operate the work vehicle 10a at close range can permit the restart of automatic driving. Alternatively, it can be set so that only the remote controller can permit the restart of automatic driving. Alternatively, it can be set so that both the operation terminal 20 and the remote controller are prohibited from resuming automatic driving, and the restart of automatic driving can be permitted only in the main unit (work vehicle 10). In addition, when the restart of automatic driving can be permitted only in the remote controller or the main unit, the remote monitor (operation terminal 20) can also remind the assistant (assistant terminal, etc.) to resume automatic driving.

[0152] As another embodiment, the detection control unit 51 may also detect the detection object, such as Figure 11 As shown, a confirmation message M2 is displayed on the screen displaying the map and the camera image.

[0153] In another embodiment, the detection control unit 51 may display at least one of the location of the detection target and a camera image of the detection target on a map screen (selection screen P1) displayed by the operation terminal 20. Furthermore, the detection control unit 51 may restart or continue automatic driving on the map screen, conditional on the operator confirming at least one of the location of the detection target and the camera image. Furthermore, the detection control unit 51 may display the date and time when the detection target was detected on the map screen, etc.

[0154] In addition, as another embodiment, when the selection screen P1 (refer to Figure 5 and Figure 6 ) is displayed on the operation terminal 20. When the detection target is detected in the field F, the detection control unit 51 may switch the selection screen P1 to the camera screen P3 (see FIG. 1 ) regardless of the operation of the operator. Figure 10 ) to display the confirmation message M2.

[0155] [Specific example 2 of the response]

[0156] When the detected object is located in the field F and is located in the vehicle control range (stop control range Ra, deceleration control range Rb, reporting control range Rc), the detection control unit 51 not only notifies the operation terminal 20 of the above detection information processing, but also outputs a vehicle control instruction (an example of the second response processing) to the vehicle control device 11. Figure 4 In the example shown, if a detection object X3 exists within a field F and the work vehicle 10a approaches the detection object X3, and the front obstacle sensor 54a detects the detection object X3 within the stop control range Ra, the detection control unit 51 outputs the detection information to the operation terminal 20, causing the detection information to be displayed on the operation terminal 20, and outputs a stop instruction to the vehicle control device 11, causing the work vehicle 10 to stop its automatic travel. Furthermore, if the detection object X3 is detected within the deceleration control range Rb, the detection control unit 51 outputs a deceleration instruction to the vehicle control device 11, causing the work vehicle 10 to slow down. Furthermore, if the detection object X3 is detected within the notification control range Rc, the detection control unit 51 outputs a notification instruction to the vehicle control device 11, causing the work vehicle 10 to output (play) a warning sound.

[0157] In addition, when the detection object X3 is detected within the vehicle control range, there is a possibility of collision with the detection object (obstacle), so the detection control unit 51 may omit the display processing of the notification message M1 in the selection screen P1 (see Figure 9 ), the selection screen P1 is switched to the camera screen P3 and the confirmation message M2 is displayed (refer to Figure 10 ).

[0158] When the operator presses the confirmation button for the confirmation message M2 on the camera screen P3, the detection control unit 51 outputs an instruction to continue automatic travel to the vehicle control device 11. If the detection target is detected within the stop control range Ra and automatic travel is stopped, and the operator presses the confirmation button for the confirmation message M2, the detection control unit 51 outputs an instruction to resume automatic travel to the vehicle control device 11. Furthermore, if the detection target is detected within the deceleration control range Rb and the vehicle speed is decelerated, and the operator presses the confirmation button for the confirmation message M2, the detection control unit 51 outputs an instruction to restore the vehicle speed to the original set speed (an increase speed instruction) to the vehicle control device 11.

[0159] When the confirmation message M2 (refer to Figure 10 ) If the confirmation button is not pressed within the specified time from the start of the automatic driving, the detection control unit 51 outputs an instruction to stop the automatic driving to the vehicle control device 11.

[0160] Thus, when the detected object is located within the field F, the detection control unit 51 executes a response process (an example of a first response process) of notifying the operation terminal 20 of the detection information. Furthermore, when the detected object is located within the vehicle control range (stop control range Ra, deceleration control range Rb, reporting control range Rc), the detection control unit 51 executes a response process (an example of a second response process) including notifying the operation terminal 20 of the detection information and controlling the automatically traveling work vehicle 10 (driving control, reporting control). Furthermore, when the obstacle sensor 54 detects that the object is located within the field F while the work vehicle 10 is automatically traveling within the field F, the detection control unit 51 executes different response processes depending on whether the object is located within the vehicle control range or outside the vehicle control range.

[0161] Furthermore, the operation control unit 21 may display the icon image A1 or the frame image A2 on the selection screen P1 in a display mode corresponding to the position at which the work vehicle 10a detected the detection object. For example, if the work vehicle 10a detects the detection object within the notification control range Rc, the operation control unit 21 displays the frame image A2 in green. If the work vehicle 10a detects the detection object within the deceleration control range Rb, the operation control unit 21 displays the frame image A2 in yellow. If the work vehicle 10a detects the detection object within the stop control range Ra, the operation control unit 21 displays the frame image A2 in red.

[0162] [Specific example 3 of the response]

[0163] The detection control unit 51 notifies the operation terminal 20 of the above detection information when the detected detection object is outside the field F and located in the periphery of the field F, and does not notify the operation terminal 20 of the above detection information when the detection object is outside the field F and located outside the periphery of the field F.

[0164] For example, when the detection object X1 is detected in another field adjacent to the field F and near the boundary with the other field (see Figure 4 ), the detection control unit 51 notifies the operation terminal 20 of the above-mentioned detection information.

[0165] In addition, if Figure 12 As shown, the detection control unit 51 displays a notification mark M3 (an example of detection information) indicating that the detection object is detected outside the field in the selection screen P1. In this case, if the operator presses the notification mark M3, the detection control unit 51 displays the notification message M1. In addition, when the detection object is outside the field F, the possibility of the work vehicle 10 colliding with the detection object is low, so the detection control unit 51 does not need to stop the automatic driving of the work vehicle 10. Therefore, even if the detected detection object X1 is within the vehicle control range (stop control range Ra, deceleration control range Rb, report control range Rc) (refer to Figure 4 ), the detection control unit 51 does not output a vehicle control instruction to the vehicle control device 11, but instead continues the automatic travel of the work vehicle 10. As another embodiment, the detection control unit 51 may be configured not to determine whether the detection object X1 is within the vehicle control range, or may be configured not to output a vehicle control instruction to the vehicle control device 11, when the detection object X1 is detected to be outside the field F.

[0166] Furthermore, when the operator requests confirmation of the notification mark M3 or the notification message M1 , the detection control unit 51 may display a camera image of the detection target detected outside the field F on the operation terminal 20 .

[0167] The detection control unit 51 may also set the measurement range (detection range) for detection targets outside the field F to within a predetermined distance from the outer edge (boundary) of the field F. Furthermore, the detection control unit 51 may set the detection range for detection targets outside the field F to a specific area outside the field F (e.g., within an adjacent field). The detection control unit 51 may be configured to notify the operation terminal 20 of the detection information when the detection target is detected within the detection range, and not notify the operation terminal 20 of the detection information when the detection target is detected outside the detection range.

[0168] As another embodiment, the detection control unit 51 may be configured not to notify the operation terminal 20 of the detection information when the operator once confirms the detection object detected outside the field F and then detects the same detection object outside the field F.

[0169] In this manner, when the detected detection target is outside the field F, the detection control unit 51 executes processing to notify the operator 20 of the above-described detection information (an example of a first response process). Specifically, the detection control unit 51 according to this embodiment can detect detection targets outside the field F by setting the outside of the field F as the detection range, rather than the non-detection range. Furthermore, when the detection target is detected outside the field F, the detection control unit 51 executes processing to notify the operator of the detection of the detection target.

[0170] Furthermore, if a detection target is detected outside the field F, the detection control unit 51 does not perform driving control processing such as stopping or decelerating the work vehicle 10, or announcing a warning sound from the work vehicle 10, but only performs the aforementioned notification processing and continues the automatic driving. Alternatively, the detection control unit 51 may perform both the aforementioned notification processing and the aforementioned reporting processing when a detection target is detected outside the field F.

[0171] In contrast, as shown in Specific Example 1 above, when a detection object X2 is detected within a field F, the detection control unit 51 performs the aforementioned notification process, continuing automatic travel if the operator performs a confirmation operation, and stopping automatic travel if the operator does not perform a confirmation operation. Furthermore, when a detection object X3 is detected within the field F and within the vehicle's control range, the detection control unit 51 performs the aforementioned notification process and vehicle control process, continuing automatic travel if the operator performs a confirmation operation, and stopping automatic travel if the operator does not perform a confirmation operation. Thus, the detection control unit 51 performs different response processes depending on whether the detected detection object is within or outside the field F.

[0172] As another embodiment of the above-mentioned specific example 1, the detection control unit 51 may also send the notification message M1 (see Figure 9 ) is displayed on the selection screen P1. If the camera image switching button is not pressed within a predetermined time, the notification message M1 is deleted and the notification mark M3 (see Figure 12 )show.

[0173] In addition, as another embodiment of the above-mentioned specific examples 1 and 2, for example, the information display screen P2 (see Figure 7AWhen a detection object is detected in the field F when the information display screen P2 (e.g., etc.) is displayed on the operation terminal 20, the detection control unit 51 temporarily stops the automatic driving of the work vehicle 10 displayed on the information display screen P2 and switches to the camera screen P3 of the camera image of the work vehicle 10 that has detected the detection object.

[0174] [Obstacle detection processing]

[0175] Below, refer to Figure 13 An example of obstacle detection processing executed by the automatic driving system 1 will be described.

[0176] Furthermore, the present invention can be understood as an obstacle detection method (an example of the control method of the present invention) that executes one or more steps included in the above-mentioned obstacle detection process. Furthermore, one or more steps included in the above-mentioned obstacle detection process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the above-mentioned obstacle detection process may also be different within the scope of producing the same effect. Furthermore, while the case where the detection control unit 51 executes each step in the above-mentioned obstacle detection process is used as an example for explanation, as another embodiment, an obstacle detection method may be implemented in which one or more processors execute each step in the obstacle detection process in a distributed manner. When the work vehicle 10 begins automatic driving, the detection control unit 51 executes the above-mentioned obstacle detection process.

[0177] In step S1, the detection control unit 51 determines whether the work vehicle 10 has detected a detection target (obstacle). The detection control unit 51 determines whether the detection target has been detected based on measurement information obtained from the obstacle sensor 54 and captured images obtained from the camera 53. If the detection target has been detected (S1: Yes), the detection control unit 51 proceeds to step S2. If the detection target has not been detected (S1: No), the detection control unit 51 proceeds to step S8. The detection control unit 51 performs the detection target determination process while the work vehicle 10 is autonomously traveling.

[0178] In step S2, the detection control unit 51 determines whether the detected object is located within the field F. Specifically, the detection control unit 51 determines whether the object is located within or outside the field F based on the current position of the work vehicle 10 within the field F and the aforementioned measurement information. If the detection control unit 51 determines that the object is located within the field F (S2: Yes), the process proceeds to step S3. On the other hand, if the detection control unit 51 determines that the object is located outside the field F (S2: No), the process proceeds to step S21.

[0179] In step S3, the detection control unit 51 determines whether the detected object is within the vehicle control range. Specifically, based on the current position of the work vehicle 10 and the aforementioned measurement information, the detection control unit 51 determines whether the object is within or outside of the stop control range Ra, the deceleration control range Rb, and the reporting control range Rc. If the detected object is within the vehicle control range (S3: Yes), the detection control unit 51 proceeds to step S4. On the other hand, if the detected object is outside the vehicle control range (S3: No), the detection control unit 51 proceeds to step S5.

[0180] In step S4, the detection control unit 51 outputs a vehicle control instruction to the vehicle control device 11. For example, if the detected detection object is within the report control range Rc, the detection control unit 51 outputs a report instruction to the vehicle control device 11. Alternatively, if the detected detection object is within the deceleration control range Rb, the detection control unit 51 outputs a deceleration instruction to the vehicle control device 11. Alternatively, if the detected detection object is within the stop control range Ra, the detection control unit 51 outputs a stop instruction to the vehicle control device 11. Following step S4, the detection control unit 51 proceeds to step S5.

[0181] Next, in step S5, the detection control unit 51 outputs detection information indicating that the detection object has been detected to the operation terminal 20. Figure 9 As shown, the detection control unit 51 displays a notification message M1 indicating that the detection object has been detected in the field F on the selection screen P1 of the operation terminal 20. The operation control unit 21 of the operation terminal 20 displays the notification message M1 on the selection screen P1. If the operator presses the switch button of the camera image, the notification message M1 is displayed on the selection screen P1. Figure 10 The camera screen P3 shown is displayed, and the confirmation message M2 is displayed. After step S5, the detection control unit 51 moves the process to step S6.

[0182] Next, in step S6, the detection control unit 51 determines whether the confirmation message M2 (see Figure 10 ) confirmation operation. For example, if the operator presses the confirmation button within a predetermined time after the confirmation message M2 is displayed on the camera screen P3 in the operation terminal 20, the detection control unit 51 determines that the confirmation operation has been received (S6: Yes), and the processing moves to step S7. In contrast, if the operator does not press the confirmation button within a predetermined time after the confirmation message M2 is displayed on the camera screen P3 in the operation terminal 20, the detection control unit 51 determines that the confirmation operation has not been received (S6: No), and the processing moves to step S61.

[0183] In step S7, the detection control unit 51 outputs an instruction to continue the automatic travel to the vehicle control device 11. Upon receiving the instruction, the vehicle control device 11 continues the automatic travel of the work vehicle 10. After step S7, the detection control unit 51 proceeds to step S8.

[0184] In the above-mentioned step S2, when the detection control unit 51 determines that the detection target is outside the field F (S2: No), in step S21, the detection control unit 51 outputs detection information indicating that the detection target is detected to the operation terminal 20. Figure 12 As shown, the detection control unit 51 displays a notification mark M3 on the selection screen P1 of the operation terminal 20, indicating that a detection object has been detected outside the field F. The operation control unit 21 of the operation terminal 20 displays the notification mark M3 on the selection screen P1. When the operator presses the notification mark M3, a notification message M1 is displayed. The operator's confirmation of the detection information is omitted. Specifically, if a detection object is detected outside the field F, the detection control unit 51 simply notifies the operation terminal 20 of the detection object and causes the work vehicle 10 to continue autonomous driving. After step S21, the detection control unit 51 proceeds to step S8.

[0185] In the above-mentioned step S6, the detection control unit 51 responds to the confirmation message M2 (refer to Figure 10 ) If the operator has not received a confirmation operation (S6: No), in step S61, the vehicle control device 11 outputs an instruction to stop the automatic travel. Upon receiving the stop instruction, the vehicle control device 11 stops the automatic travel of the work vehicle 10. After step S61, the detection control unit 51 proceeds to step S8.

[0186] In step S8, the detection control unit 51 determines whether the work vehicle 10's automatic driving has ended. If the detection control unit 51 determines that the work vehicle 10's automatic driving has ended (S8: Yes), it terminates the obstacle detection process. On the other hand, if the detection control unit 51 determines that the work vehicle 10's automatic driving has not ended (S8: No), the process returns to step S1. The detection control unit 51 repeats the above process until the work vehicle 10's automatic driving has ended.

[0187] As described above, the automated driving system 1 according to this embodiment executes different response processes depending on whether the detection object detected by the obstacle sensor 54 during automated driving of the work vehicle 10 within the field F is located within or outside the field F. For example, if the detection object is located outside the field F, the automated driving system 1 executes a first response process that notifies the operation terminal 20, which is capable of displaying the driving status of the automated working vehicle 10, of detection information indicating the detection of the detection object. Alternatively, if the detection object is located within the field F, the automated driving system 1 executes a second response process that includes a process for notifying the operation terminal 20 of the detection information, a travel control process for controlling the travel of the automated working vehicle 10, and a warning sound from the work vehicle 10.

[0188] According to the above configuration, for example, if an obstacle is detected within the field F, the work vehicle 10 continues its autonomous travel conditional on notification to the remote monitor and confirmation from the remote monitor. In contrast, if an obstacle is detected outside the field F, the remote monitor is notified, but the work vehicle 10 continues its autonomous travel regardless of the remote monitor's confirmation. This allows the work vehicle 10 to continue its autonomous travel even when an obstacle is detected outside the field F, thereby preventing a decrease in work efficiency. Furthermore, since the remote monitor is notified when an obstacle is detected outside the field F, the remote monitor can be aware of the obstacle even when there is no concern of a collision between the obstacle and the work vehicle 10.

[0189] Furthermore, the automated driving system 1 according to this embodiment may be configured such that, when the obstacle sensor 54 detects a detection object within the field F while the work vehicle 10 is autonomously traveling within the field F, different response processes may be executed depending on whether the detection object is within or outside the vehicle's control range. Specifically, when the detection object is within the field F, the automated driving system 1 executes a first response process that notifies the operation terminal 20 of the detection information. When the detection object is within the field F and within the vehicle's control range, the automated driving system 1 executes a second response process that includes both a process for notifying the operation terminal 20 of the detection information and a travel control process for controlling the autonomously traveling work vehicle 10.

[0190] For example, when the detection object located in the field F is within the stop control range Ra, the work vehicle 10 stops the automatic driving; when the detection object located in the field F is within the deceleration control range Rb, the speed of the automatic driving is reduced; when the detection object located in the field F is within the reporting control range Rc, a warning sound is output from the work vehicle 10 to the outside. In addition, when the detection object located in the field F is within the non-vehicle control range Rn, the work vehicle 10 notifies the operation terminal 20 of the detection information, and displays the notification message M1, the confirmation message M2, etc. on the operation terminal 20 (see Figures 9 to 12 ).

[0191] [Other embodiments]

[0192] The present invention is not limited to the above-described embodiment, and the following embodiments are also possible.

[0193] For example, the operation terminal 20 can also accept an operation to select between a close-range monitoring mode (first monitoring mode) and a long-range monitoring mode (second monitoring mode). The close-range monitoring mode permits the automatic operation of the work vehicle 10 only when the operator is within a specified distance from the work vehicle 10, while the long-range monitoring mode permits the automatic operation of the work vehicle 10 even when the operator is not within the specified distance. For example, the operator can pre-select the close-range monitoring mode or the long-range monitoring mode on the settings screen of the operation terminal 20. Furthermore, the operator can change the monitoring mode after the work vehicle 10 begins automatic operation.

[0194] In a configuration capable of setting each of the aforementioned monitoring modes, the detection control unit 51 may be configured to execute processing appropriate to the location of the detection target when the long-distance monitoring mode is selected. Specifically, when the operator selects the long-distance monitoring mode, the detection control unit 51 executes the processing described in Examples 1 to 3 above based on whether the detection target is located within the field F and within the vehicle control range. In contrast, when the operator selects the short-distance monitoring mode, there is no need to notify the operation terminal 20 of the detection information. Therefore, the detection control unit 51 omits the notification processing and executes the vehicle control processing described above.

[0195] Furthermore, when the work vehicle 10a is automatically traveling on the path between fields, the operator must always monitor the traveling status of the work vehicle 10a. Therefore, when the work vehicle 10a starts automatically traveling on the path between fields, even if the operator does not select the work vehicle 10a on the selection screen P1, the operation control unit 21 automatically switches the selection screen P1 to the information display screen P2 (see FIG. Figure 7A). Here, when the work vehicle 10a is automatically traveling on the path between fields and the information display screen P2 is displayed on the operation terminal 20, for example, when the work vehicle 10b detects a detection object in the field F, the operator needs to confirm the detection object detected by the work vehicle 10b. Therefore, if the operation control unit 21 of the operation terminal 20 obtains detection information from the work vehicle 10b, it outputs a temporary stop instruction to the work vehicle 10a that is automatically traveling on the path between fields, and switches the information display screen P2 to the camera screen P3 of the work vehicle 10b, so that the notification message M1 is displayed. If the work vehicle 10a obtains the temporary stop instruction, it can temporarily stop on the spot or drive to a specified place (road shoulder, avoidance area, etc.) and temporarily stop. In addition, the operator can also remotely operate the work vehicle 10a through the operation terminal 20 to move it to a specified place.

[0196] Furthermore, when the work vehicle 10a is automatically traveling along the path between fields and the work vehicle 10b detects a detection object in the field F, as shown in FIG. Figure 14 As shown, the operation control unit 21 may also display (pop-up display) information (message M4) indicating that the work vehicle 10b has detected the detection object on the information display screen P2, and display a selection button for selecting whether to switch to the camera screen P3 displaying the camera image of the work vehicle 10b. If the operator presses the "Yes" button in the message M4, the operation control unit 21 switches to the camera screen P3 of the work vehicle 10b.

[0197] If the operator confirms the detection target of the work vehicle 10b on the camera screen P3, the operation control unit 21 continues the automatic driving of the work vehicle 10b and returns the camera screen P3 to the information display screen P2 of the work vehicle 10a to resume the automatic driving of the work vehicle 10a on the path between fields.

[0198] In this manner, while monitoring the automatic travel of a plurality of work vehicles 10 , the operation terminal 20 executes a corresponding response process corresponding to the work vehicle 10 that has detected the detection target when a detection target is detected.

[0199] As another embodiment, the operation control unit 21 of the operation terminal 20 may also determine the display order or display method of the plurality of detection information based on the urgency when the aforementioned detection information is obtained from multiple work vehicles 10. For example, the operation control unit 21 may pop up and display the detection information in order of increasing urgency. When the operator confirms a detection information, the next detection information with increasing urgency is popped up and displayed. In addition, the operation control unit 21 may display the pop-up display of the detection information with increasing urgency in red or mark the pop-up display of the detection information with increasing urgency with a specific symbol (marker).

[0200] In the above-mentioned embodiment, an example is shown in which the detection unit for detecting the detection object (obstacle) is the obstacle sensor 54 or the camera 53 mounted on the work vehicle 10, but as another embodiment, the above-mentioned detection unit may be a camera disposed outside the work vehicle 10. For example, the above-mentioned detection unit may be a camera installed in a field, or a camera installed in an aircraft (helicopter, drone, etc.) flying over the field. In the case where the above-mentioned detection unit is a camera installed in a field or a camera of an aircraft, the entire field may be set as the measurement range of the detection object. In this case, for example, when the detection object X4 (refer to FIG. 1 ) is present at a position separated from the automatically traveling work vehicle 10 (a position outside the measurement range of the obstacle sensor 54), Figure 4 ) is located within the field, the detection control unit 51 outputs detection information indicating that the detection object X4 has been detected to the operation terminal 20 to notify the operator. Thus, for example, in a remote monitoring environment, the work vehicle 10 can be configured to automatically travel within the field when there is always no detection object (e.g., a person), and to not continue automatic travel when a detection object (e.g., a person) is present within the field.

[0201] [Travel Control of Work Vehicle 10]

[0202] As described above, the automatic driving system 1 controls (reports, decelerates, stops) the operation of the work vehicle 10 when the work vehicle 10 detects a detection target within the vehicle control range Rd1 or Rd2 in the field (first configuration).

[0203] In addition, when the work vehicle 10 detects a detection object (eg, Figure 4 In the case of the detection object X2, X4), the notification message M1 is popped up and displayed on the selection screen P1 (refer to Figure 9 ), when the operator does not press the switch button ("Camera Image" button) within a specified time from the display of the notification message M1, or when the confirmation message M2 (refer to Figure 10 ) If the confirmation button is not pressed within a specified time from the start of the operation, the work vehicle 10 is stopped (parked) (second configuration). As another embodiment, the automatic driving system 1 may also stop the work vehicle 10 when the work vehicle 10 detects a detection object outside the vehicle control range Rd1 or Rd2 in the field (third configuration).

[0204] In addition, as another embodiment, regarding the processing content executed by the automatic driving system 1 when the work vehicle 10 detects a detection object outside the vehicle control range Rd1, Rd2 in the field, the second configuration or the third configuration may be selected by the operator, automatically selected based on the type of work machine or the work content, or automatically selected based on the type of detection object (person, object, person's attribute (manager, non-manager, etc.)). For example, the automatic driving system 1 may adopt the second configuration when the work vehicle 10 detects a manager outside the vehicle control range Rd1, Rd2 in the field, and adopt the third configuration when a non-manager is detected.

[0205] [Sharing of obstacle detection information]

[0206] When the automatic driving system 1 detects a detection target, it can also share information related to the detection target (detection information) among multiple work vehicles 10. Specifically, when multiple work vehicles 10 are present in the same field and a detection target is detected within the field, the automatic driving system 1 outputs vehicle control information (such as a stop instruction, a deceleration instruction, and a notification instruction) to all work vehicles 10 in the field. For example, the automatic driving system 1 stops automatic driving of all work vehicles 10 in the field.

[0207] In addition, when the work vehicles 10 to be monitored are located in multiple fields, when the detection object is detected in any of the multiple fields, the automatic driving system 1 centrally controls all the work vehicles 10 located in the multiple fields (for example, stops automatic driving at the same time).

[0208] As another embodiment, the automated driving system 1 may share the detection information between adjacent fields. For example, if the work vehicles 10 being monitored are located in a first and a second adjacent field, the automated driving system 1 may stop automated driving of all the work vehicles 10 being monitored if the detected object is detected in the first field.

[0209] As another embodiment, the automated driving system 1 can share the detection information among multiple fields within a specified range. For example, a second field located less than a specified distance from a first field can be designated as the field with which the detection information is shared, while a third field located more than the specified distance from the first field can be excluded from the fields with which the detection information is shared. In this case, when the automated driving system 1 detects a detection target within the first field, it stops automated driving of all work vehicles 10 in the first and second fields and excludes work vehicles 10 in the third field from control. Alternatively, the operator can specify the fields with which the detection information is shared, or the specified range can be set.

[0210] In this way, the automatic driving system 1 can also have the following structure: when the first work vehicle 10 detects the above-mentioned detection object while automatically driving in the first field (first work area), the automatic driving of the first work vehicle 10 is stopped, and the automatic driving of the second work vehicle 10 that is automatically driving in the second field (second work area) is stopped.

[0211] As another embodiment, the automatic driving system 1 may also share the above-mentioned detection information among a plurality of work vehicles 10 included in a specified range. For example, a second work vehicle 10 located at a position less than a specified distance from the first work vehicle 10 is set as the work vehicle 10 for sharing the above-mentioned detection information, and a third work vehicle 10 located at a position greater than a specified distance from the first work vehicle 10 is excluded from the work vehicles 10 for sharing the above-mentioned detection information. In this case, when the first work vehicle 10 detects the detection object, the automatic driving system 1 stops the automatic driving of the first work vehicle 10 and the second work vehicle 10, respectively, and excludes the third work vehicle 10 from the control object. In addition, the operator may be able to set the work vehicles 10 that share the above-mentioned detection information, or may be able to set the above-mentioned specified range.

[0212] As another embodiment, the automated driving system 1 may also be capable of setting a sharing level for the detection information. For example, the operator may be able to select whether, upon detecting a detection target, the detection information is shared among the multiple work vehicles 10 regardless of the type of the detection target (human, object, etc.), or whether the detection information is shared among the multiple work vehicles 10 only when the detection target is a human.

[0213] In addition, the operator may also be able to choose whether, when a detection object is detected, the detection information is shared among multiple work vehicles 10 regardless of whether the detection object is located inside or outside the field, or whether the detection information is shared among multiple work vehicles 10 on the condition that the detection object is located inside the field.

[0214] Furthermore, an operator may be able to select whether to share the detection information between the first work vehicle 10 and the other second work vehicle 10 when the first work vehicle 10 detects the detection object. Furthermore, an operator may be able to select the work vehicle 10 with which the detection information is to be shared. For example, an operator may be able to create and select a machine group with which the detection information is to be shared. For example, an operator may set the work vehicles 10A, 10B, and 10C that share the detection information to the same machine group. Furthermore, an operator may set the work vehicles 10A, 10B, and 10C that share the detection information to the first machine group, and the work vehicles 10D, 10E, and 10F that share the detection information to the second machine group.

[0215] Furthermore, when the automatic driving system 1 detects a detection target, it can also share the detection information among multiple operation terminals 20. For example, when multiple work vehicles 10 are monitored by multiple operation terminals 20, when any one of the work vehicles 10 detects a detection target, the automatic driving system 1 can output the detection information to each of the multiple operation terminals 20, causing a notification message M1 to pop up and be displayed on each operation terminal 20.

[0216] [Record of test information]

[0217] The automatic driving system 1 may also store specified log information when a detection object is detected. Specifically, when a detection object is detected, the automatic driving system 1 stores log information including camera image data (moving or still images) before and after the detection object is detected, a notification log for notifying the operator (remote monitor) (such as the date and time when the notification message M1 is sent to the operation terminal 20), and a confirmation log for the operator confirming the notification (such as the date and time when the confirmation button for the notification message M1 is pressed). The automatic driving system 1 may store this log information on a server, in the storage unit 12 of the work vehicle 10, or in the storage unit 22 of the operation terminal 20. This allows, for example, a user to confirm this log information at any time.

[0218] Furthermore, the automated driving system 1 may be configured to store the aforementioned log information when any one of the following conditions is met: detection of the detection target (first condition), detection of the detection target within the same field (second condition), or detection of the detection target regardless of whether the detection target is within or outside the field (third condition). Furthermore, any one of the first to third conditions may be selectable by the operator.

[0219] [Restart of automatic driving]

[0220] When the automatic driving system 1 stops the automatic driving of the work vehicle 10 due to the detection of the detection object, it restarts the automatic driving when the specified conditions are met. Specifically, when the automatic driving system 1 stops the automatic driving of the work vehicle 10 due to the detection of the detection object, it permits the resumption of the automatic driving on the condition that the operator has confirmed the camera image at the time of stop (the surrounding image of the work vehicle 10, the image showing the detection object, etc.). For example, when the surrounding image of the work vehicle 10 is displayed on the operation terminal 20 and the operator confirms the surrounding image, the automatic driving system 1 permits the resumption of the automatic driving. In addition, when the image showing the detection object is displayed on the operation terminal 20 and the operator confirms the image, the automatic driving system 1 permits the resumption of the automatic driving. The automatic driving system 1 prohibits automatic driving when the operator has not confirmed the above-mentioned camera image.

[0221] Furthermore, the automatic driving system 1 may determine that the operator has confirmed the camera image when the operator presses a confirmation button while the camera image is displayed on the operation terminal 20. As another embodiment, the automatic driving system 1 may determine that the operator has confirmed the camera image when the operator determines that the operator's line of sight is directed toward the camera image displayed on the operation terminal 20 by using a camera connected to the operation terminal 20.

[0222] As described above, in the above embodiment, the obstacle detection device 15 corresponds to the control system according to the present invention. However, the control system according to the present invention may be composed of the obstacle detection device 15 and the vehicle control device 11, or may be composed of the work vehicle 10 and the operation terminal 20. For example, the control system according to the present invention may be the automatic driving system 1.

[0223] [Notes on the invention]

[0224] The following is a summary of the invention extracted from the embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0225] Note 1

[0226] A control method, wherein:

[0227] Different response processes are executed depending on whether a detection object detected by the detection unit while the work vehicle is automatically traveling within the work area is located within the work area or outside the work area.

[0228] Note 2

[0229] According to the control method described in Note 1,

[0230] When the detection object is outside the working area, a first response process is executed, in which detection information indicating that the detection object has been detected is notified to an operation terminal capable of displaying the driving status of the working vehicle in automatic driving.

[0231] When the detection target is located within the work area, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a travel control process of controlling the travel of the work vehicle in automatic travel.

[0232] Note 3

[0233] The control method according to Note 1 or 2, wherein:

[0234] When the detection object is located within the work area, different response processes are performed depending on whether the detection object is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

[0235] Note 4

[0236] According to the control method described in Note 3,

[0237] When the detection object is located within the working area, a first response process is executed, in which detection information indicating that the detection object has been detected is notified to an operating terminal capable of displaying the driving status of the working vehicle in automatic driving.

[0238] When the detection object is located within the working area and within the vehicle control range, a second response process is executed, which includes a process of notifying the operating terminal of the detection information and a driving control process of controlling the driving of the working vehicle in automatic driving.

[0239] Note 5

[0240] According to the control method described in Note 4,

[0241] When a predetermined operation is not received from a user of the operation terminal in response to the detection information notified to the operation terminal by the first response process, the automatic travel of the work vehicle is stopped.

[0242] Note 6

[0243] The control method according to any one of Notes 2 to 5, wherein:

[0244] The second response process includes notifying the operation terminal of the detection information, decelerating the work vehicle, stopping the automatic travel of the work vehicle, and sounding a warning sound from the work vehicle.

[0245] Note 7

[0246] The control method according to any one of Notes 1 to 6, wherein:

[0247] When the detection object is outside the working area and is located in the periphery of the working area, detection information indicating that the detection object has been detected is notified to an operation terminal capable of displaying the driving status of the working vehicle in automatic driving,

[0248] When the detection target is located outside the work area and outside the periphery of the work area, the detection information is not notified to the operation terminal.

[0249] Note 8

[0250] The control method according to any one of Notes 1 to 7, wherein:

[0251] At least one of the position of the detection object and an image obtained by capturing the detection object is displayed on a map screen displayed by an operation terminal capable of displaying a travel status of the autonomously traveling work vehicle.

[0252] Note 9

[0253] The control method according to any one of Notes 1 to 8, wherein:

[0254] An operation of selecting a first monitoring mode or a second monitoring mode is accepted, wherein the first monitoring mode permits the automatic driving of the work vehicle on the condition that the user is within a specified distance from the work vehicle, and the second monitoring mode permits the automatic driving of the work vehicle even if the user is not within the specified distance from the work vehicle.

[0255] When the second monitoring mode is selected, the response process is performed according to the position of the detection target.

[0256] Note 10

[0257] The control method according to any one of Notes 1 to 9, wherein:

[0258] When the detection target is detected by the detection unit while the first work vehicle is automatically traveling in the first work area, the automatic traveling of the first work vehicle is stopped, and the automatic traveling of the second work vehicle is also stopped during the automatic traveling in the second work area.

[0259] Note 11

[0260] A control method, wherein:

[0261] When a working vehicle is driving automatically within a working area and the detection object detected by the detection unit is located within the above-mentioned working area, different response processes are performed depending on whether the above-mentioned detection object is located within the vehicle control range set based on the above-mentioned working vehicle or outside the above-mentioned vehicle control range.

[0262] Note 12

[0263] A control program, wherein

[0264] It is used to enable one or more processors to execute different response processes according to whether the detection object detected by the detection unit when the work vehicle is automatically traveling in the work area is located within the above-mentioned work area or outside the above-mentioned work area.

[0265] Note 13

[0266] A control system, wherein

[0267] Different response processes are executed depending on whether a detection object detected by the detection unit while the work vehicle is automatically traveling within the work area is located within the work area or outside the work area.

Claims

1. A control method, characterized in that: Different response processes are executed depending on whether a detection object detected by the detection unit while the work vehicle is autonomously traveling within a work area is located within the work area or outside the work area.

2. The control method according to claim 1, characterized in that: When the detection object is outside the working area, a first response process is executed, in which detection information indicating that the detection object has been detected is notified to an operation terminal capable of displaying the driving status of the working vehicle in automatic driving, When the detection target is located within the work area, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a travel control process of controlling the travel of the work vehicle in automatic travel.

3. The control method according to claim 1, wherein: When the detection object is located within the work area, different handling processes are performed depending on whether the detection object is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

4. The control method according to claim 3, characterized in that: When the detection object is within the working area, a first response process is executed, in which detection information indicating that the detection object has been detected is notified to an operation terminal capable of displaying the driving status of the working vehicle in automatic driving, When the detection object is located within the working area and within the vehicle control range, a second response process is executed, which includes a process of notifying the operating terminal of the detection information and a driving control process of controlling the driving of the working vehicle in automatic driving.

5. The control method according to claim 4, characterized in that: When a predetermined operation is not received from a user of the operation terminal in response to the detection information notified to the operation terminal by the first response process, the automatic travel of the work vehicle is stopped.

6. The control method according to claim 2 or 4, characterized in that: The second response process includes notifying the operation terminal of the detection information, decelerating the work vehicle, stopping automatic travel of the work vehicle, and sounding a warning sound from the work vehicle.

7. The control method according to claim 1, characterized in that: When the detection object is outside the work area and is located in the periphery of the work area, detection information indicating that the detection object has been detected is notified to an operation terminal capable of displaying the driving status of the work vehicle in automatic driving, When the detection target is outside the work area and outside the periphery of the work area, the detection information is not notified to the operation terminal.

8. The control method according to claim 1, characterized in that: At least one of the position of the detection object and an image obtained by capturing the detection object is displayed on a map screen displayed by an operation terminal capable of displaying a travel status of the work vehicle during autonomous travel.

9. The control method according to claim 1, characterized in that: An operation of selecting a first monitoring mode or a second monitoring mode is accepted, wherein the first monitoring mode permits the automatic driving of the work vehicle on the condition that the user is within a prescribed distance from the work vehicle, and the second monitoring mode permits the automatic driving of the work vehicle even if the user is not within the prescribed distance from the work vehicle. When the second monitoring mode is selected, the response process is executed according to the position of the detection object.

10. The control method according to claim 1, characterized in that: When the detection target is detected by the detection unit while the first work vehicle is automatically traveling in the first work area, the automatic traveling of the first work vehicle is stopped, and the automatic traveling of the second work vehicle is stopped while the second work vehicle is automatically traveling in the second work area.

11. A control method, characterized in that: When a work vehicle is automatically driving in a work area and a detection object detected by a detection unit is located within the work area, different response processes are performed depending on whether the detection object is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

12. A control program, characterized in that: It is used to enable one or more processors to execute different response processes according to whether the detection object detected by the detection unit when the work vehicle is automatically traveling in the work area is located within the work area or outside the work area.

13. A control system, characterized in that: Different response processes are executed depending on whether a detection object detected by the detection unit while the work vehicle is autonomously traveling within a work area is located within the work area or outside the work area.

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