Automatic driving system, automatic driving method, and automatic driving program

Abstract

To provide an automatic driving system, an automatic driving method, and an automatic driving program that can prevent a decrease in work efficiency while ensuring the safety of a work vehicle.SOLUTION: An acquisition processing unit 111 acquires a captured image P1 from a camera 15 installed on a work vehicle 10. A detection processing unit 112 detects an obstacle on the basis of the captured image P1 acquired by the acquisition processing unit 111. When an obstacle is detected by the detection processing unit 112, a reception processing unit 217 receives a travel stop instruction to stop the automatic travel of the work vehicle 10 or a travel continuation instruction to continue the automatic travel. A travel processing unit 113 stops the automatic travel of the work vehicle 10 when the reception processing unit 217 receives the travel stop instruction, and continues the automatic travel of the work vehicle 10 when the reception processing unit 217 receives the travel continuation instruction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatic driving system, an automatic driving method, and an automatic driving program for automatically driving a work vehicle. [Background technology]

[0002] A work vehicle has a function of stopping automatic travel when an obstacle is detected during automatic travel along a preset travel route in a farm field. Conventionally, a technology is known that enables an operator of a work vehicle to switch between a normal mode, in which the automatic travel of the work vehicle is stopped when the work vehicle detects an obstacle, and a cancellation mode, in which the work vehicle continues traveling even if the work vehicle detects an obstacle (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-113938 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, when the release mode is set, the work vehicle continues to travel automatically even if it detects an obstacle, which creates the risk of the work vehicle coming into contact with the obstacle. In this way, a system that uniformly stops automatic travel when the work vehicle detects an obstacle reduces work efficiency, while a system that allows the work vehicle to continue automatic travel even if it detects an obstacle causes a problem of reduced safety for the work vehicle.

[0005] An object of the present invention is to provide an automatic driving system, an automatic driving method, and an automatic driving program that can prevent a decrease in work efficiency while ensuring the safety of a work vehicle. [Means for solving the problem]

[0006] The automatic driving system according to the present invention includes an acquisition processing unit, a detection processing unit, a reception processing unit, and a driving processing unit. The acquisition processing unit acquires an image from an imaging unit installed in a work vehicle. The detection processing unit detects an obstacle based on the image acquired by the acquisition processing unit. When the obstacle is detected by the detection processing unit, the reception processing unit accepts a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving. The driving processing unit stops the automatic driving of the work vehicle when the reception processing unit accepts the stop driving instruction, and continues the automatic driving of the work vehicle when the reception processing unit accepts the continue driving instruction.

[0007] The automatic driving method of the present invention is a method in which one or more processors acquire an image from an imaging unit installed in a work vehicle, detect an obstacle based on the acquired image, and when the obstacle is detected, accept a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving, and stop the automatic driving of the work vehicle when the stop driving instruction is accepted, and continue the automatic driving of the work vehicle when the continue driving instruction is accepted.

[0008] The automatic driving program of the present invention is a program for causing one or more processors to execute the following operations: acquiring an image from an imaging unit installed in a work vehicle; detecting an obstacle based on the acquired image; when the obstacle is detected, accepting a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving; and stopping the automatic driving of the work vehicle when the stop driving instruction is accepted, and continuing the automatic driving of the work vehicle when the continue driving instruction is accepted. Effect of the Invention

[0009] According to the present invention, it is possible to provide an automatic driving system, an automatic driving method, and an automatic driving program that can prevent a decrease in work efficiency while ensuring the safety of a work vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a travel route of the work vehicle according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing the positions of cameras installed in a work vehicle according to an embodiment of the present invention. [Figure 5A] FIG. 5A is a diagram showing an example of a camera layout setting screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 5B] FIG. 5B is a diagram showing an example of a camera layout setting screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a camera image displayed on the operation terminal according to the embodiment of the present invention. [Figure 9]FIG. 9 is a diagram showing an example of a travel selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a travel selection screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0012] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 will be described as a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle 10 is a so-called robot tractor that is configured to be able to automatically travel (autonomously travel) along a preset travel route R in a field F (see FIG. 3). For example, the work vehicle 10 can automatically travel along a travel route R that has been generated in advance for the field F, based on position information of the current position of the work vehicle 10 calculated by a positioning device 17.

[0014] For example, the work vehicle 10 travels back and forth in parallel from a work start position S to a work end position G in a work area of ​​a field F shown in Fig. 3. The outer periphery of the field F is, for example, a headland area, and the work vehicle 10 travels in a turning motion. The travel route R is not limited to the route shown in Fig. 3, and is set appropriately depending on the work content.

[0015] [Work vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work machine 14, a camera 15, a communication unit 16, a positioning device 17, and a detection processing device 19. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work machine 14, the positioning device 17, and the detection processing device 19. The vehicle control device 11 and the positioning device 17 may be capable of wireless communication. The camera 15 is also electrically connected to the detection processing device 19.

[0016] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 10) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data on the travel route R generated by the operation terminal 20, data for determination of obstacles, and the like. The data for determination is data for determining a human being, which is an example of an obstacle, and is, for example, data showing human characteristics, data of an image (sample image) showing a part or the whole of a human being, and the like. The data for determination may be stored in the detection processing device 19. Furthermore, work information (turning patterns, work sequences, etc.) may be stored in the memory unit 12. Note that an obstacle according to the present invention is an object that impedes the travel of the work vehicle 10, such as a human being, an animal, or equipment (another work vehicle, etc.).

[0017] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type that includes the front wheels 132 and the rear wheels 133, but may be a crawler type that includes crawlers provided on the left and right sides of the work vehicle 10.

[0018] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source together with or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided in the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11, the positioning device 17 and other electrical components provided in the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0019] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via a transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs a traveling operation in accordance with commands from the vehicle control device 11.

[0020] The working machine 14 is, for example, a grass cutter, a cultivator, a plow, a fertilizer applicator, or a seed sower, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various works using each of the working machines 14. In this embodiment, the working machine 14 will be described as a grass cutter.

[0021] For example, the work implement 14 is mounted offset to one of the left and right sides with respect to the work vehicle 10. For example, the work vehicle 10 is mounted with a directly mounted work implement 14 offset to one of the left and right sides and travels within a field to perform work such as mowing grass. Note that the work implement 14 is not limited to a directly mounted work implement (see FIG. 2) that is fixed to the work vehicle 10, and may be a towed work implement that is towed by the work vehicle 10.

[0022] Camera 15 is a digital camera that captures an image of a subject and outputs it as digital image data. Camera 15 continuously captures images of the subject at a predetermined frame rate, generates frame images with a predetermined resolution, and transmits them sequentially to detection processing device 19. Camera 15 is an example of the imaging unit of the present invention.

[0023] In this embodiment, five cameras 15 are installed at different locations on the work vehicle 10. Specifically, as shown in Fig. 4, a camera 15F (hereinafter also referred to as "camera 1") is installed at the front of the work vehicle 10, a camera 15B (hereinafter also referred to as "camera 2") is installed at the rear of the work vehicle 10, a camera 15R (hereinafter also referred to as "camera 3") is installed at the right side of the work vehicle 10, a camera 15L (hereinafter also referred to as "camera 4") is installed at the left side of the work vehicle 10, and a camera 15C (hereinafter also referred to as "camera 5") is installed at the right front part of the work implement 14. The cameras 15 may be installed on the work vehicle 10 by, for example, double-sided tape or the like.

[0024] Each camera 15 is set with a predetermined imaging range (detection area) that can be imaged. For example, camera 15F images detection area K1 in front of the work vehicle 10, camera 15B images detection area K2 behind the work vehicle 10, camera 15R images detection area K3 on the right side of the work vehicle 10, camera 15L images detection area K4 on the left side of the work vehicle 10, and camera 15C images detection area K5 on the right front of the work implement 14. Each camera 15 images each detection area at a predetermined frame rate and transmits the captured images to the detection processing device 19 one by one. The detection processing device 19 transmits the captured images and detection results (determination results) described later to the vehicle control device 11 and the operation terminal 20.

[0025] The detection processing device 19 is able to communicate with the cameras 15 by electrically connecting the cameras 15 to the work vehicle 10. When the detection processing device 19 is able to communicate with the cameras 15, it acquires the number of cameras 15 and identification information (device information) of each camera 15. The detection processing device 19 also outputs the acquired number information and identification information of the cameras 15 to the vehicle control device 11, and the vehicle control device 11 outputs the number information and identification information to the operation terminal 20. The operator can add cameras 15 or change the installation position.

[0026] The handle 137 is an operating section that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.

[0027] In addition to the handlebars 137, the traveling device 13 is equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0028] The positioning device 17 is a communication device including a positioning control unit 171, a memory unit 172, a communication unit 173, and a positioning antenna 174. For example, as shown in FIG. 2, the positioning device 17 is provided on the upper part of a cabin 18 in which an operator sits. The installation location of the positioning device 17 is not limited to the cabin 18. The positioning control unit 171, the memory unit 172, the communication unit 173, and the positioning antenna 174 of the positioning device 17 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 17, and the positioning device 17 can operate even when the engine 131 is stopped. The positioning device 17 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0029] The positioning control unit 171 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 172 is a non-volatile memory that stores a program for causing the positioning control unit 171 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 172. The program may be downloaded from a server (not shown) to the positioning device 17 via the communication network N1 and stored in the storage unit 172.

[0030] The communication unit 173 is a communication interface for connecting the positioning device 17 to the communication network N1 by wire or wirelessly, and for executing data communication with an external device such as a base station server via the communication network N1 in accordance with a predetermined communication protocol.

[0031] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0032] The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 174 from a satellite. For example, when the work vehicle 10 travels automatically within the field F, when the positioning antenna 174 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, the positioning control unit 171 calculates the distance between the positioning antenna 174 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 171 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)) that calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 travels automatically using positioning information obtained by the RTK method.

[0033] The vehicle control device 11 and the detection processing device 19 have control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The vehicle control device 11 and the detection processing device 19 control the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0034] The detection processing device 19 acquires a captured image from the camera 15, and determines whether or not an obstacle (e.g., a human) is included in the detection area based on the captured image. Specifically, as shown in FIG. 1, the detection processing device 19 includes various processing units such as an acquisition processing unit 111 and a detection processing unit 112. The detection processing device 19 functions as the various processing units by executing various processes according to the automatic driving program with a CPU. In addition, some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0035] The acquisition processing unit 111 acquires captured images from one or more cameras 15. For example, the acquisition processing unit 111 acquires captured images of each of the detection areas K1 to K5 in sequence, frame by frame, from each of the five cameras 15F, 15B, 15R, 15L, and 15C installed on the work vehicle 10 and the work machine 14. The acquisition processing unit 111 stores the acquired captured images in the memory unit 12 together with the capture time.

[0036] Moreover, the acquisition processing unit 111 outputs image data of the captured image that has been acquired to the operation terminal 20. The acquisition processing unit 111 is an example of the acquisition processing unit of the present invention.

[0037] The detection processing unit 112 detects an obstacle (e.g., a human) in the captured image acquired by the acquisition processing unit 111. Specifically, the detection processing unit 112 determines whether or not a human is included in the detection area based on the captured image. For example, the detection processing unit 112 performs image analysis on the captured image and compares it with the determination data stored in the storage unit 12 or the detection processing device 19 to determine the presence or absence of a human in the detection area. In addition, the detection processing unit 112 executes a determination process for each of the captured images acquired in sequence by the acquisition processing unit 111. For example, the detection processing unit 112 executes the determination process on the captured image of the camera 15F, then executes the determination process on the captured image of the camera 15B, then executes the determination process on the captured image of the camera 15R, then executes the determination process on the captured image of the camera 15L, and then executes the determination process on the captured image of the camera 15C. The detection processing unit 112 transmits the detection result (determination result) to the operation terminal 20. The detection processing unit 112 is an example of a detection processing unit of the present invention.

[0038] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 113. The vehicle control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0039] The driving processing unit 113 controls the driving of the work vehicle 10. Specifically, the driving processing unit 113 starts the automatic driving of the work vehicle 10 when it acquires a work start instruction from the operation terminal 20. For example, when the operator presses a work start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the driving processing unit 113 acquires a work start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. As a result, the work vehicle 10 starts automatic driving according to the driving route R, and starts work by the work equipment 14. The driving route R along which the work vehicle 10 travels is generated by, for example, the operation terminal 20. The work vehicle 10 acquires the driving route R from the operation terminal 20, and automatically travels within the field F according to the driving route R.

[0040] Furthermore, the driving processing unit 113 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses a driving stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10. For example, when the detection processing unit 112 detects a human being, if the operator does not issue either a driving stop instruction or a driving continue instruction on the operation screen of the operation terminal 20 for a predetermined time, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10. When the driving processing unit 113 receives a driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. As a result, the work vehicle 10 stops automatic driving and stops work by the work equipment 14. Specific examples of driving stop instructions and driving continue instructions will be described later.

[0041] Furthermore, the driving processing unit 113 resumes the automatic driving of the work vehicle 10 when it receives a driving resume instruction from the operation terminal 20. For example, when the detection processing unit 112 detects a human being and the work vehicle 10 stops driving, and then the operator presses the driving resume button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving resume instruction to the work vehicle 10. When the driving processing unit 113 receives the driving resume instruction from the operation terminal 20, it resumes the automatic driving of the work vehicle 10. As a result, the work vehicle 10 resumes automatic driving again according to the driving route R. The driving processing unit 113 is an example of a driving processing unit of the present invention.

[0042] [Operation terminal 20] 1, 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. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0043] 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 for 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.

[0044] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. The operator can operate the operation unit to register various information (such as work vehicle information, field information, and work information described below) on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the work vehicle 10 to start work, stop traveling, and resume traveling. Furthermore, the operator can grasp the traveling state of the work vehicle 10 that automatically travels in the field F according to the traveling route R from the traveling trajectory displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0045] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores control programs such as an automatic driving program for causing the operation control unit 21 to execute an automatic driving process (see FIG. 10) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0046] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 by the CPU.

[0047] As shown in Fig. 1, the operation control unit 21 includes various processing units such as a vehicle setting processing unit 211, a field setting processing unit 212, a task setting processing unit 213, a route generation processing unit 214, an output processing unit 215, a display processing unit 216, and a reception processing unit 217. The operation control unit 21 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0048] The vehicle setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 174 is attached to the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 while working, and the vehicle speed and engine speed of the work vehicle 10 while turning, by the operator performing an operation to register the information on the operation terminal 20.

[0049] The field setting processing unit 212 sets information (hereinafter referred to as field information) about the field F. The field setting processing unit 212 sets information such as the position and shape of the field F, the work start position S where the work is started and the work end position G where the work is ended (see FIG. 3 ), the work direction, etc., by performing an operation to register the information on the operation terminal 20.

[0050] The working direction refers to the direction in which the work vehicle 10 travels while working with the work implement 14 in the working area which is the area of ​​the field F excluding non-working areas such as the headland, non-cultivated land, etc.

[0051] Information on the position and shape of the field F can be automatically acquired, for example, by an operator getting on board the work vehicle 10 and driving it around the perimeter of the field F, and recording the transition of the position information of the positioning antenna 174 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by the operator operating the operation terminal 20 while a map is displayed on the map and specifying multiple points on the map. The area specified by the acquired position and shape of the field F is the area in which the work vehicle 10 can travel (travel area).

[0052] The work setting processing unit 213 sets information on how to specifically perform work (hereinafter referred to as work information). The work setting processing unit 213 is configured to be able to set, as work information, whether or not a cooperative work will be performed between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the skip number which is the number of work routes to skip when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-cultivated land.

[0053] The route generation processing unit 214 generates a travel route R, which is a route along which the work vehicle 10 will automatically travel, based on the setting information. The travel route R is, for example, a work route from a work start position S to a work end position G (see FIG. 3). The travel route R shown in FIG. 3 is a route along which the work vehicle 10 travels back and forth in parallel in the work area of ​​the field F. The route generation processing unit 214 can generate and store the travel route R for the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213.

[0054] Specifically, the route generation processing unit 214 generates a travel route R (see FIG. 3) based on the work start position S and the work end position G registered in the field setting. The travel route R is not limited to the route shown in FIG.

[0055] The work vehicle 10 is configured such that data of the travel route R generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 12, and the work vehicle 10 is capable of autonomously traveling along the travel route R while detecting the current position of the work vehicle 10 by the positioning antenna 174. The current position of the work vehicle 10 normally coincides with the position of the positioning antenna 174.

[0056] The work vehicle 10 according to this embodiment travels in a substantially rectangular field F as shown in Fig. 3. The work vehicle 10 is configured to be able to travel automatically when its current position is located within the field F, and is configured not to be able to travel automatically when its current position is located outside the field F (such as a public road). Furthermore, the work vehicle 10 is configured to be able to travel automatically when, for example, its current position coincides with a work start position S.

[0057] When the current position of the work vehicle 10 coincides with the work start position S and the operator presses the work start button on the operation screen to give a work start instruction, the driving processing unit 113 starts automatic driving and the work equipment 14 (see FIG. 2) starts work. That is, the operation control unit 21 permits automatic driving of the work vehicle 10 on the condition that the current position coincides with the work start position S. Note that the conditions for permitting automatic driving of the work vehicle 10 are not limited to the above conditions.

[0058] The output processing unit 215 outputs information about the travel route R generated by the route generation processing unit 214 to the work vehicle 10. In addition, the output processing unit 215 can instruct the work vehicle 10 to start and stop automatic travel, etc., by transmitting a control signal to the work vehicle 10 via the communication unit 24. This makes it possible for the work vehicle 10 to travel automatically.

[0059] For example, the driving processing unit 113 automatically drives the work vehicle 10 from the work start position S to the work end position G based on the driving route R acquired from the operation terminal 20. Furthermore, when the work vehicle 10 finishes work, the driving processing unit 113 may automatically drive from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically driving, the operation control unit 21 can receive the status of the work vehicle 10 (position, driving speed, etc.) from the work vehicle 10 and display it on the operation display unit 23.

[0060] The display processing unit 216 displays various information on the operation display unit 23. For example, the display processing unit 216 displays on the operation display unit 23 an operation screen for registering work vehicle information, field information, work information, etc., a setting screen D1 (see FIG. 5) for setting the layout of the image display field L1 for displaying images captured by each of the multiple cameras 15 installed on the work vehicle 10, a traveling status screen D2 (see FIGS. 6 to 8) for displaying the captured images, a traveling selection screen D3 (see FIG. 9) for selecting a traveling stop instruction for stopping the traveling of the work vehicle 10 or a traveling continue instruction for continuing the traveling, etc.

[0061] The reception processing unit 217 receives various operations from the operator. For example, the reception processing unit 217 receives an operation to set the layout of the image display field L1 (one example of a setting operation of the present invention) from the operator. The reception processing unit 217 also receives a work start instruction from the operator to make the work vehicle 10 start work. The reception processing unit 217 also receives a travel stop instruction from the operator to stop the travel of the work vehicle 10 during automatic travel. The reception processing unit 217 also receives a travel stop instruction or travel continue instruction from the operator when the work vehicle 10 detects a human being. The reception processing unit 217 also receives a travel restart instruction from the operator to restart the travel of the work vehicle 10 that has stopped traveling. When the reception processing unit 217 receives each of the instructions, the output processing unit 215 outputs each of the instructions to the work vehicle 10. The reception processing unit 217 is one example of the reception processing unit of the present invention.

[0062] The driving processing unit 113 of the work vehicle 10 starts driving and working when it receives a work start instruction from the operation terminal 20. Moreover, the driving processing unit 113 stops the driving and working of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. Moreover, the driving processing unit 113 continues the driving and working of the work vehicle 10 when it receives a driving continue instruction from the operation terminal 20. Moreover, the driving processing unit 113 resumes the driving and working of the work vehicle 10 when it receives a driving resume instruction from the operation terminal 20.

[0063] Here, a specific example will be described. For example, as shown in FIG. 4, when five cameras 15F, 15B, 15R, 15L, and 15C (cameras 1 to 5) are installed on the work vehicle 10, the display processing unit 216 acquires the number and identification information of the cameras 15 from the work vehicle 10 and displays a setting screen D1 for setting the layout of the image display field L1 on the operation display unit 23. For example, as shown in FIG. 5A, the display processing unit 216 displays five image display fields L1 that display images captured by the camera 15F (camera 1), camera 15B (camera 2), camera 15R (camera 3), camera 15L (camera 4), and camera 15C (camera 5) in an arbitrary order. Also, as shown in FIG. 5B, for example, the display processing unit 216 may arrange the five image display fields L1 at positions corresponding to the installation layout of the cameras 15 on the work vehicle 10. Also, the operator can change the layout of the image display field L1 on the setting screen D1. For example, the operator can place each image display field L1 at a desired position on the setting screen D1 by a drag-and-drop operation or the like.

[0064] Furthermore, as shown on the left side of the setting screen D1, it is desirable for the display processing unit 216 to display an image (camera arrangement image Pc) that enables identification of the arrangement position of each camera 15 relative to the work vehicle 10. This allows the operator to easily grasp the correspondence between the arrangement position of each camera 15 and the layout of each image display field L1. Note that the display processing unit 216 may omit the camera arrangement image Pc from the setting screen D1.

[0065] The display processing unit 216 arranges and displays a plurality of captured images P1 in accordance with the setting operation in the setting screen D1. For example, when the layout of the image display field L1 shown in FIG. 5A is set, the display processing unit 216 displays a camera image display field A1 displaying captured images from each camera 15 on a driving state screen D2 displaying the state of automatic driving of the work vehicle 10, as shown in FIG. 6A. The driving state screen D2 displays the current state of the work vehicle 10 during automatic driving in real time. The operator can grasp the current driving status and work status of the work vehicle 10 on the driving state screen D2. The display processing unit 216 displays each image display field L1 in the camera image display field A1 in accordance with the layout set in the setting screen D1. FIG. 6B shows an example of the driving state screen D2 in which the captured image P1 is displayed in each image display field L1. The captured image P1 displayed in each image display field L1 is updated in real time.

[0066] When the image display field L1 is set to the layout shown in Fig. 5B, the display processing unit 216 displays each image display field L1 shown in Fig. 7A. Fig. 7B shows an example of the traveling state screen D2 in which the captured image P1 is displayed in each image display field L1.

[0067] Here, when an obstacle (here, a human) is detected in at least one of the captured images of the five cameras 15, the operation terminal 20 executes the following process. For example, when the detection processing unit 112 of the work vehicle 10 detects a human in an image acquired from the camera 15L (camera 4), the detection processing unit 112 outputs a determination result indicating that a human has been detected and identification information of the camera 15L (camera 4) corresponding to the captured image to the operation terminal 20. In addition, the acquisition processing unit 111 outputs image data of the captured image acquired from each camera 15 to the operation terminal 20.

[0068] When the display processing unit 216 of the operation terminal 20 acquires the image data from the work vehicle 10, it displays the captured image P1 in each image display field L1. Furthermore, when the display processing unit 216 acquires the determination result and the identification information from the work vehicle 10, it enlarges and displays the image display field L1 and captured image P1 corresponding to the camera 15L (camera 4) as shown in Fig. 8A. As a result, the image of the person detected as an obstacle is displayed in an enlarged manner.

[0069] As another embodiment, the display processing unit 216 may highlight and display the image display field L1 corresponding to the camera 15L (camera 4) among the multiple image display fields L1. For example, as shown in FIG. 8B, the display processing unit 216 displays the frame of the image display field L1 corresponding to the camera 15L (camera 4) with a thick line. The display processing unit 216 may also display the image display field L1 corresponding to the camera 15L (camera 4) in color, light up, or blink. The display processing unit 216 may also display only the image display field L1 corresponding to the camera 15L (camera 4) in the camera image display field A1, and hide the image display fields L1 corresponding to the other cameras 15.

[0070] Furthermore, when the display processing unit 216 acquires a determination result indicating that a human has been detected from the work vehicle 10, it causes the operation display unit 23 to display a travel selection screen D3 for selecting a travel stop instruction to stop the travel of the work vehicle 10 or a travel continue instruction to continue the travel. FIG. 9 shows an example of the travel selection screen D3. The display processing unit 216 displays, on the travel selection screen D3, a message indicating that an obstacle has been detected, a message for selecting whether to stop or continue the travel, a travel stop button B1 to stop the travel, and a travel continue button B2 to continue the travel. When the operator presses the travel stop button B1 on the travel selection screen D3, the reception processing unit 217 accepts the travel stop instruction. When the reception processing unit 217 accepts the travel stop instruction, the output processing unit 215 outputs the travel stop instruction to the work vehicle 10. When the travel processing unit 113 of the work vehicle 10 acquires the travel stop instruction from the operation terminal 20, it causes the work vehicle 10 to stop traveling and work.

[0071] In response to this, when the operator presses the continue traveling button B2 on the travel selection screen D3, the reception processing unit 217 receives a continue traveling instruction. When the reception processing unit 217 receives the continue traveling instruction, the output processing unit 215 outputs the continue traveling instruction to the work vehicle 10. When the travel processing unit 113 of the work vehicle 10 acquires the continue traveling instruction from the operation terminal 20, it does not stop the travel and work of the work vehicle 10, but continues the travel and work. Note that when the reception processing unit 217 receives the continue traveling instruction, the output processing unit 215 may be configured not to output the continue traveling instruction to the work vehicle 10. As a result, the travel processing unit 113 does not perform processing to stop the travel of the work vehicle 10, and as a result, the travel and work continue.

[0072] Here, it is considered that the operator does not press either the travel stop button B1 or the travel continue button B2 on the travel selection screen D3. For example, it is considered that the operator does not notice that an obstacle has been detected or that the travel selection screen D3 has been displayed. In this case, in order to avoid the risk of the work vehicle 10 coming into contact with the obstacle, the output processing unit 215 outputs the travel stop instruction to the work vehicle 10. Specifically, when the reception processing unit 217 does not accept either the travel stop instruction or the travel continue instruction, the travel processing unit 113 stops the automatic travel of the work vehicle 10. For example, when the operator does not press either the travel stop button B1 or the travel continue button B2 within a predetermined time after the display processing unit 216 displays the travel selection screen D3 or the detection processing unit 112 detects a human being, the output processing unit 215 outputs the travel stop instruction to the work vehicle 10.

[0073] In this way, when an obstacle (human) is detected by the detection processing unit 112, if the reception processing unit 217 does not receive either the instruction to stop traveling or the instruction to continue traveling before a predetermined time has elapsed, the traveling processing unit 113 stops the automatic traveling of the work vehicle 10. In other words, when the work vehicle 10 detects an obstacle but does not receive an instruction from the operator, it stops traveling and working.

[0074] Here, the predetermined time may be a fixed time set in advance, or may be a time according to the size of the obstacle when the obstacle is detected. For example, when the size of the obstacle is large in the captured image, the distance between the work vehicle 10 and the obstacle is closer than when the size of the obstacle is small in the captured image. Therefore, the operation control unit 21 sets the predetermined time shorter as the size of the obstacle in the captured image is larger. Also, the operation control unit 21 sets the predetermined time longer as the size of the obstacle in the captured image is smaller. Thereby, when the distance between the work vehicle 10 and the obstacle is close, the reception time of the stop travel instruction and the continue travel instruction can be shortened, and when the distance between the work vehicle 10 and the obstacle is long, the reception time of the stop travel instruction and the continue travel instruction can be lengthened. Note that the travel processing unit 113 may decelerate the work vehicle 10 during the predetermined time.

[0075] The operation control unit 21 may notify the operator of information indicating that the work vehicle 10 has detected an obstacle. For example, the operation control unit 21 may output a sound (warning sound) when the work vehicle 10 detects an obstacle.

[0076] After the work vehicle 10 has stopped due to the travel stop instruction, when the operator issues the travel restart instruction on the operation terminal 20, the reception processing unit 217 receives the travel restart instruction, and the output processing unit 215 outputs the travel restart instruction to the work vehicle 10. When the travel processing unit 113 of the work vehicle 10 acquires the travel restart instruction from the operation terminal 20, it causes the work vehicle 10 to resume travel and work.

[0077] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service 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 by the operation control unit 21. The server includes the above-mentioned processing units and executes each process.

[0078] In another embodiment, the functions of the vehicle control device 11 and the detection processing device 19 described above may be included in the operation control unit 21 of the operation terminal 20. That is, for example, the operation control unit 21 may acquire image data of captured images from each camera 15 of the work vehicle 10 and execute a process of detecting an obstacle. In addition, the functions of the detection processing device 19 (the acquisition processing unit 111 and the detection processing unit 112) may be included in the vehicle control device 11.

[0079] [Automatic driving processing] 10, an example of the automatic driving process executed by the vehicle control device 11, the detection processing device 19, and the operation control unit 21 will be described below. For example, the automatic driving process is started by the vehicle control device 11, the detection processing device 19, and the operation control unit 21 when the work vehicle 10 starts automatic driving.

[0080] The present invention may be understood as an invention of an automatic driving method in which the vehicle control device 11, the detection processing device 19, and the operation control unit 21 execute part or all of the automatic driving process, or as an invention of an automatic driving program for causing the vehicle control device 11, the detection processing device 19, and the operation control unit 21 to execute part or all of the automatic driving method. The automatic driving process may be executed by one or more processors.

[0081] In step S1, the vehicle control device 11 causes the work vehicle 10 to start work. For example, when the operator presses a work start button on the operation screen of the operation terminal 20, the operation control unit 21 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires the work start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic traveling. As a result, the work vehicle 10 starts automatic traveling according to the travel route R, and starts work by the work equipment 14.

[0082] Next, in step S2, the detection processing device 19 acquires captured images from each camera 15 installed on the work vehicle 10. For example, the detection processing device 19 acquires captured images (frame images) continuously at a predetermined frame rate from each of the five cameras 15F, 15B, 15R, 15L, and 15C.

[0083] Next, in step S3, the detection processing device 19 detects an obstacle (e.g., a human) in the acquired captured image. Specifically, the detection processing device 19 determines whether or not a human is included in the detection area based on the captured image. If the detection processing device 19 detects a human (S3: Yes), the process proceeds to step S4. On the other hand, if the detection processing device 19 does not detect a human (S3: No), the process proceeds to step S31.

[0084] In step S31, the vehicle control device 11 determines whether or not the work vehicle 10 has finished work. If the work vehicle 10 has finished work (S31: Yes), the process ends. On the other hand, if the work vehicle 10 has not finished work (S31: No), the process returns to step S2. In this way, if the detection processing device 19 does not detect a person, it travels and works while acquiring captured images until the specified work is completed.

[0085] Furthermore, the detection processing device 19 outputs image data of the acquired captured image, identification information of the camera 15 corresponding to the captured image, and a determination result indicating whether or not a human is included in the captured image to the operation terminal 20. When the operation control unit 21 acquires the image data from the detection processing device 19 of the work vehicle 10, it causes the captured image P1 to be displayed in each image display field L1 (see FIG. 6B).

[0086] In step S4, the operation control unit 21 enlarges and displays the captured image including a person. For example, when a human being is detected in the captured image corresponding to the camera 15L (camera 4), the operation control unit 21 enlarges the image display field L1 corresponding to the camera 15L (camera 4) and enlarges and displays the captured image P1, as shown in Fig. 8A. As a result, the image of the human being detected as an obstacle is enlarged and displayed.

[0087] Next, in step S5, the operation control unit 21 causes the operation display unit 23 to display a travel selection screen D3 for selecting a travel stop instruction to stop the work vehicle 10 from traveling or a travel continue instruction to continue traveling (see FIG. 9).

[0088] Next, in step S6, the operation control unit 21 judges whether or not the operation stop instruction is received from the operator on the traveling selection screen D3. For example, when the operator presses the traveling stop button B1 on the traveling selection screen D3 shown in Fig. 9, the operation control unit 21 receives the traveling stop instruction (S6: Yes), and the process proceeds to step S9. On the other hand, when the operator does not press the traveling stop button B1 on the traveling selection screen D3 shown in Fig. 9 (S6: No), the process proceeds to step S7.

[0089] Next, in step S7, the operation control unit 21 judges whether or not the operation control unit 21 has received the instruction to continue driving from the operator on the driving selection screen D3. For example, when the operator presses the continue driving button B2 on the driving selection screen D3 shown in Fig. 9, the operation control unit 21 receives the instruction to continue driving (S7: Yes), and the process proceeds to step S71. On the other hand, when the operator does not press the continue driving button B2 on the driving selection screen D3 shown in Fig. 9 (S7: No), the process proceeds to step S8.

[0090] In step S71, the operation control unit 21 does not stop the travel and work of the work vehicle 10, but allows the travel and work to continue. After that, the process returns to step S2.

[0091] In step S8, the operation control unit 21 determines whether a predetermined time has elapsed. Specifically, the operation control unit 21 determines whether the predetermined time has elapsed without receiving either the travel stop instruction or the travel continue instruction since the operation control unit 21 displayed the travel selection screen D3 or since the detection processing device 19 detected a human. If the predetermined time has elapsed without receiving either the travel stop instruction or the travel continue instruction (S8: Yes), the process proceeds to step S9. If the predetermined time has not elapsed (S8: No), the process returns to step S6.

[0092] In step S9, the operation control unit 21 outputs the travel stop instruction to the work vehicle 10, and the vehicle control device 11 causes the work vehicle 10 to stop traveling and working.

[0093] In step S10, the operation control unit 21 determines whether or not a traveling restart instruction has been received from the operator. If the operation control unit 21 receives the traveling restart instruction from the operator (S10: Yes), the process returns to step S2. On the other hand, if the operation control unit 21 does not receive the traveling restart instruction from the operator (S10: No), the process ends. The vehicle control device 11, the detection processing device 19, and the operation control unit 21 repeatedly execute the processes of steps S1 to S10 until the work vehicle 10 finishes the work.

[0094] As described above, the automatic driving system 1 according to this embodiment acquires the captured image P1 from the camera 15 installed on the work vehicle 10, and detects an obstacle based on the captured image P1. In addition, when the automatic driving system 1 detects the obstacle, it accepts a travel stop instruction to stop the automatic driving of the work vehicle 10 or a travel continue instruction to continue the automatic driving. Then, when the automatic driving system 1 accepts the travel stop instruction, it stops the automatic driving of the work vehicle 10, and when it accepts the travel continue instruction, it continues the automatic driving of the work vehicle 10. Thereby, when the work vehicle 10 detects an obstacle during automatic driving, the operator can select whether to stop the automatic driving or to continue the automatic driving. For example, if the obstacle does not hinder the automatic driving, the operator can instruct the automatic driving to continue, and the work vehicle 10 will continue the automatic driving without stopping, thereby preventing a decrease in work efficiency. In addition, for example, if the obstacle hinders the automatic driving, the operator can ensure safety by stopping the automatic driving and removing the obstacle. Then, when the safety of the work vehicle 10 is ensured, the operator can resume the automatic driving. Therefore, it is possible to ensure the safety of the work vehicle 10 while preventing a decrease in work efficiency.

[0095] Furthermore, when the work vehicle 10 detects an obstacle during automatic driving, if the operator does not perform either an operation to stop automatic driving or an operation to continue automatic driving within a predetermined time, the automatic driving system 1 stops automatic driving. This makes it possible to avoid a situation in which the work vehicle 10 continues automatic driving and comes into contact with an obstacle without the operator noticing.

[0096] The present invention is not limited to the above-described embodiment, and may be embodied as follows.

[0097] In the above-described embodiment, when an obstacle (human) is detected by the detection processing unit 112, if the reception processing unit 217 does not accept either the stop traveling instruction or the continue traveling instruction before a predetermined time has elapsed, the traveling processing unit 113 stops the automatic traveling of the work vehicle 10. As another embodiment, when an obstacle is detected by the detection processing unit 112, if the reception processing unit 217 does not accept either the stop traveling instruction or the continue traveling instruction before the distance between the work vehicle 10 and the obstacle becomes a predetermined distance, the traveling processing unit 113 may stop the automatic traveling of the work vehicle 10.

[0098] The operation control unit 21 may calculate the change in the distance between the work vehicle 10 and an obstacle based on successive frame images acquired from the work vehicle 10. For example, as shown in Fig. 11, the operation control unit 21 can calculate the distance based on the size of a frame W1 that surrounds a person in a captured image P1.

[0099] Here, the predetermined distance may be a constant distance set in advance, or may be a distance according to the size of the obstacle when the obstacle is detected. For example, when the size of the obstacle is large in the captured image, the distance between the work vehicle 10 and the obstacle is closer than when the size of the obstacle is small in the captured image. Therefore, the operation control unit 21 sets the predetermined distance shorter as the size of the obstacle in the captured image is larger. Also, the operation control unit 21 sets the predetermined distance longer as the size of the obstacle in the captured image is smaller. Thereby, when the distance between the work vehicle 10 and the obstacle is close, the reception time of the stop travel instruction and the continue travel instruction can be shortened, and when the distance between the work vehicle 10 and the obstacle is long, the reception time of the stop travel instruction and the continue travel instruction can be lengthened. Note that the travel processing unit 113 may decelerate the work vehicle 10 for the predetermined distance.

[0100] As another embodiment, for example, when the detection processing unit 112 detects a specific person and the operator issues an instruction to continue traveling, if the detection processing unit 112 subsequently detects the same person again, the work vehicle 10 may continue the automatic traveling without obtaining an instruction to continue traveling from the operator. This makes it possible to improve convenience, since it becomes unnecessary to request the operator to select an instruction to stop traveling or an instruction to continue traveling every time the same obstacle that does not impede automatic traveling is detected, for example.

[0101] In this embodiment, the obstacle is detected and determined based on the image captured by the camera, but in another embodiment, the camera and Lidar (obstacle detection sensor) may be used together. Specifically, the obstacle may be detected by Lidar and determined by the camera. The obstacle detection sensor may be a sensor that uses ultrasonic waves or the like.

[0102] [Notes on the invention] <Appendix 1> an acquisition processing unit that acquires captured images from an imaging unit installed in the work vehicle; a detection processing unit that detects an obstacle based on the captured image acquired by the acquisition processing unit; a reception processing unit that receives a travel stop instruction to stop the automatic travel of the work vehicle or a travel continue instruction to continue the automatic travel of the work vehicle when the obstacle is detected by the detection processing unit; a driving processing unit that stops the automatic driving of the work vehicle when the reception processing unit receives the driving stop instruction, and continues the automatic driving of the work vehicle when the reception processing unit receives the driving continue instruction; An automated driving system equipped with

[0103] <Appendix 2> When the reception processing unit does not receive either the travel stop instruction or the travel continue instruction, the travel processing unit stops the automatic travel of the work vehicle. 2. An automated driving system as described in appendix 1.

[0104] <Appendix 3> When the obstacle is detected by the detection processing unit, if the reception processing unit does not receive either the travel stop instruction or the travel continue instruction until a predetermined time has elapsed, the travel processing unit stops the automatic travel of the work vehicle. 2. An automated driving system as described in appendix 2.

[0105] <Appendix 4> The predetermined time is set to a shorter time as the size of the obstacle included in the captured image increases, and is set to a longer time as the size of the obstacle included in the captured image decreases. 4. An automated driving system as described in appendix 3.

[0106] <Appendix 5> When the obstacle is detected by the detection processing unit, if the reception processing unit does not receive either the travel stop instruction or the travel continue instruction until the distance between the work vehicle and the obstacle becomes a predetermined distance, the travel processing unit stops the automatic travel of the work vehicle. 2. An automated driving system as described in appendix 2.

[0107] <Appendix 6> The predetermined distance is set to a shorter distance as the size of the obstacle included in the captured image increases, and the predetermined distance is set to a longer distance as the size of the obstacle included in the captured image decreases. 6. An automated driving system as described in appended claim 5.

[0108] <Appendix 7> The imaging unit is installed in a plurality of different locations on the work vehicle, a display processing unit that displays, on an operation terminal, a plurality of the captured images corresponding to the plurality of the imaging units acquired by the acquisition processing unit in an arranged manner, The display processing unit displays, in an emphasized manner, the captured image in which the obstacle is detected among the plurality of captured images. 7. The automatic driving system according to claim 1,

[0109] <Appendix 8> The reception processing unit further receives a setting operation for setting a layout of the plurality of captured images to be displayed on the operation terminal; the display processing unit causes the operation terminal to arrange and display the plurality of captured images in accordance with the setting operation. 8. The automated driving system described in claim 7.

[0110] <Appendix 9> One or more processors Acquiring an image from an imaging unit installed in a work vehicle; Detecting an obstacle based on the acquired captured image; receiving a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving of the work vehicle when the obstacle is detected; stopping the automatic traveling of the work vehicle when the traveling stop instruction is received, and continuing the automatic traveling of the work vehicle when the traveling continue instruction is received; An autonomous driving system that performs the following:

[0111] <Appendix 10> Acquiring an image from an imaging unit installed in a work vehicle; Detecting an obstacle based on the acquired captured image; receiving a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving of the work vehicle when the obstacle is detected; stopping the automatic traveling of the work vehicle when the traveling stop instruction is received, and continuing the automatic traveling of the work vehicle when the traveling continue instruction is received; An automated driving program for executing the above on one or more processors. [Explanation of symbols]

[0112] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 13: Running gear 14: Work equipment 15: Camera (imaging unit) 17: Positioning device 19: Detection processing device 20: Operation terminal 21: Operation control section 23: Operation display section 111: Acquisition processing unit 112: Detection processing unit 113: Driving processing unit 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting processing section 214: Route generation processing unit 215: Output processing section 216: Display processing unit 217: Reception department

Claims

1. a detection processing unit that detects obstacles using an obstacle detection device installed in the work vehicle; a display processing unit that, when the obstacle is detected by the detection processing unit, displays on an operation terminal a selection screen that accepts a stop driving instruction to stop the automatic driving of the work vehicle or a continue driving instruction to continue the automatic driving; a reception processing unit that receives an operation from an operator on the selection screen to select the travel stop instruction or the travel continue instruction; a driving processing unit that stops the automatic driving of the work vehicle when the reception processing unit receives the driving stop instruction, and continues the automatic driving of the work vehicle when the reception processing unit receives the driving continue instruction; An autonomous driving system equipped with

2. When the reception processing unit does not receive either the stop driving instruction or the continue driving instruction, the driving processing unit stops the automatic driving of the work vehicle. The automated driving system according to claim 1 .

3. When the obstacle is detected by the detection processing unit, if the reception processing unit does not receive either the stop driving instruction or the continue driving instruction from the operator on the selection screen within a predetermined time period, the driving processing unit stops the automatic driving of the work vehicle. The automated driving system according to claim 2 .

4. When the obstacle is detected by the detection processing unit, if the reception processing unit does not receive either the stop driving instruction or the continue driving instruction from the operator on the selection screen until the distance between the work vehicle and the obstacle reaches a predetermined distance, the driving processing unit stops the automatic driving of the work vehicle. The automated driving system according to claim 2 .

5. One or more processors: Detecting an obstacle by an obstacle detection device installed in the work vehicle; When the obstacle is detected, displaying on the operation terminal a selection screen for receiving a stop instruction to stop the automatic traveling of the work vehicle or a continue instruction to continue the automatic traveling; receiving an operation from an operator on the selection screen to select the travel stop instruction or the travel continue instruction; stopping the automatic traveling of the work vehicle when the traveling stop instruction is received, and continuing the automatic traveling of the work vehicle when the traveling continue instruction is received; An automated driving method that performs the above.

6. Detecting an obstacle by an obstacle detection device installed in a work vehicle; When the obstacle is detected, displaying on the operation terminal a selection screen for receiving a stop instruction to stop the automatic traveling of the work vehicle or a continue instruction to continue the automatic traveling; receiving an operation from an operator on the selection screen to select the travel stop instruction or the travel continue instruction; stopping the automatic traveling of the work vehicle when the traveling stop instruction is received, and continuing the automatic traveling of the work vehicle when the traveling continue instruction is received; An automated driving program for executing the above on one or more processors.

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