Automatic travel system and automatic travel method

Abstract

To provide an automatic travel system and automatic travel method capable of: generating a target travel path that is in accordance with a travel driving mode; improving work efficiency; and causing a work vehicle to automatically travel while turning at an appropriate turning radius that is in accordance with the travel driving mode.SOLUTION: The automatic travel system comprises a display control unit that causes a travel driving mode for causing a work vehicle to automatically travel to be selectably displayed.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] The above-mentioned automatic driving system automatically drives the work vehicle along a target driving path based on positioning information of the work vehicle acquired using a satellite positioning system or the like (for example, see Patent Document 1). The target driving path is generated in advance for the work area based on field information on the field that is the work area and vehicle body information on the work vehicle. As the target driving paths, a work path that causes the work vehicle to drive straight while working with the work device, and a connecting path that causes the work vehicle to turn (turn 180 degrees) while the work with the work device is stopped are generated. A plurality of work paths are generated in parallel with an interval between them in a direction perpendicular to the work path, and a plurality of connecting paths are generated in a state of connecting the ends of adjacent work paths in a direction perpendicular to the work path so that the work vehicle turns from the end of the work path to the start of the next work path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-75027 A Summary of the Invention [Problem to be solved by the invention]

[0004] The connecting path in the target driving path is generated based on the turning radius when the work vehicle is turned. The turning radius varies depending on the driving method of the work vehicle. For example, if the driving method of the work vehicle is a four-wheel drive system, the turning radius is larger than that of a two-wheel drive system.

[0005] However, when generating a target driving route including a connecting route, the driving method of the work vehicle is not taken into consideration, and it has not been possible to generate a target driving route that corresponds to the driving method.

[0006] For example, consider a case where a connecting path is generated assuming that the driving system of the work vehicle is a four-wheel drive system. In this case, when the work vehicle is turned using the four-wheel drive system, a sufficient turning radius is ensured, and the work vehicle can be turned appropriately. However, in order to ensure a sufficient turning radius, the headland formed between the end of the work path and the end of the work area (field) becomes large, and the distance of the work path becomes short. Therefore, when the work vehicle is turned using the two-wheel drive system, the headland becomes larger than necessary and the distance of the work path becomes shorter than necessary, resulting in a decrease in work efficiency.

[0007] On the other hand, if a connecting route is generated assuming that the work vehicle is a two-wheel drive system, the headland can be made smaller and the distance of the work route can be made longer. However, when a work vehicle is made to turn using a four-wheel drive system, a sufficient turning radius is not ensured, and the work vehicle cannot be made to turn.

[0008] In view of this situation, the main objective of the present invention is to provide an automatic driving system that can generate a target driving route according to the driving method, improve work efficiency, and enable a work vehicle to automatically drive in a state where it turns with an appropriate turning radius according to the driving method. [Means for solving the problem]

[0009] An autonomous driving system according to one aspect of the present invention includes a display control unit that displays a selectable driving method for autonomously driving a work vehicle.

[0010] An autonomous driving method according to one aspect of the present invention includes displaying a selectable driving method for autonomously driving a work vehicle. [Brief description of the drawings]

[0011] [Figure 1] A diagram showing the schematic configuration of an automated driving system [Diagram 2] Block diagram showing the schematic configuration of an automated driving system [Diagram 3] A diagram showing a working area when a target driving route is set. [Figure 4] A diagram showing a screen for inputting turning information [Diagram 5] A diagram showing connecting routes in a target driving route. [Figure 6] A diagram showing connecting routes in a target driving route. [Figure 7] Diagram showing the relationship for turning radius [Figure 8] A diagram showing the route creation settings confirmation screen [Figure 9] Flowchart showing the operation when the tractor is made to travel automatically [Figure 10] Flowchart showing the operation when the tractor is made to travel automatically DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an automatic driving system according to the present invention will be described with reference to the drawings. [First embodiment] As shown in FIG. 1, this automated driving system applies a tractor 1 as a work vehicle, but can also apply other ride-on work vehicles such as rice transplanters, combine harvesters, ride-on mowers, wheel loaders, snowplows, and unmanned work vehicles such as unmanned mowers.

[0013] 1 and 2, this automatic driving system includes an automatic driving unit 2 mounted on a tractor 1, and a mobile communication terminal 3 set to be able to communicate with the automatic driving unit 2. The mobile communication terminal 3 may be a tablet-type personal computer or a smartphone having a touch-operable display unit 51 (e.g., a liquid crystal panel) or the like.

[0014] The tractor 1 is equipped with a traveling body 7 having left and right front wheels 5 which function as drivable steering wheels, and left and right rear wheels 6 which can also be driven. A bonnet 8 is disposed on the front side of the traveling body 7, and an electronically controlled diesel engine (hereinafter referred to as the engine) 9 equipped with a common rail system is provided inside the bonnet 8. A cabin 10 which forms a riding type driver's section is provided behind the bonnet 8 of the traveling body 7.

[0015] The tractor 1 can be configured for rotary tilling by connecting a rotary tilling device, which is an example of a working device 12, to the rear of the traveling body 7 via a three-point link mechanism 11 so that the rotary tilling device can be raised, lowered, and rolled. Instead of the rotary tilling device, a working device 12 such as a plow, a sowing device, or a spraying device can be connected to the rear of the tractor 1.

[0016] As shown in FIG. 2, the tractor 1 is equipped with an electronically controlled transmission 13 that changes the speed of the power from the engine 9, a fully hydraulic power steering mechanism 14 that steers the left and right front wheels 5, left and right side brakes (not shown) that brake the left and right rear wheels 6, an electronically controlled brake operation mechanism 15 that enables hydraulic operation of the left and right side brakes, a work clutch (not shown) that interrupts transmission to the work implement 12 such as a rotary tiller, an electronically controlled clutch operation mechanism 16 that enables hydraulic operation of the work clutch, an electronically hydraulically controlled lift drive mechanism 17 that drives the work implement 12 such as a rotary tiller to lift and lower, an on-board electronic control unit 18 that has various control programs related to the automatic driving of the tractor 1, a vehicle speed sensor 19 that detects the vehicle speed of the tractor 1, a steering angle sensor 20 that detects the steering angle of the front wheels 5, and a positioning unit 21 that measures the current position and current direction of the tractor 1.

[0017] The engine 9 may be an electronically controlled gasoline engine equipped with an electronic governor. The transmission 13 may be a hydromechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), or a belt type continuously variable transmission. The power steering mechanism 14 may be an electric power steering mechanism 14 equipped with an electric motor.

[0018] As shown in FIG. 1, inside the cabin 10, there is a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, a touch panel display unit, and various operating tools.

[0019] As shown in FIG. 2, the on-board electronic control unit 18 includes a transmission control unit 181 that controls the operation of the transmission 13, a braking control unit 182 that controls the operation of the left and right side brakes, an implement control unit 183 that controls the operation of the implement 12 such as a rotary tiller, a steering angle setting unit 184 that sets target steering angles for the left and right front wheels 5 during automatic driving and outputs the target steering angle to the power steering mechanism 14, and a non-volatile on-board memory unit 185 that stores a pre-generated target driving route P for automatic driving (see FIG. 3, for example).

[0020] As shown in FIG. 2, the positioning unit 21 includes a satellite navigation device 22 that uses a global positioning system (GPS), which is an example of a navigation satellite system (NSS), to measure the current position and current direction of the tractor 1, and an inertial measurement unit (IMU) 23 that has a three-axis gyroscope and a three-directional acceleration sensor and measures the attitude, direction, etc. of the tractor 1. GPS-based positioning methods include differential GPS (DGPS: relative positioning method) and real time kinematic GPS (RTK-GPS: interferometric positioning method). In this embodiment, RTK-GPS, which is suitable for positioning a moving object, is adopted. For this reason, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field, as shown in FIG. 1 and FIG. 2.

[0021] As shown in Fig. 2, the tractor 1 and the reference station 4 are each provided with a positioning antenna 24, 61 for receiving radio waves transmitted from a positioning satellite 71 (see Fig. 1), and a communication module 25, 62 for enabling wireless communication of various information including positioning information between the tractor 1 and the reference station 4. This allows the satellite navigation device 22 to measure the current position and current orientation of the tractor 1 with high accuracy based on the positioning information obtained by the tractor-side positioning antenna 24 receiving radio waves from the positioning satellite 71 and the positioning information obtained by the base station-side positioning antenna 61 receiving radio waves from the positioning satellite 71. Furthermore, the positioning unit 21 includes the satellite navigation device 22 and the inertial measurement device 23, and thus can measure the current position, current orientation, and attitude angles (yaw angle, roll angle, and pitch angle) of the tractor 1 with high accuracy.

[0022] The positioning antenna 24, the communication module 25, and the inertial measurement unit 23 provided in the tractor 1 are housed in an antenna unit 80, as shown in Fig. 1. The antenna unit 80 is disposed at an upper position on the front side of the cabin 10.

[0023] 2, the mobile communication terminal 3 is equipped with a terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51, etc., and a communication module 55 that enables wireless communication of various information including positioning information with the communication module 25 on the tractor side. The terminal electronic control unit 52 has a driving route generation unit 53 that generates a target driving route P (see FIG. 3, for example) for automatically driving the tractor 1, and a non-volatile terminal storage unit 54 that stores various input information input by the user, the target driving route P generated by the driving route generation unit 53, etc.

[0024] The travel route generating unit 53 generates a target travel route P (see FIG. 3, for example) within the working area S, and how the target travel route P is generated will be described later.

[0025] The target travel route P generated by the travel route generation unit 53 can be displayed on the display unit 51, and travel route information regarding the target travel route P is stored in the terminal storage unit 54. The travel route information includes the azimuth angle of the target travel route P, and a set engine rotation speed and a target travel speed that are set according to the travel mode of the tractor 1 on the target travel route P, etc.

[0026] In this way, when the driving route generating unit 53 generates the target driving route P, the terminal electronic control unit 52 uses the communication module 55 to transmit the driving route information from the mobile communication terminal 3 to the tractor 1, and the on-board electronic control unit 18 of the tractor 1 can acquire the driving route information using the communication module 25. The on-board electronic control unit 18 can automatically drive the tractor 1 along the target driving route P while acquiring its own current position (the current position of the tractor 1) using the positioning unit 21 based on the acquired driving route information. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, every few milliseconds), and the current position of the tractor 1 is known by the mobile communication terminal 3.

[0027] When starting automatic traveling of the tractor 1, for example, when a user or the like moves the tractor 1 to a start point of the target traveling route P and various automatic traveling start conditions are satisfied, the user operates the display unit 51 of the mobile communication terminal 3 to instruct the start of automatic traveling, and the mobile communication terminal 3 transmits an instruction to start automatic traveling to the tractor 1. As a result, in the tractor 1, the on-board electronic control unit 18 receives the instruction to start automatic traveling and starts automatic traveling control to automatically travel the tractor 1 along the target traveling route P while acquiring its own current position (the current position of the tractor 1) with the positioning unit 21. The on-board electronic control unit 18 is configured as an automatic traveling control unit that performs automatic traveling control to automatically travel the tractor 1 along the target traveling route P within the work area S based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to a satellite positioning system).

[0028] The automatic driving control includes automatic gear change control that automatically controls the operation of the transmission 13, automatic braking control that automatically controls the operation of the brake operating mechanism 15, automatic steering control that automatically steers the left and right front wheels 5, and automatic work control that automatically controls the operation of the work implements 12 such as a rotary tilling implement.

[0029] In automatic gear shift control, the gear shift control unit 181 automatically controls the operation of the transmission 13 based on route information of the target driving route P including the target driving speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19, so that the target driving speed set in accordance with the driving mode of the tractor 1 on the target driving route P is obtained as the vehicle speed of the tractor 1.

[0030] In automatic braking control, the braking control unit 182 automatically controls the operation of the brake operating mechanism 15 based on the target driving route P and the output of the positioning unit 21 so that the left and right side brakes properly brake the left and right rear wheels 6 in the braking area included in the route information of the target driving route P.

[0031] In the automatic steering control, the steering angle setting unit 184 determines and sets target steering angles for the left and right front wheels 5 based on the route information of the target driving route P and the output of the positioning unit 21 so that the tractor 1 automatically drives along the target driving route P, and outputs the set target steering angles to the power steering mechanism 14. Based on the target steering angle and the output of the steering angle sensor 20, the power steering mechanism 14 automatically steers the left and right front wheels 5 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

[0032] In the automatic control for work, the work implement control unit 183 automatically controls the operation of the clutch operating mechanism 16 and the lifting drive mechanism 17 based on the route information of the target travel route P and the output of the positioning unit 21 so that a specified work (e.g., plowing work) by the work implement 12 is started as the tractor 1 reaches a work start point such as the beginning of the work route P1 (e.g., see Figure 3), and the specified work by the work implement 12 is stopped as the tractor 1 reaches a work end point such as the end of the work route P1 (e.g., see Figure 3).

[0033] In this way, in the tractor 1, the automatic driving unit 2 is composed of the transmission 13, power steering mechanism 14, brake operating mechanism 15, clutch operating mechanism 16, lifting drive mechanism 17, on-board electronic control unit 18, vehicle speed sensor 19, steering angle sensor 20, positioning unit 21, and communication module 25, etc.

[0034] In this embodiment, not only can the tractor 1 be automatically driven without a user or the like riding in the cabin 10, but also the tractor 1 can be automatically driven with a user or the like riding in the cabin 10. Therefore, not only can the tractor 1 be automatically driven along the target driving route P by the automatic driving control by the on-board electronic control unit 18 without a user or the like riding in the cabin 10, but also the tractor 1 can be automatically driven along the target driving route P by the automatic driving control by the on-board electronic control unit 18 even when a user or the like is riding in the cabin 10.

[0035] When a user or the like is on board the cabin 10, the vehicle-mounted electronic control unit 18 can switch between an automatic driving state in which the tractor 1 is automatically driven and a manual driving state in which the tractor 1 is driven based on the driving of the user or the like. Thus, while the tractor 1 is automatically driven on the target driving route P in the automatic driving state, the vehicle can be switched from the automatic driving state to the manual driving state, and conversely, while the tractor 1 is driving in the manual driving state, the vehicle can be switched from the manual driving state to the automatic driving state. For switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided near the driver's seat 39, and the switching operation unit can be displayed on the display unit 51 of the mobile communication terminal 3. In addition, when the user operates the steering wheel 38 during automatic driving control by the vehicle-mounted electronic control unit 18, the automatic driving state can be switched to the manual driving state.

[0036] 1 and 2, the tractor 1 is equipped with an obstacle detection system 100 for detecting obstacles around the tractor 1 (traveling body 7) and avoiding collision with the obstacles. The obstacle detection system 100 is equipped with a plurality of lidar sensors 101, 102 capable of measuring the distance to a measurement object in three dimensions using a laser, sonar units 103, 104 having a plurality of sonars capable of measuring the distance to a measurement object using ultrasonic waves, an obstacle detection unit 110, and a collision avoidance control unit 111.

[0037] Measurement targets measured by the lidar sensors 101, 102 and sonar units 103, 104 include objects, people, etc. The lidar sensors 101, 102 are equipped with a front lidar sensor 101 that measures the front side of the tractor 1, and a rear lidar sensor 102 that measures the rear side of the tractor 1. The sonar units 103, 104 are equipped with a right sonar unit 103 that measures the right side of the tractor 1, and a left sonar unit 104 that measures the left side of the tractor 1.

[0038] The obstacle detection unit 110 is configured to perform an obstacle detection process for detecting a measurement target such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the lidar sensors 101, 102 and the sonar units 103, 104. The collision avoidance control unit 111 is configured to perform collision avoidance control for decelerating the tractor 1 or stopping the tractor 1 when the obstacle detection unit 110 detects an obstacle. In the collision avoidance control, the collision avoidance control unit 111 not only decelerates the tractor 1 or stops the tractor 1, but also activates the notification device 26 such as a notification buzzer or a notification lamp to notify the presence of an obstacle. In the collision avoidance control, the collision avoidance control unit 111 can notify the presence of an obstacle by communicating from the tractor 1 to the mobile communication terminal 3 using the communication modules 25, 55 and displaying the presence of the obstacle on the display unit 51.

[0039] The obstacle detection unit 110 repeatedly performs obstacle detection processing in real time based on measurement information from the lidar sensors 101, 102 and the sonar units 103, 104, and appropriately detects obstacles such as objects and people. The collision avoidance control unit 111 performs collision avoidance control to avoid collision with obstacles detected in real time.

[0040] The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in an on-board electronic control unit 18. The on-board electronic control unit 18 is communicatively connected to an engine electronic control unit included in a common rail system, lidar sensors 101 and 102, sonar units 103 and 104, etc. via a CAN (Controller Area Network).

[0041] The generation of the target driving route P by the driving route generation unit 53 will be described below. When the travel route generating unit 53 generates the target travel route P, a user such as a driver or manager inputs vehicle body information such as the type and model of the work vehicle or work implement 12, and turning information, following the input guide for setting the target travel route displayed on the display unit 51 of the mobile communication terminal 3, and the input vehicle body information and turning information are stored in the terminal storage unit 54. The work area S (see FIG. 3) for which the target travel route P is to be generated is a farm field, and the terminal electronic control unit 52 of the mobile communication terminal 3 acquires farm field information including the shape and position of the field and stores it in the terminal storage unit 54.

[0042] Regarding the acquisition of the field information, when a user or the like actually drives the tractor 1, the terminal electronic control unit 52 can acquire position information for identifying the shape, position, etc. of the field from the current position of the tractor 1 acquired by the positioning unit 21. The terminal electronic control unit 52 identifies the shape and position of the field from the acquired position information, and acquires field information including the identified work area S from the identified shape and position of the field. Fig. 3 shows an example in which a rectangular work area S is identified.

[0043] The turning information is information that indicates how to turn the tractor 1. For example, the turning information includes information that indicates a turning method, such as whether to turn without reverse driving or to turn with reverse driving, and information that indicates a turning radius when turning.

[0044] The input of turning information will now be described. When inputting turning information, a screen for inputting turning information is displayed on the display unit 51 of the mobile communication terminal 3 as shown in Fig. 4. On this screen for inputting turning information, a driving method selection unit 56 for selecting the driving method of the tractor 1, a turning method selection unit 57 for selecting a turning method, etc. are displayed. Since the turning radius when the tractor 1 is turned varies depending on the driving method, the driving method is selected in the driving method selection unit 56 in order to specify the turning radius.

[0045] The driving method of the tractor 1 can be selected from a four-wheel driving method (top button on the left in FIG. 4) that drives the tractor 1 in four-wheel drive, a two-wheel driving method (second button from the top on the left in FIG. 4) that drives the tractor 1 in two-wheel drive, and a double-speed driving method (third button from the top on the left in FIG. 4) that rotates the front wheels 5 faster than the rear wheels 6 when turning. In each of the four-wheel driving method, two-wheel driving method, and double-speed driving method, it is possible to select whether an autobrake that brakes the rear wheel 6 on the turning side when turning is turned on or off (fourth button from the top on the left in FIG. 4). Incidentally, FIG. 4 shows an example in which the four-wheel driving method is selected with the autobrake turned on. As a result, among the three driving modes, namely, the four-wheel driving mode, the two-wheel driving mode, and the double-speed driving mode, the driving mode selection unit 56 can select one driving mode from a total of six types of driving modes, including the driving mode with the auto brake in the ON state and the driving mode with the auto brake in the OFF state.

[0046] The turning method can be selected in the turning method selection section 57 from "reverse possible" (the button on the center side in FIG. 4) which allows the vehicle to turn while moving backward as well as forward, and "forward only" (the button on the right side in FIG. 4) which allows the vehicle to turn only while moving forward. FIG. 4 shows an example in which "reverse possible" has been selected.

[0047] When "forward only" is selected in the turning method selection unit 57, the turning method is to turn along the connecting path P2 having a first turning path P2a that turns forward and turns the traveling direction 180 degrees, as shown in Fig. 5. When "reverse traveling possible" is selected in the turning method selection unit 57, the turning method is to turn along the connecting path P2 having a second turning path P2b that turns forward, a reverse path P2c that switches the traveling direction from forward to reverse and travels straight backward following the second turning path P2b, and a third turning path P2d that switches the traveling direction from reverse to forward and turns forward following the reverse path P2c, as shown in Fig. 6.

[0048] Returning to Fig. 4, the screen for inputting turning information is equipped with a correction value display section 58 that displays the correction value of the turning radius when making a turn, a correction value change setting section 59 that can change and set the correction value of the turning radius to the positive or negative side, and a block work selection section 60 that selects whether or not to work in blocks. Incidentally, if work in blocks is selected in the block work selection section 60, a target travel path P is generated so that the work area S (field) is divided into a number of blocks and work is performed for each block.

[0049] The turning radius when the tractor 1 is turned varies depending on the driving method of the tractor 1. For example, as shown in FIG. 5, when turning when "forward only" is selected in the turning method selection unit 57, the case where the tractor 1 is turned in the four-wheel driving method is shown by solid lines, and the case where the tractor 1 is turned in the two-wheel driving method is shown by dotted lines. In this way, the turning radius in the first turning path P2a in the two-wheel driving method is smaller than the turning radius in the first turning path P2a in the four-wheel driving method. As shown in FIG. 6, even when turning when "reverse allowed" is selected in the turning method selection unit 57, the turning radius in the two-wheel driving method is smaller for the second turning path P2b and the third turning path P2d than the turning radius in the four-wheel driving method.

[0050] The turning radius when the tractor 1 is turned varies depending not only on the driving method but also on vehicle information such as the model of the tractor 1, the radius and tread width of the front wheels 5 and rear wheels 6 of the tractor 1, and the type and size of the work implement 12.

[0051] 7, a relationship for turning radius for identifying the turning radius based on the driving system and vehicle body information is set in advance through experiments or the like, and the relationship for turning radius is stored in the terminal storage unit 54. The relationship for turning radius indicates what the turning radius will be for what driving system and what vehicle body information.

[0052] In the relationship for turning radius shown in Fig. 7, the turning radius when the driving system and vehicle body information are in a reference state is set as the reference turning radius, and when the driving system and vehicle body information are in a state different from the reference state, a correction value for the reference turning radius is set as the turning radius. For example, in vehicle body information in which the type of tractor 1 is A, the type of tire is A, and the type of work implement 12 is A, the reference state is when the four-wheel driving system is in an OFF state with the autobrake in an OFF state. Incidentally, in Fig. 7, to distinguish between the ON state and the OFF state of the autobrake, the ON state of the autobrake is displayed with "+AB" added, and the OFF state of the autobrake is displayed with "+AB" removed.

[0053] When one driving method is selected from a plurality of driving methods by the driving method selection section 56, the terminal electronic control unit 52 specifies a turning radius (a correction value of the turning radius) corresponding to the selected driving method, as shown in FIG. 4, using the vehicle body information and the relationship for turning radius stored in the terminal storage section 54. The terminal electronic control unit 52 stores the specified turning radius (correction value of the turning radius) as turning information in the terminal storage section 54, and displays it as a correction value of the turning radius in the correction value display section 58. For example, when the four-wheel driving method is selected in the autobrake OFF state, the turning radius becomes the reference turning radius, so the correction value of the turning radius in the correction value display section 58 becomes "0.0 m". When the two-wheel driving method is selected in the autobrake OFF state, the turning radius correction value in the relationship for turning radius shown in FIG. 7 is set to "-0.5 m" as the correction value of the turning radius, so the correction value of the turning radius in the correction value display section 58 becomes "-0.5 m".

[0054] The generation of the target driving route P will be described. The travel path generating unit 53 generates the target travel path P using the field information, vehicle body information, turning information, and the like stored in the terminal storage unit 54. As shown in FIG. 3, the travel path generating unit 53 divides the work area S into a central area R1 and an outer peripheral area R2. The central area R1 is set in the center of the work area S, and is a reciprocating work area in which the tractor 1 is automatically driven in a reciprocating direction to perform a predetermined work (for example, work such as plowing). The outer peripheral area R2 is set around the central area R1. The travel path generating unit 53 obtains a space for turning travel required for the tractor 1 to turn around the edge of the field from, for example, a turning radius included in the turning information and a front-rear width and a left-right width of the tractor 1 included in the vehicle body information. The travel path generating unit 53 divides the work area S into the central area R1 and the outer peripheral area R2 so as to secure the obtained space, and the like, on the outer periphery of the central area R1.

[0055] As shown in FIG. 3, the target travel path P has a plurality of linear work paths P1 that are set in parallel at a fixed distance corresponding to the work width and have the same straight-line distance in the central region R1, and a connecting path P2 that connects the start and end of adjacent work paths P1. The plurality of work paths P1 are paths for performing a predetermined work while the tractor 1 is traveling straight. The connecting path P2 is a path for changing the traveling direction of the tractor 1 by 180 degrees without performing the predetermined work, and connects the end of the work path P1 to the start of the next adjacent work path P1. Incidentally, the target travel path P shown in FIG. 3 is merely an example, and the type of target travel path to be set can be changed as appropriate.

[0056] The generation of the connecting path P2 will now be described. The travel path generating unit 53 generates the connecting path P2 based on the turning radius and turning method included in the turning information stored in the terminal storage unit 54. When the turning method "forward only" is selected by the turning method selecting unit 57, the connecting path P2 is generated having a first turning path P2a in which the vehicle turns forward and turns 180 degrees in the traveling direction, as shown in Fig. 5. The target travel path P shown in Fig. 3 shows the case in which the turning method "forward only" is selected by the turning method selecting unit 57.

[0057] The terminal electronic control unit 52 specifies the turning radius of the first turning path P2a from the selection state by the driving system selection unit 56 and the vehicle body information, using the relationship for turning radius stored in the terminal storage unit 54. For example, if the four-wheel driving system is selected with the auto brakes OFF, the corresponding turning radius (corrected value of the turning radius) is specified in the relationship for turning radius shown in Fig. 7, and if the two-wheel driving system is selected with the auto brakes OFF, the corresponding turning radius (corrected value of the turning radius) is specified in the relationship for turning radius shown in Fig. 7.

[0058] As shown in FIG. 5, the first turning path P2a (shown by a dotted line) of the two-wheel drive system can have a smaller turning radius than the first turning path P2a (shown by a solid line) of the four-wheel drive system. As a result, the end P1c of the working path P1 and the start P1d of the next working path P1 in the two-wheel drive system can be positioned on the end side of the working area S (upper side in FIG. 5) compared to the end P1a of the working path P1 in the four-wheel drive system and the end P1b of the next working path P1 in the four-wheel drive system. Therefore, the traveling path generating unit 53 can generate a longer length of the working path P1 in the two-wheel drive system than in the four-wheel drive system. In this way, the traveling path generating unit 53 generates the connecting path P2 using a turning radius corresponding to the traveling drive system selected by the traveling drive system selecting unit 56, and generates a working path P1 having a length according to the connecting path P2, thereby generating an appropriate target traveling path P.

[0059] When the turning method "Reverse possible" is selected in the turning method selection unit 57, as shown in Figure 6, the driving path generation unit 53 generates a connecting path P2 that has a second turning path P2b in which the vehicle turns in a forward direction, a reverse path P2c in which the vehicle switches the driving direction from forward to reverse and travels straight backward following the second turning path P2b, and a third turning path P2d in which the vehicle switches the driving direction from reverse to forward and travels forward while turning, following the reverse path P2c.

[0060] The terminal electronic control unit 52 specifies the turning radii of the second turning path P2b and the third turning path P2d using the relationship for turning radius (see FIG. 7) stored in the terminal storage unit 54 from the selection state by the driving system selection unit 56 and the vehicle body information. Even in this case, the second turning path P2b and the third turning path P2d (shown by dotted lines) of the two-wheel driving system can have a smaller turning radius than the second turning path P2b and the third turning path P2d (shown by solid lines) of the four-wheel driving system. This allows the end point P1g of the working path P1 and the start point P1h of the next working path P1 in the two-wheel driving system to be positioned closer to the end of the working area S (upper side in FIG. 6) than the end point P1e of the working path P1 and the end point P1f of the next working path P1 in the four-wheel driving system. Therefore, the driving path generation unit 53 can generate a longer length of the working path P1 in the two-wheel driving system than in the four-wheel driving system.

[0061] The input vehicle body information and turning information can be confirmed by a user or the like by displaying a route creation setting confirmation screen on the display unit 51 of the mobile communication terminal 3, as shown in Fig. 8. The route creation setting confirmation screen in Fig. 8 allows the user to confirm not only turning information (the third display field from the bottom in Fig. 8), but also various other information such as the address of the work area S, field information such as the latitude and longitude of the work start position and the work end position, and vehicle body information such as the type of tractor 1 and the type of work machine (working device).

[0062] The input vehicle information and turning information can be changed. For example, as shown in Fig. 8, when the user or the like presses a details button 91 on the setting confirmation screen for route creation, the screen moves to a change setting screen where various information can be changed and set, and the user or the like can change and set various information on the change setting screen.

[0063] When the vehicle body information, turning information, etc. are changed, the target driving route P can be generated using the changed vehicle body information and turning information. In the setting confirmation screen for route creation shown in FIG. 8, by pressing a route generation instruction button 92 for "generate route", the driving route generation unit 53 generates the target driving route P using the changed vehicle body information, turning information, etc. In this way, once the target driving route P is generated by the driving route generation unit 53, when the user or the like changes the vehicle body information, turning information, etc. by operating the display unit 51 of the mobile communication terminal 3, the driving route generation unit 53 can regenerate the target driving route P using the changed vehicle body information, turning information, etc. When regenerating the target driving route P, after the vehicle body information, turning information, etc. are changed, it is only necessary to operate the route generation instruction button 92 in the setting confirmation screen for route creation shown in FIG. 8 without moving to another display screen, and operability can be improved.

[0064] The operation of the tractor 1 when it is made to travel automatically will be described with reference to the flowchart of FIG. First, the user or the like performs tasks such as obtaining field information and inputting vehicle body information and turning information, etc., to set various information for automatic driving (step #1). Once the information is set, the driving path generation unit 53 generates a target driving path P in the work area S based on the various information that has been set (step #2). At this time, the driving path generation unit 53 specifies a turning radius corresponding to the driving method selected by the driving method selection unit 56, and generates a target driving path P including a work path P1 and a connecting path P2 using the specified turning radius.

[0065] The terminal electronic control unit 52 uses the communication module 55 to transmit driving method information related to the driving method selected by the driving method selection unit 56, and driving route information related to the target driving route P generated by the driving route generation unit 53. The in-vehicle electronic control unit 18 uses the communication module 25 to receive the driving method information and driving route information transmitted by the communication module 55. In this manner, communication of the driving method information and the driving route information is performed (step #3).

[0066] Regarding the driving method, the user can set one of a plurality of driving methods on the tractor 1 side by operating an operation unit or the like on the tractor 1 side. When the tractor 1 is actually caused to run automatically, the tractor 1 is caused to run automatically using the driving method of the work vehicle set on the tractor 1 side. Therefore, it is required that the driving method selected by the driving method selection unit 56 and the driving method of the work vehicle set on the tractor 1 side match.

[0067] Therefore, as shown in FIG. 2, the tractor 1 is provided with a determination unit 186 that determines whether the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle set on the tractor 1 side, and a mismatch information notification unit 187 that notifies of mismatch information indicating a mismatch of the driving methods when the driving method selected by the driving method selection unit 56 does not match the driving method of the work vehicle set on the tractor 1 side.

[0068] As shown in FIG. 9, when communication of the driving route information and the driving method information is performed, the determination unit 186 determines whether the driving method selected by the driving method selection unit 56 matches the driving method set on the work vehicle side on the tractor 1 side (step #4).

[0069] If the determination unit 186 determines that the driving method selected by the driving method selection unit 56 does not match the driving method of the work vehicle, the mismatch information notification unit 187 notifies the mismatch information (if No in step #4, step #5). The mismatch information notification unit 187 activates the notification device 26 of the tractor 1 or displays the mismatch information on the display unit of the tractor 1 to notify the mismatch information on the tractor 1 side, and transmits the mismatch information from the tractor 1 to the mobile communication terminal 3 using the communication module 25. The terminal electronic control unit 52 displays the mismatch information received by the communication module 55 on the display unit 51 to notify the mismatch information on the mobile communication terminal 3 side.

[0070] When the mismatch information is notified, the user or the like can recognize that the driving methods do not match. Therefore, the user or the like operates the operation unit or the like of the tractor 1 to change the driving method of the work vehicle, and recovery work such as changing the driving method to match the driving method of the work vehicle with the driving method selected by the driving method selection unit 56 is performed.

[0071] When the judgment unit 186 determines that the driving method selected by the driving method selection unit 56 matches the driving method on the work vehicle side, the on-board electronic control unit 18 receives an instruction to start automatic driving from the mobile communication terminal 3, and then starts executing automatic driving control to automatically drive the tractor 1 along the target driving route P (if the answer is Yes in step #4, step #6).

[0072] In this way, the tractor 1 can be automatically driven along the target driving route P in a state where the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle. Therefore, the tractor 1 can be automatically driven appropriately along the target driving route P including the connecting route P2 according to the turning radius corresponding to the driving method selected by the driving method selection unit 56.

[0073] Regarding the travel route information, when the terminal electronic control unit 52 transmits the travel route information, the travel route information is not transmitted all at once, but is divided into a plurality of unit route group information, and each unit route group information can be transmitted in sequence. Since the target travel route P is generated from a plurality of routes such as the work route P1 and the connecting route P2, a predetermined number of routes constituting the target travel route P are set as a unit route group, and the target travel route P is divided into a plurality of unit route groups. The unit route group information is route information relating to each of the unit route groups, and the terminal electronic control unit 52 can transmit the unit route group information in sequence each time a predetermined transmission timing is reached. The mobile communication terminal 3 corresponds to a communication terminal, the terminal electronic control unit 52 and the communication module 55 constitute a terminal side communication section, and the in-vehicle electronic control unit 18 and the communication module 25 constitute a vehicle side communication section.

[0074] Regarding the transmission timing, for example, the start of automatic traveling can be set as the initial transmission timing, and thereafter, the transmission timing can be set every time a predetermined time has passed. Alternatively, the start of automatic traveling can be set as the initial transmission timing, and thereafter, the transmission timing can be set as the time when the tractor 1 reaches a location a predetermined distance before the start position of the next unit route group. Regarding the transmission timing, it is sufficient to transmit unit route group information regarding the next unit route group before shifting automatic traveling from a unit route group to the next unit route group, and the timing of the transmission can be changed as appropriate.

[0075] The operation of automatically driving the tractor 1 when unit route group information is transmitted in sequence as driving route information will be described with reference to the flowchart of Fig. 10. In the flowchart of Fig. 10, step #1 and step #2 are the same as those in the flowchart of Fig. 9, so the description thereof will be omitted.

[0076] Before starting automatic driving, the terminal electronic control unit 52 transmits driving method information, and transmits, as driving route information, the first unit route group information and initial information for starting automatic driving, using the communication module 55. The communication module 25 receives the driving method information, unit route group information and initial information transmitted by the communication module 55, and communication of the driving method information and unit route group information is performed (step #7).

[0077] As a result, before starting automatic traveling, the on-board electronic control unit 18 acquires the driving method information, the first unit route group information, and the initial information. In this state, the determination unit 186 determines whether the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle set on the tractor 1 side (step #8).

[0078] When the determination unit 186 determines that the driving method does not match, the mismatch information notification unit 187 notifies the mismatch information (if No in step #8, step #9). After that, recovery work such as changing the driving method is performed as in the case of FIG.

[0079] When the in-vehicle electronic control unit 18 determines in the judgment section 186 that the driving method matches and receives an instruction to start automatic driving, it starts executing automatic driving control based on the first unit route group information and the initial information (if the answer is Yes in step #8, step #10).

[0080] When the transmission timing arrives while the on-board electronic control unit 18 is executing automatic driving control, the terminal electronic control unit 52 uses the communication module 55 to transmit the driving drive method information and the second unit route group information, thereby communicating the driving drive method information and the unit route group information (if the answer is Yes in step #11, step #12).

[0081] The determination unit 186 determines whether the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle set on the tractor 1 side, and if the driving methods do not match, the mismatch information notification unit 187 notifies the mismatch information (if No in step #13, step #14). Incidentally, if the determination unit 186 determines in step #13 that the driving methods do not match, the on-board electronic control unit 18 stops the automatic driving of the tractor 1 and temporarily stops the automatic driving control.

[0082] If the judgment unit 186 determines that the driving method matches, the in-vehicle electronic control unit 18 continues to execute automatic driving control based on the second unit route group information received by the communication module 25 (if Yes in step #13, step #15).

[0083] Thereafter, the terminal electronic control unit 52 transmits the driving method information and the next unit route group information every time a transmission timing occurs until the automatic driving control is terminated, thereby communicating the driving method information and the unit route group information (if No in step #16). As a result, the operations of steps #11 to #15 are repeated until the automatic driving control is terminated. In this manner, the terminal electronic control unit 52 divides the driving route information into a plurality of unit route group information and transmits each piece of unit route group information in sequence, and the in-vehicle electronic control unit 18 continues the automatic driving control based on the unit route group information transmitted in sequence after confirming that the driving methods match.

[0084] 10, the terminal electronic control unit 52 does not transmit all the information of the driving route information at once, but divides it into a plurality of unit route group information and transmits each unit route group information in sequence. Therefore, even if the target driving route P is changed to a different one from the initial target driving route P during the execution of the automatic driving control by the in-vehicle electronic control unit 18, the automatic driving control can be performed on the changed target driving route P by transmitting the unit route group information for the changed target driving route P.

[0085] For example, when the driving method is changed by the driving method selection unit 56, the driving route generation unit 53 can regenerate the target driving route P including the connecting route P2 using a turning radius corresponding to the changed driving method. Then, the terminal electronic control unit 52 can change the target driving route P for which automatic driving control is performed from the initial target driving route P to the regenerated target driving route P. As the target driving route P is changed, the terminal electronic control unit 52 transmits unit route group information of the changed target driving route P using the communication module 55. The in-vehicle electronic control unit 18 can perform automatic driving control based on the unit route group information of the changed target driving route P received by the communication module 25.

[0086] When the target travel route P is changed, the terminal electronic control unit 52 can transmit travel drive method information regarding the changed and set travel drive method in addition to the unit route group information on the changed target travel route P. In this case, since the changed and set travel drive method differs from the travel drive method on the work vehicle side, the determination unit 186 determines that the travel drive methods do not match. However, since the user or the like can change the travel drive method on the work vehicle side so as to match the changed and set travel drive method, the on-board electronic control unit 18 can perform automatic travel control on the changed target travel route P. Furthermore, as described later in the second embodiment, if a travel drive method change unit 188 is provided, the travel drive method on the work vehicle side can also be automatically changed by the travel drive method change unit 188.

[0087] In this way, even if the target driving route P is changed due to a change in the driving method setting by the driving method selection unit 56 while automatic driving control is being executed by the on-board electronic control unit 18, the tractor 1 can be made to automatically drive along the changed target driving route P.

[0088] Since multiple connecting paths P2 are generated as the target driving path P, not only can all of the multiple connecting paths P be automatically driven using the same driving method, but multiple driving methods can be selected so that, for example, the driving method used when automatically driving one connecting path P2 is different from the driving method used when automatically driving another connecting path P2. For example, in the target driving path P, a four-wheel driving method can be selected for the first to a predetermined number of connecting paths P2, and a two-wheel driving method can be selected for the connecting paths P2 after the predetermined number. In this way, different driving methods can be selected for the multiple connecting paths P.

[0089] Even in this case, the determination unit 186 determines whether the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle set on the tractor 1 side, and if the driving methods do not match, the mismatch information notification unit 187 notifies the mismatch information. The determination timing by the determination unit 186 is the timing just before the tractor 1 automatically travels along the connecting path P for which a different driving method has been selected. Therefore, for example, when the current position of the tractor 1 reaches a position just before the connecting path P2 (for example, a position on the work path P1 a predetermined distance before the start of the connecting path P2), the determination unit 186 determines whether the driving method selected by the driving method selection unit 56 matches the driving method of the work vehicle set on the tractor 1 side.

[0090] Second Embodiment This second embodiment shows another embodiment of the operation when the determination unit 186 determines that the traveling drive methods do not match in the first embodiment. The operation of this second embodiment will be described below, but since the other configurations and operations are similar to those of the first embodiment, the description will be omitted.

[0091] In the first embodiment, when the determination unit 186 determines that the driving method does not match (see steps #4, #8, and #13 in Figs. 9 and 10), the mismatch information notification unit 187 notifies the driver of the mismatch information. In the second embodiment, instead of or in addition to the mismatch information notification unit 187 notifying the driver of the mismatch information, the driving method of the work vehicle is automatically changed.

[0092] For example, as shown in Fig. 2, the tractor 1 is provided with a driving method changing unit 188 that changes the driving method of the work vehicle so that the driving method of the work vehicle matches the driving method selected by the driving method selection unit 56. By automatically changing the driving method of the work vehicle by the driving method changing unit 188, the tractor 1 can be made to travel automatically without the user or the like having to perform the driving method changing operation, thereby reducing the workload of the user or the like.

[0093] Third Embodiment As with the second embodiment, the third embodiment shows another embodiment of the operation when the determination unit 186 determines that the traveling drive methods do not match. The operation of the third embodiment will be described below, but since the other configurations and operations are the same as those of the first embodiment, the description will be omitted.

[0094] When the determination unit 186 determines that the driving methods do not match (see steps #4, #8, and #13 in Figs. 9 and 10), instead of or in addition to the mismatch information notification unit 187 notifying the mismatch information, the driving route generation unit 53 acquires the driving method of the work vehicle and regenerates the target driving route P using a turning radius corresponding to the driving method of the work vehicle. As shown in Fig. 2, the mobile communication terminal 3 is provided with a driving method acquisition unit 93 that acquires the driving method of the work vehicle set on the tractor 1 side using the communication modules 25, 55.

[0095] The driving path generation unit 53 identifies a turning radius corresponding to the driving method of the work vehicle acquired by the driving method acquisition unit 93, and regenerates the target driving path P in a state where a connecting path P2 is generated using the identified turning radius.

[0096] When the target driving route P is regenerated by the driving route generation unit 53, the terminal electronic control unit 52 uses the communication module 55 to transmit driving drive method information (information indicating the driving drive method of the work vehicle), as well as driving route information and unit route group information related to the regenerated target driving route P. As a result, the driving drive method indicated in the driving drive method information received by the communication module 25 matches the driving drive method of the work vehicle, and the on-board electronic control unit 18 performs automatic driving control using the driving route information and unit route group information related to the regenerated target driving route P, allowing the tractor 1 to automatically travel along the regenerated target driving route P.

[0097] [Fourth embodiment] The fourth embodiment shows another embodiment of the configuration in which the driving path generating unit 53 in the first embodiment generates a target driving path P using a turning radius corresponding to the driving method. The configuration in this third embodiment will be described below, but since the other configurations are similar to those in the first embodiment, the description will be omitted.

[0098] In the first embodiment, a driving method selection unit 56 is provided that selects one driving method from a plurality of driving methods, and a driving route generation unit 53 generates a target driving route P using a turning radius corresponding to the driving method selected by the driving method selection unit 56.

[0099] In contrast, in the fourth embodiment, similarly to the third embodiment, the mobile communication terminal 3 is provided with a driving method acquisition unit 93 that acquires the work vehicle driving method set on the tractor 1 side using the communication modules 25, 55. The driving route generation unit 53 generates the target driving route P using a turning radius corresponding to the driving method of the work vehicle side acquired by the driving method acquisition unit 93.

[0100] This eliminates the need to provide the mobile communication terminal 3 with a driving method selection unit 56, and the driving method acquisition unit 93 can automatically acquire the work vehicle driving method set on the tractor 1 side. The driving route generation unit 53 can generate an appropriate target driving route P using a turning radius corresponding to the work vehicle driving method actually set on the tractor 1 side.

[0101] In this case, since the travel route generating unit 53 generates the target travel route P according to the travel drive method of the work vehicle, the travel drive method used when generating the target travel route P matches the travel drive method set on the tractor 1 side. Therefore, it is not necessary for the determining unit 186 to determine whether the travel drive methods match, and for the terminal electronic control unit 52 to transmit travel drive method information regarding the travel drive method using the communication module 55.

[0102] [Another embodiment] Another embodiment of the present invention will now be described. The configurations of the embodiments described below are not limited to being applied alone, but may also be applied in combination with the configurations of other embodiments.

[0103] (1) The configuration of the work vehicle can be modified in various ways. For example, the work vehicle may be configured as a hybrid model having an engine 9 and an electric motor for running, or may be configured as an electric model having an electric motor for running instead of the engine 9. For example, the work vehicle may be configured as a semi-crawler type having left and right crawlers instead of the left and right rear wheels 6 as a traveling portion. For example, the work vehicle may be configured as a rear-wheel steering vehicle in which the left and right rear wheels 6 function as steering wheels.

[0104] (2) In the above embodiment, when one driving method is selected from a plurality of driving methods by the driving method selection unit 56, the terminal electronic control unit 52 determines the turning radius based on the selection information as well as the vehicle body information stored in the terminal storage unit 54. When determining the turning radius, it may also be determined from only the selection information in which the driving method selection unit 56 selects one driving method from a plurality of driving methods.

[0105] (3) In the above embodiment, an example was shown in which the driving route generation unit 53 and the driving method selection unit 56 were provided in the mobile communication terminal 3. However, for example, the driving route generation unit 53 and the driving method selection unit 56 can also be provided on the work vehicle side of the tractor 1 or in an external management device.

[0106] <Notes on the invention> A first characteristic configuration of the present invention includes a driving system selection unit that is capable of freely selecting one driving system from a plurality of driving systems as a driving system for a work vehicle; a driving route generation unit that generates a target driving route using a turning radius corresponding to the driving method selected by the driving method selection unit; The vehicle is equipped with an automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route generated by the driving route generation unit based on the positioning information of the work vehicle obtained by a satellite positioning system.

[0107] According to this configuration, when one driving method is selected by the driving method selection unit, the driving route generation unit can generate a target driving route using a turning radius corresponding to the selected driving method. The automatic driving control unit can perform automatic driving control using the target driving route generated by the driving route generation unit. In this way, by simply selecting one driving method by the driving method selection unit, a target driving route corresponding to the driving method can be generated, so that the work vehicle can be automatically driven along the target driving route, thereby improving work efficiency and allowing the work vehicle to automatically drive in a state where it turns with an appropriate turning radius corresponding to the driving method.

[0108] A second characteristic configuration of the present invention is a driving method selection unit that can freely select one driving method from a plurality of driving methods as a driving method for a work vehicle; a driving route generation unit that generates a target driving route using a turning radius corresponding to the driving method selected by the driving method selection unit; an automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route generated by the driving route generation unit based on positioning information of the work vehicle acquired by a satellite positioning system when the driving method set in the work vehicle side matches the driving method selected by the driving method selection unit; The device is provided with a mismatch information notification unit that notifies the driver of a mismatch in the driving method when the driving method of the work vehicle does not match the driving method selected by the driving method selection unit.

[0109] According to this configuration, when one driving method is selected by the driving method selection unit, the driving route generation unit generates a target driving route using a turning radius corresponding to the selected driving method. On the other hand, in a work vehicle, a user or the like can set the driving method of the work vehicle, so the driving method selected by the driving method selection unit does not necessarily match the driving method of the work vehicle.

[0110] Therefore, when the driving method of the work vehicle matches the driving method selected by the driving method selection unit, the automatic driving control unit performs automatic driving control. As a result, the automatic driving control unit can perform automatic driving control after confirming that the driving method of the work vehicle matches the driving method selected by the driving method selection unit. Therefore, the automatic driving control by the automatic driving control unit can be performed in an appropriate state where the driving methods match, while improving work efficiency and allowing the work vehicle to automatically travel in a state where it turns with an appropriate turning radius according to the driving method.

[0111] When the driving method of the work vehicle and the driving method selected by the driving method selection unit do not match, the mismatch information notification unit notifies the mismatch information, so that the user, etc. can easily recognize that the driving methods do not match. As a result, even if the driving methods do not match, the user, etc. can perform an operation such as changing the driving method, so that the automatic driving control unit can perform automatic driving control as an appropriate state in which the driving methods match.

[0112] A third characteristic configuration of the present invention is that a driving method changing unit is provided which, when the driving method of the work vehicle does not match the driving method selected by the driving method selection unit, changes the driving method of the work vehicle so that the driving method of the work vehicle matches the driving method selected by the driving method selection unit.

[0113] According to this configuration, when the driving method of the work vehicle does not match the driving method selected by the driving method selection unit, the driving method change unit can automatically change the driving method of the work vehicle so that the driving method of the work vehicle matches the driving method selected by the driving method selection unit. Therefore, since the user, etc. does not have to perform work such as changing the driving method, the automatic driving control unit can perform automatic driving control in an appropriate state where the driving methods match while reducing the workload of the user, etc.

[0114] A fourth characteristic configuration of the present invention is that when the driving method of the work vehicle does not match the driving method selected by the driving method selection unit, the driving path generation unit regenerates the target driving path using a turning radius corresponding to the driving method of the work vehicle.

[0115] According to this configuration, when the driving method of the work vehicle does not match the driving method selected by the driving method selection unit, the driving route generation unit regenerates the target driving route using the driving method of the work vehicle, so that the automatic driving control unit can perform automatic driving control on the target driving route regenerated by the driving route generation unit. This eliminates the need for the user, etc. to perform work such as changing the driving method, and reduces the workload of the user, etc., while automatically regenerating the target driving route and allowing the automatic driving control unit to perform automatic driving control in an appropriate state where the driving methods match.

[0116] A fifth characteristic configuration of the present invention is a communication terminal including the driving method selection unit, the driving route generation unit, and a terminal communication unit, The work vehicle is provided with a vehicle-side communication unit capable of communicating information with the terminal-side communication unit, and the automatic driving control unit, the terminal side communication unit is configured to be able to freely transmit driving method information relating to the driving method selected by the driving method selection unit, and to be able to divide the target driving route into a plurality of unit route groups into unit route group information relating to the unit route groups, as driving route information relating to the target driving route, and to be able to freely transmit each unit route group information in sequence, A determination unit is provided that determines whether or not the driving system according to the driving system information received by the vehicle-side communication unit matches the driving system of the work vehicle, The automatic driving control unit performs automatic driving control based on unit route group information sequentially received by the vehicle-side communication unit when the determination unit determines that the driving methods match.

[0117] According to this configuration, the terminal side communication unit divides the driving route information into unit route group information regarding unit route groups obtained by dividing the target driving route into a plurality of unit route groups, and transmits each unit route group information sequentially. Therefore, it is possible to transmit the driving route information while preventing an increase in the amount of communication transmitted at one time.

[0118] Since the terminal-side communication unit transmits driving method information in addition to unit route group information, the determination unit can appropriately determine whether the driving methods match by comparing the driving method based on the driving method information received by the vehicle-side communication unit with the driving method on the work vehicle side. The automatic driving control unit performs automatic driving control based on the unit route group information sequentially received by the vehicle-side communication unit when the determination unit determines that the driving methods match, so that automatic driving control can be performed in an appropriate state where the driving methods match.

[0119] Since the driving route information is divided into a plurality of unit route group information and transmitted, even if the target driving route is changed while the automatic driving control unit is executing the automatic driving control, the automatic driving control unit can perform automatic driving control using the changed target driving route by transmitting the unit route group information for the changed target driving route by the terminal side communication unit. Even in this case, the automatic driving control unit performs automatic driving control based on the unit route group information sequentially received by the vehicle side communication unit in a state in which the determination unit determines that the driving method matches, so that automatic driving control can be performed in an appropriate state in which the driving method matches.

[0120] A sixth characteristic configuration of the present invention is a driving method acquisition unit that acquires a driving method set in a work vehicle, a driving route generation unit that generates a target driving route using a turning radius corresponding to the driving method acquired by the driving method acquisition unit; The vehicle is equipped with an automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route generated by the driving route generation unit based on the positioning information of the work vehicle obtained by a satellite positioning system.

[0121] According to this configuration, the driving method acquisition unit acquires the driving method set in the work vehicle, and the driving route generation unit generates a target driving route using a turning radius corresponding to the driving method acquired by the driving method acquisition unit. This makes it possible to automatically generate a target driving route according to the driving method set in the work vehicle. Therefore, the automatic driving control unit performs automatic driving control using the target driving route generated by the driving route generation unit, thereby improving work efficiency without the user or the like having to perform work such as changing the driving method, and allowing the work vehicle to automatically travel in a state where it turns with an appropriate turning radius according to the driving method.

[0122] An automatic driving system according to one embodiment of the present invention includes a driving route generation unit that generates a target driving route using at least a turning radius corresponding to the driving method of the work vehicle, and an automatic driving control unit that performs automatic driving control to automatically drive the work vehicle along the target driving route generated by the driving route generation unit based on positioning information of the work vehicle.

[0123] An automatic driving system according to one embodiment of the present invention includes a change setting unit capable of changing the turning radius of a work vehicle, and an automatic driving control unit that performs automatic driving control to automatically drive the work vehicle based on the turning radius.

[0124] An automatic driving method according to one aspect of the present invention includes making it possible to change and set a turning radius of a work vehicle, and automatically driving the work vehicle based on the turning radius. [Explanation of symbols]

[0125] 1 Tractor (work vehicle) 3. Mobile communication terminals (communication terminals) 18 In-vehicle electronic control unit (automatic driving control unit, vehicle communication unit) 25 Communication module (vehicle side communication section) 52 Terminal electronic control unit (terminal communication unit) 53 Driving route generation unit 55 Communication module (terminal communication section) 56 Driving method selection section 93 Driving method acquisition unit 186 Judgment Department 187 Discrepancy Information Reporting Department 188 Driving system change unit

Claims

1. A display control unit is provided for selectively displaying a driving method when the work vehicle is automatically driven. Autonomous driving system.

2. An automatic driving control unit that automatically drives the work vehicle based on the selected driving method, The automated driving system according to claim 1 .

3. The driving system includes at least a four-wheel driving system and a double-speed driving system. The automated driving system according to claim 1 or 2.

4. The driving method includes at least an ON state and an OFF state of an auto brake. The automatic driving system according to any one of claims 1 to 3.

5. The display control unit displays, on the same screen as the setting information related to the selected driving method, a button that enables transition to a change setting screen for changing the setting information. The automatic driving system according to any one of claims 1 to 4.

6. Information on the selected driving method is transmitted from a communication terminal to the work vehicle. The automatic driving system according to any one of claims 1 to 5.

7. and displaying a selectable driving method when the work vehicle is automatically driven. Automated driving method.

Images