Travel control method, travel control program, and travel control system

Abstract

To provide a travel control method, a travel control program, and a travel control system capable of securing safety when a work vehicle automatically travels in a non-work region.SOLUTION: An automatic travel system 1 causes a work vehicle 10 to perform automatic travel in a work region when the work vehicle 10 satisfies a travel start condition, and causes the work vehicle 10 to perform automatic travel in a non-work region when predetermined confirmation operation or confirmation motion is performed by a worker.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for controlling the traveling of an autonomously-traveling work vehicle. [Background technology]

[0002] Conventionally, there is known a technique for automatically driving a work vehicle along a preset target route in a work area. In addition, there is also known a technique for automatically driving a work vehicle along a target route outside the work area (non-work area) (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-015341 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in non-work areas, the risk of contacting obstacles increases compared to when the robot runs automatically inside a work area, so it is not appropriate to allow automatic running unconditionally. On the other hand, if automatic running in non-work areas is prohibited and only manual running by the operator is permitted, a problem of reduced work efficiency will arise.

[0005] An object of the present invention is to provide a driving control method, a driving control program, and a driving control system that can ensure safety when a work vehicle automatically drives through a non-work area. [Means for solving the problem]

[0006] The driving control method of the present invention is a driving control method for controlling the driving of a work vehicle capable of automatic driving, and in a work area, causes the work vehicle to drive automatically when the work vehicle satisfies a driving start condition, and in a non-work area, causes the work vehicle to drive automatically when a predetermined confirmation operation or confirmation action is performed by a worker.

[0007] The driving control program of the present invention is a driving control program that controls the driving of a work vehicle capable of automatic driving, and is a program for causing one or more processors to execute the following: in a work area, causing the work vehicle to drive automatically when the work vehicle satisfies a driving start condition, and in a non-work area, causing the work vehicle to drive automatically when a specified confirmation operation or confirmation action is performed by a worker.

[0008] The driving control system according to the present invention is a system for controlling the driving of an automatically-driving work vehicle. The driving control system causes the work vehicle to automatically drive in a work area when the work vehicle satisfies a driving start condition, and causes the work vehicle to automatically drive in a non-work area when a predetermined confirmation operation or confirmation action is performed by a worker. Effect of the Invention

[0009] According to the present invention, it is possible to provide a driving control method, a driving control program, and a driving control system that can ensure safety when a work vehicle automatically drives through a non-work area. [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 an inter-field route of the work vehicle according to the embodiment of the present invention. [Figure 4]FIG. 4 is a diagram showing an example of a target route for a work vehicle according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of a menu 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 teaching operation screen 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 teaching operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a method for driving a work vehicle in a farm field according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of a driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a method for driving a work vehicle on a road according to an embodiment of the present invention. [Figure 12] FIG. 12 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 13] FIG. 13 is a diagram showing an example of an automatic driving permitted area 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 working vehicle 10 is a tractor. In other embodiments, the working vehicle 10 may be a combine harvester, a rice transplanter, a construction machine, a snowplow, or the like. The working vehicle 10 is configured to be able to automatically travel (autonomously travel) within a work area of ​​a field according to a preset target route. The working vehicle 10 can perform a predetermined task while automatically traveling within the work area. The working vehicle 10 is also configured to be able to automatically travel along a road (connecting road) connecting a plurality of fields according to a preset inter-field route. The working vehicle 10 can automatically travel within a field and outside the field (road) according to a preset target route and an inter-field route based on position information of the current position of the working vehicle 10 calculated by the positioning unit 17. The working vehicle 10 may automatically travel with a worker on board.

[0014] FIG. 3 shows an example of the work vehicle 10 traveling on a road R0 between fields, and FIG. 4 shows an example of the work vehicle 10 traveling in a field F. The field F in FIG. 4 shows an example of the field shown in FIG. 3. In the field F, a work area Fa in which the work vehicle 10 is permitted to travel automatically and a non-work area Fb in which the work vehicle 10 is restricted from traveling automatically, or a non-work area Fb in which the target route (including a straight route and a turning route) for performing work is restricted from being set, are set. For example, in order to prevent the work vehicle 10 from jumping out of the field when traveling automatically in the field, a margin area of ​​several meters is secured from the edge (boundary) of the field, and the margin area is set as the non-work area Fb. The work area Fa is set in the field F excluding the non-work area Fb. When the target route R is set for the working area Fa, the work vehicle 10 becomes able to automatically travel within the working area Fa according to the target route R. The work vehicle 10 performs a predetermined task while automatically traveling within the working area Fa from a travel start position S to a travel end position G according to the target route R. In the non-working area Fb, automatic traveling is restricted, and a worker gets on board the work vehicle 10 and manually drives the work vehicle 10 by manually steering.

[0015] Additionally, in the field F, a work space A1 is set where a predetermined task (specific task) is performed. For example, in the work space A1, tasks such as refueling and unloading of work objects (harvested products, harvested crops, etc.) are performed. When the specific task becomes necessary during automatic driving, the work vehicle 10 interrupts the work in the work area Fa and moves to the work space A1. When the specific task is completed in the work space A1, the work vehicle 10 returns to the work area Fa and resumes the work.

[0016] When the work vehicle 10 finishes work in one field F, it can move to another field F to perform work. For example, as shown in FIG. 3, when the work vehicle 10 finishes work in a field F1, it automatically travels along an inter-field route R12 (teaching route) preset on a road R0 and moves to a field F2. For example, the work vehicle 10 automatically travels along the inter-field route R12 that connects an entrance / exit H1 of the field F1 and an entrance / exit H2 of the field F2. When the work vehicle 10 arrives at the field F2, it performs a predetermined work in the work area Fa of the field F2 while automatically traveling according to a preset target route R.

[0017] The target route R in the field F is set appropriately according to the work content. In addition, the inter-field route R12 on the road R0 is set in advance according to an operation (teaching operation) by the worker (operator). In this embodiment, the inter-field route R12 on the road R0 along which the work vehicle 10 moves from the field F1 to the field F2 is taken as an example, but the inter-field route R12 may be a route on the road R0 along which the work vehicle 10 moves from the field F2 to the field F1. In addition, when the work vehicle 10 moves through three or more fields in sequence, the inter-field route may be set between each of the fields. Note that the route set on the road R0 may not be a route for moving from field to field (inter-field route), but may simply be a route for moving from a first point to a second point on the road R0 (point-to-point route). In addition, the first point and the second point may be positions designated by the worker on a map.

[0018] The inter-field route may be a road exclusively for work vehicles, such as a farm road, forest road, public road, private road, or motorway, or may be a road that is passable by general vehicles (such as passenger cars).

[0019] However, if automatic driving is unconditionally permitted when the work vehicle 10 travels in a non-work area (non-work area Fb, road R0, etc.) outside the work area Fa, the risk of contacting an obstacle increases. For this reason, it is not appropriate to unconditionally permit automatic driving in non-work areas. On the other hand, if automatic driving in non-work areas is prohibited and only manual driving by the worker is permitted, a problem occurs in that work efficiency decreases. In response to this, the automatic driving system 1 according to this embodiment has a configuration that can ensure safety when the work vehicle 10 travels automatically in non-work areas, as described below.

[0020] [Work vehicle 10] 1 and 2, the work vehicle 10 is equipped with a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, an obstacle detection device 15, a communication unit 16, a positioning unit 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the obstacle detection device 15, and the positioning unit 17, etc. Note that the vehicle control device 11 and the obstacle detection device 15 may be capable of wireless communication, and the vehicle control device 11 and the positioning unit 17 may be capable of wireless communication.

[0021] The communication unit 16 is a communication interface that connects the work vehicle 10 to the communication network N1 either wired or wirelessly, and executes data communication with external devices (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0022] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 12) 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 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 of a target route R generated in the operation terminal 20, etc.

[0023] 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.

[0024] 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 the vehicle control device 11, the obstacle detection device 15, the positioning unit 17, and other electrical components provided in the work vehicle 10, as well as to a battery. The battery is charged by the power supplied from the generator. The vehicle control device 11, the obstacle detection device 15, the positioning unit 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.

[0025] 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 traveling, the traveling device 13 performs a traveling operation in accordance with commands from the vehicle control device 11. The traveling device 13 also decelerates or stops the work vehicle 10 in accordance with commands from the vehicle control device 11.

[0026] The working implement 14 is, for example, a cultivator, a grass cutter, a plow, a fertilizer applicator, a sprayer (chemical applicator), a tiller, or a seed sower, and can be attached to and detached from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the working implements 14. FIG. 2 shows a case in which the working implement 14 is a cultivator. For example, the working implement 14 is attached to the rear of the work vehicle 10. The work vehicle 10 performs cultivating work by traveling through a field F with the working implement 14 attached to the rear.

[0027] 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.

[0028] 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.

[0029] The positioning unit 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 unit 17 is provided on the upper part of a cabin 138 in which a worker boards. The installation location of the positioning unit 17 is not limited to the cabin 138. The positioning control unit 171, the memory unit 172, the communication unit 173, and the positioning antenna 174 of the positioning unit 17 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning unit 17, and the positioning unit 17 can operate even when the engine 131 is stopped. The positioning unit 17 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0030] 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 data such as a program for causing the positioning control unit 171 to execute a positioning process, positioning information, and movement information. For example, the 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 172. The program may be downloaded from a server (not shown) to the positioning unit 17 via the communication network N1 and stored in the storage unit 172.

[0031] The communication unit 173 is a communication interface for connecting the positioning unit 17 to the communication network N1 by wire or wirelessly, and for executing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network N1.

[0032] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0033] 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 automatically travels in 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-GNSS 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 automatically travels using positioning information by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 174), or may be a position shifted from the positioning position.

[0034] When the obstacle detection device 15 detects a detection target while the work vehicle 10 is traveling autonomously, it outputs detection information (measurement information) to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a memory unit 52, a camera 53, an obstacle sensor 54, and a communication unit 55. The obstacle detection device 15 may be configured as a single unit and mounted on the work vehicle 10, or multiple components may be distributed and arranged on the work vehicle 10.

[0035] The communication unit 55 is a communication interface that connects the obstacle detection device 15 to the communication network N1 via a wired or wireless manner, and performs data communication with an external device (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0036] The storage unit 52 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 52 stores control programs such as an obstacle detection program for causing the obstacle detection device 15 to execute an obstacle detection process. For example, the obstacle detection 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 52. The obstacle detection program may be downloaded from a server (not shown) to the obstacle detection device 15 via the communication network N1 and stored in the storage unit 52.

[0037] Camera 53 is a digital camera that captures an image of a subject included in a predetermined imaging range and outputs the image as digital image data. Camera 53 continuously captures images of the subject at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and transmits them sequentially to detection control unit 51. Camera 53 also transmits image data of the captured images to operation terminal 20 via communication unit 55. Operation terminal 20 is capable of displaying the captured images on the operation screen of operation display unit 23 (see FIG. 7, etc.).

[0038] The camera 53 also includes a front camera 53f capable of capturing an image of a range in front as seen from the work vehicle 10, and a rear camera 53r capable of capturing an image of a range in the rear as seen from the work vehicle 10. As shown in Fig. 2, the front camera 53f is disposed on the upper front side of the cabin 138, and the rear camera 53r is disposed on the upper rear side of the cabin 138. The camera 53 may also include left and right side cameras capable of capturing an image of the left and right side ranges as seen from the work vehicle 10, respectively. That is, the camera 53 may be configured to be able to capture images in all directions around the work vehicle 10.

[0039] The obstacle sensor 54 is a sensor that detects a detection target in a predetermined detection range using infrared rays, ultrasonic waves, etc. For example, the obstacle sensor 54 may be a lidar sensor (distance sensor) that can measure the distance to the detection target in three dimensions using a laser, or may be a sonar sensor having multiple sonars that can measure the distance to the detection target using ultrasonic waves. The obstacle sensor 54 is installed in the center front, center rear, right side, left side, etc. of the body of the work vehicle 10, and monitors the surroundings of the work vehicle 10 to detect obstacles. In this embodiment, an example will be described in which the obstacle sensor 54 includes a front obstacle sensor 54f that can detect a detection target in a detection range in front of the work vehicle 10, and a rear obstacle sensor 54r that can detect a detection target in a detection range behind the work vehicle 10. As shown in FIG. 2, the front obstacle sensor 54f is arranged on the upper front side of the cabin 138, and the rear obstacle sensor 54r is arranged on the upper rear side of the cabin 138. The front camera 53f and the front obstacle sensor 54f may be configured as one unit, and the rear camera 53r and the rear obstacle sensor 54r may be configured as one unit.

[0040] The obstacle sensor 54 measures the distance to each ranging point (measurement target) present within the measurement range using, for example, a laser (near-infrared laser light, etc.), and generates a distance image based on the measurement information. The obstacle sensor 54 includes an electronic control unit integrating a microcontroller, etc., and a processing unit constructed by various control programs, etc., and is connected to the detection control unit 51, the vehicle control device 11, etc. via a CAN so as to be able to communicate with each other.

[0041] As shown in FIG. 2, the forward obstacle sensor 54f has a measurement range set to a first measurement range Rm1 forward from the cabin 138, and the rear obstacle sensor 54r has a measurement range set to a second measurement range Rm2 rearward from the cabin 138.

[0042] The front obstacle sensor 54f and the rear obstacle sensor 54r are disposed on the left-right center line of the work vehicle 10, like the front camera 53f and the rear camera 53r. The front obstacle sensor 54f is disposed in a left-right center position at the upper part of the front end side of the cabin 138, in a forward-downward posture looking down on the front side of the work vehicle 10 from an obliquely upward side. As a result, for the front obstacle sensor 54f, a predetermined range on the front side of the vehicle body with the left-right center line of the work vehicle 10 as the axis of symmetry is set as the first measurement range Rm1. The rear obstacle sensor 54r is disposed in a left-right center position at the upper part of the rear end side of the cabin 138, in a rear-downward posture looking down on the rear side of the work vehicle 10 from an obliquely upward side. As a result, for the rear obstacle sensor 54r, a predetermined range on the rear side of the vehicle body with the left-right center line of the work vehicle 10 as the axis of symmetry is set as the second measurement range Rm2.

[0043] The obstacle sensor 54 measures the distance from the obstacle sensor 54 to the measurement point in the measurement range by a time-of-flight (TOF) method that measures the distance to the measurement point based on the round-trip time it takes for an irradiated laser to reach the measurement point and return. The obstacle sensor 54 performs three-dimensional measurement in the measurement range by scanning the laser vertically and horizontally at high speed over the entire measurement range and sequentially measuring the distance to the measurement point for each scanning angle (coordinate). The obstacle sensor 54 sequentially measures the intensity of reflected light (reflection intensity) from each measurement point obtained when the laser is scanned vertically and horizontally at high speed over the entire measurement range. The obstacle sensor 54 repeatedly measures the distance to each measurement point in the measurement range and each reflection intensity in real time.

[0044] The obstacle sensor 54 generates a distance image from measurement information such as the distance to each measured ranging point and the scanning angle (coordinates) for each ranging point, and extracts a group of ranging points that are estimated to be obstacles, and transmits the measurement information regarding the extracted group of ranging points to the detection control unit 51 as measurement information regarding the obstacle.

[0045] In addition, a control range corresponding to the distance from the work vehicle 10 is set in the measurement range (detection range) of the obstacle sensor 54. For example, in the measurement range, a range where the distance from the work vehicle 10 is L1 is set as the stop control range, a range from the distance L1 to the distance L2 is set as the deceleration control range, and a range from the distance L2 to the distance L3 is set as the notification control range (however, L1 < L2 < L3). Each control range can be set according to the type, model, work content, vehicle speed, etc. of the work vehicle 10.

[0046] The detection control unit 51 outputs the measurement information acquired from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is automatically traveling, the detection control unit 51 sequentially outputs the measurement information to the vehicle control device 11 each time it acquires the measurement information from the obstacle sensor 54. As another embodiment, the detection control unit 51 may determine the type (person, vehicle, others) of the detection target (measurement target) based on the captured image acquired from the camera 53 and the measurement information acquired from the obstacle sensor 54, and output the determination result to the vehicle control device 11.

[0047] The vehicle control device 11 includes 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 BIOS and OS for causing the CPU to execute various arithmetic processes are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs pre-stored in the ROM or the storage unit 12.

[0048] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and an acquisition processing unit 112. 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. The automatic driving program includes the driving control program of the present invention.

[0049] The driving processing unit 111 controls the driving of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is automatic driving (automatic driving mode), the driving processing unit 111 automatically drives the work vehicle 10 based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning unit 17. For example, when the work vehicle 10 satisfies the start condition for automatic driving and acquires a driving start instruction from the worker, the driving processing unit 111 starts automatic driving of the work vehicle 10 based on the positioning information. For example, the driving processing unit 111 automatically drives the work vehicle 10 from a driving start position S to a driving end position G according to a target route R (see FIG. 4) that is generated and set in advance in the operation terminal 20.

[0050] When the driving mode of the work vehicle 10 is manual driving (manual driving mode), the work vehicle 10 can be manually driven based on the operation (manual steering) of the worker. For example, the driving processing unit 111 acquires operation information corresponding to driving operations such as steering, gear shifting, driving direction switching, and braking by the worker, and causes the traveling device 13 to perform a driving operation based on the operation information.

[0051] Furthermore, when the driving processing unit 111 detects an obstacle during the automatic driving of the work vehicle 10, it causes the work vehicle 10 to execute a predetermined countermeasure. Specifically, when the driving processing unit 111 detects an obstacle within the notification control range, it causes the work vehicle 10 to issue a warning sound. When the driving processing unit 111 detects an obstacle within the deceleration control range, it causes the work vehicle 10 during automatic driving to decelerate from a preset vehicle speed. When the driving processing unit 111 detects an obstacle within the stop control range, it causes the work vehicle 10 during automatic driving to temporarily stop. Note that the driving processing unit 111 may cause the work vehicle 10 to execute a countermeasure according to the type of detection target detected by the obstacle detection device 15.

[0052] Here, when the work vehicle 10 travels in a non-work area (such as the non-work area Fb (see FIG. 4) or the inter-field route R12 (see FIG. 3)) outside the work area Fa, the driving processing unit 111 permits automatic driving if a predetermined condition is met. The predetermined condition is, for example, a state in which the worker can confirm (or monitor) that the work vehicle 10 is traveling in the non-work area. Specifically, the driving processing unit 111 permits the work vehicle 10 to automatically travel in the non-work area on the condition that a predetermined confirmation operation or confirmation action is performed by the worker. If the predetermined confirmation operation or confirmation action is not performed by the worker, the driving processing unit 111 prohibits the work vehicle 10 from automatically traveling in the non-work area. When the driving processing unit 111 permits automatic driving of the work vehicle 10 in response to the predetermined confirmation operation or confirmation action by the worker, the driving processing unit 111 causes the work vehicle 10 to automatically travel without relying on the steering operation of the worker.

[0053] The acquisition processing unit 112 acquires information on a predetermined confirmation operation or confirmation action performed by the worker. For example, when the worker presses an operation button (forced travel button) on the travel screen D3 (see FIG. 7) of the operation terminal 20, the acquisition processing unit 112 acquires operation information indicating that the operation button has been pressed from the operation terminal 20. When the acquisition processing unit 112 acquires the operation information, the travel processing unit 111 permits the work vehicle 10 to automatically travel in the non-work area. Note that the confirmation operation may be a user operation on an operation device (e.g., a remote control) different from the operation terminal 20.

[0054] Also, for example, the acquisition processing unit 112 acquires a captured image from a camera (not shown) mounted on the operation terminal 20, and determines whether the line of sight of the worker appearing in the captured image is directed toward a camera image (image of the surroundings of the work vehicle 10) (see FIG. 7) displayed on the operation terminal 20. When the acquisition processing unit 112 determines that the line of sight of the worker is directed toward the camera image, the driving processing unit 111 permits the work vehicle 10 to automatically drive in the non-work area.

[0055] In this way, the driving processing unit 111 permits the work vehicle 10 to automatically drive in the non-work area when it determines that the worker is in a state capable of monitoring the work vehicle 10 based on information on the operation, movement, posture, etc. of the worker acquired by the acquisition processing unit 112. Specific examples of automatic driving in the non-work area will be described later.

[0056] [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.

[0057] 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.

[0058] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. The worker 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 worker can also operate the operation unit to give instructions to the work vehicle 10 to start work and stop traveling. The worker can also grasp the traveling state of the work vehicle 10 traveling on the field F and road R0 from the traveling trajectory displayed on the operation terminal 20 and the image captured by the camera 53 at a location away from the work vehicle 10 (see FIG. 7, etc.). The worker can also grasp the obstacle detection results, the execution status of the handling process, and the like displayed on the operation terminal 20.

[0059] Furthermore, the worker performs an operation (teaching operation) on the operation unit to set an inter-field route R12 for automatically driving the work vehicle 10 along a road R0 (connecting road) connecting the fields F1 and F2.

[0060] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. A control program for causing the operation control unit 21 to execute various control processes is stored in the storage unit 22. For example, the control 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 control program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0061] The memory unit 22 also stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10. The memory unit 22 may store the work vehicle information related to one work vehicle 10, or may store the work vehicle information related to multiple work vehicles 10. For example, if a specific worker owns multiple work vehicles 10, the work vehicle information related to each work vehicle 10 is stored in the memory unit 22.

[0062] The target route information includes information such as route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated in the operation terminal 20. The field name is the name of the field to be worked on for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The work time is the time required for the work vehicle 10 to work in the field.

[0063] When the target route is a route corresponding to road R0 (route between fields), the target route information includes information such as route name, address, travel distance, and travel time. The route name is the name of road R0, and the address is the address of road R0. The travel distance is the distance traveled by the work vehicle 10 on road R0, for example, the distance from field F1 to field F2. The travel time is the time it takes for the work vehicle 10 to travel on road R0, for example, the time required to move from field F1 to field F2.

[0064] The storage unit 22 may store the target route information related to one target route, or may store the target route information related to multiple target routes. For example, when a specific worker generates multiple target routes for one or multiple fields owned by the worker, the target route information related to each target route is stored in the storage unit 22. One target route may be set for one field, or multiple target routes may be set. Also, one inter-field route may be set for a pair of fields, or multiple inter-field routes may be set. In this embodiment, the storage unit 22 stores target route information corresponding to the target route R (see FIG. 4) for traveling through the field F1, target route information corresponding to the target route R (see FIG. 4) for traveling through the field F2, and target route information corresponding to the inter-field route R12 (see FIG. 3) for traveling on the road R0.

[0065] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The worker may perform an operation to register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may acquire the information from the server and execute each process such as the automatic driving process described below.

[0066] 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.

[0067] As shown in Fig. 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a reception processing unit 212, an acquisition processing unit 213, a generation processing unit 214, and an output processing unit 215. 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.

[0068] The setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field (hereinafter referred to as field information), and information about how the work is to be specifically performed (hereinafter referred to as work information). The setting processing unit 211 accepts setting operations by the worker on the menu screen D1 shown in Fig. 5, for example, and registers each piece of setting information.

[0069] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 174 is attached on 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 having the worker perform an operation to register the information on the operation terminal 20.

[0070] In addition, the setting processing unit 211 sets information such as the position and shape of the field, the work start position (travel start position) where the work begins and the work end position (travel end position) where the work ends, the work direction, etc., by performing operations to register the information on the operation terminal 20.

[0071] The information on the position and shape of the field can be automatically acquired, for example, by an operator getting on the work vehicle 10 and driving it around the periphery of the field, and recording the transition of the position information of the positioning antenna 174 at that time. The position and shape of the field can also be acquired based on a polygon obtained by an operator operating the operation terminal 20 while a map is displayed on the operation terminal 20 to specify multiple points on the map. The operator can also set a predetermined margin area from the edge of the field. The set margin area is set as a non-work area Fb, and the area excluding the margin area is set as a work area Fa (see FIG. 4). Note that the operation control unit 21 may automatically secure a margin area based on the field information, work vehicle information, work information, etc., and set the work area Fa and non-work area Fb, without depending on the setting operation of the operator.

[0072] In addition, the setting processing unit 211 is configured to be able to set, as work information, the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the skip number which is the number of work paths to skip when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-cultivated land, etc.

[0073] Furthermore, the setting processing unit 211 generates a target route R along which the work vehicle 10 will automatically travel in the field, based on each of the setting information. Specifically, the setting processing unit 211 generates the target route R in the field F, based on the travel start position S and travel end position G registered in the field setting. For example, as shown in Fig. 4, the setting processing unit 211 generates the target route R including the travel start position S, travel end position G, a straight route, and a turning route, based on the setting operation of the operator. The setting processing unit 211 registers the generated target route R in association with the field F.

[0074] Here, the operation control unit 21 generates an inter-field route of the road R0 connecting a plurality of fields based on an operation (teaching operation) by the worker, as will be described below.

[0075] Specifically, the reception processing unit 212 receives a driving operation by the worker. For example, the reception processing unit 212 receives a driving operation (manual steering) for manually driving the work vehicle 10 from the field F1 to the field F2. The acquisition processing unit 213 acquires position information of the work vehicle 10 traveling on the road R0 connecting the field F1 and the field F2 from the positioning unit 17 based on the driving operation by the worker. The generation processing unit 214 generates an inter-field route R12 for automatically driving the work vehicle 10 between the field F1 and the field F2 based on the position information acquired based on the driving operation by the worker.

[0076] For example, the reception processing unit 212 displays the teaching operation screen D2 and receives an operation to select a field from the operator (see Figs. 6A and 6B). The teaching operation screen D2 displays a list of field information for multiple fields registered by the setting processing unit 211. The operator selects multiple fields to be targets of the inter-field route on the teaching operation screen D2.

[0077] When the reception processing unit 212 receives an operation to select multiple fields to be included in the inter-field route from the worker, it receives an operation to start teaching travel. The worker, for example, brings the operation terminal 20 into the work vehicle 10 and manually drives the work vehicle 10 on road R0 (see FIG. 3) from field F1 to field F2 while checking the guide route displayed on the operation terminal 20. The acquisition processing unit 213 acquires position information and traveling speed information of the work vehicle 10 while the worker is performing teaching travel on road R0. The acquisition processing unit 213 may acquire information about road R0 during teaching travel (for example, information about obstacles, road surface conditions, road width, stop lines, speed limits, traffic lights, etc.).

[0078] The worker drives the work vehicle 10 to the field F2, and when the work vehicle 10 arrives at the field F2, the worker presses the end button on the teaching operation screen D2. When the worker presses the end button, the reception processing unit 212 accepts the end operation of the teaching travel. When the reception processing unit 212 accepts the end operation, the generation processing unit 214 generates an inter-field route R12 that automatically drives the work vehicle 10 between the field F1 and the field F2 based on the position information of the work vehicle 10 acquired by the acquisition processing unit 213. Specifically, the generation processing unit 214 generates an inter-field route R12 that connects the entrance / exit H1 of the field F1 and the entrance / exit H2 of the field F2 and passes over the road R0, as shown in FIG. 3.

[0079] When the operator checks the inter-field path R12 on the teaching operation screen D2 and presses the registration button, the generation processing unit 214 registers the inter-field path R12 in association with the fields F1 and F2.

[0080] When starting automatic travel of the work vehicle 10, the worker selects a number of fields and also selects an inter-field route for automatic travel between the fields. For example, when the worker performs an operation of selecting field F1 and field F2, an operation of selecting a target route R within field F1 and a target route R within field F2, and an operation of selecting an inter-field route R12 for moving between fields F1 and F2, and presses the start button, the output processing unit 215 outputs route data of the target route and the inter-field route to the work vehicle 10.

[0081] Here, the output processing unit 215 outputs route data to the work vehicle 10, including a target route R, which is a work route within the field F1, a target route R, which is a work route within the field F2, and an inter-field route R12, which is an inter-field route connecting the fields F1 and F2.

[0082] When the route data generated in the operation terminal 20 is transferred to the work vehicle 10, the work vehicle 10 stores the route data in the memory unit 12. The work vehicle 10 executes the automatic driving process based on the route data 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.

[0083] Furthermore, the work vehicle 10 is configured to be able to automatically travel within the work area Fa when the current position coincides with a travel start position S (see FIG. 4) within the work area Fa.

[0084] For example, when the current position of the work vehicle 10 coincides with the driving start position S of the field F1 (when the conditions for starting automatic driving are met), and the worker presses the start button on the operation screen (not shown) to give an instruction to start driving, the driving processing unit 111 of the work vehicle 10 starts automatic driving along the target route R.

[0085] Here, after the work vehicle 10 starts automatic driving, a situation may arise in which a specific task must be performed during automatic driving. For example, if the fuel level falls below a specified level while the work vehicle 10 is automatically driving in the work area Fa, refueling is required. When refueling is required, the work vehicle 10 stops automatic driving at that point. In this case, in this embodiment, the worker can move the work vehicle 10 to the work space A1 (see FIG. 4) in the field F to perform the refueling task, or, if the work is about to be completed, can postpone the refueling task and continue the work until the travel end position G.

[0086] For example, when the fuel falls below a specified amount while the work vehicle 10 is automatically traveling in the work area Fa, the operation control unit 21 displays a warning message on the traveling screen D3 (see FIG. 7). When the worker recognizes the warning message and checks the safety of the surroundings of the work vehicle 10 using a camera image, the worker presses the forced traveling button. When the worker presses the forced traveling button, the output processing unit 215 outputs operation information including a forced traveling instruction to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the operation information, as shown in FIG. 8, the vehicle control device 11 automatically travels the work vehicle 10 from the position where the work was interrupted (work interruption position) to the work space A1 by force. Note that, when the generation processing unit 214 generates a movement route Ra (an example of a non-work route of the present invention) from the work interruption position to the work space A1, the vehicle control device 11 may automatically travel the work vehicle 10 according to the movement route Ra when the forced traveling button is pressed by the worker. Furthermore, the vehicle control device 11 may automatically drive the work vehicle 10 along an extension of the target route R to the non-working area Fb, instead of along the travel route Ra.

[0087] In addition, the vehicle control device 11 may automatically drive the work vehicle 10 from the work interruption location to the end of the work area Fa regardless of the worker's forced driving instruction, and may make the worker's forced driving instruction a permission condition for automatic driving when driving through the non-work area Fb from the end of the work area Fa to the work space A1.

[0088] In another embodiment, when the worker presses the forced travel button, the vehicle control device 11 may continue the automatic travel of the work vehicle 10 from the position where the work was interrupted (work interruption position) toward the travel end position G according to the target route R. For example, the worker may be able to select on the travel screen D3 whether to automatically travel the work vehicle 10 to the work space A1 or to the travel end position G. In addition, the operation control unit 21 may display an option to automatically travel to the travel end position G on the condition that the work vehicle 10 has fuel sufficient to travel from the work interruption position to the travel end position G, for example.

[0089] As another embodiment, automatic travel of the work vehicle 10 in the non-work area Fb may be permitted only while the worker is pressing the forced travel button to ensure that the worker has confirmed the safety of the surroundings of the work vehicle 10. For example, the vehicle control device 11 permits automatic travel of the work vehicle 10 while the worker is pressing the forced travel button, and stops automatic travel of the work vehicle 10 when the worker releases the forced travel button. As another embodiment, automatic travel of the work vehicle 10 in the non-work area Fb may be permitted when the worker presses the forced travel button continuously for a predetermined time. In this case, the vehicle control device 11 does not start automatic travel and maintains the stopped state when the forced travel button is pressed for less than the predetermined time.

[0090] As another embodiment, when a warning message is displayed on the driving screen D3 (see FIG. 7) and the worker is directing his / her gaze toward the camera image on the driving screen D3, the output processing unit 215 outputs operation information including a forced driving instruction to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the operation information, it forces the work vehicle 10 to automatically drive from the position where work was interrupted (work interruption position) to the work space A1.

[0091] In order to ensure that the worker is checking the safety of the surroundings of the work vehicle 10, the automatic driving of the work vehicle 10 in the non-work area Fb may be permitted only while the worker is watching the camera image. For example, the vehicle control device 11 permits the automatic driving of the work vehicle 10 while the worker is directing his / her gaze at the camera image on the driving screen D3, and stops the automatic driving of the work vehicle 10 when the worker takes his / her gaze away from the camera image. In another embodiment, the automatic driving of the work vehicle 10 in the non-work area Fb may be permitted when the worker is continuously watching the camera image for a predetermined time. In this case, the vehicle control device 11 does not start the automatic driving and maintains the stopped state when the time for watching the camera image is less than the predetermined time.

[0092] Furthermore, if the worker presses the "No" button on the driving screen D3, the vehicle control device 11 does not permit automatic driving, and instead accepts manual steering by the worker to manually drive the work vehicle 10.

[0093] The specific work required while the work vehicle 10 is traveling automatically is not limited to work in the work space A1 (e.g., refilling work, discharge work, etc.). For example, while the work vehicle 10 is traveling automatically in the work area Fa, it may be necessary to regenerate the DPF (Diesel Particulate Filter) or to refill the urea water. When such a specific work is required, the work vehicle 10 temporarily suspends the automatic traveling at that point. Similarly, for such a specific work, the worker allows the automatic traveling by pressing the forced traveling button (see FIG. 7) or by directing his / her gaze at the camera image to give a forced traveling instruction, and moves the work vehicle 10 to the edge of the field F (non-work area Fb), or, if the work is about to be completed, reserves the specific work and continues the work to the travel end position G.

[0094] Similarly, when the work vehicle 10 travels on a road outside a field (an example of a non-work area), the vehicle control device 11 permits the work vehicle 10 to travel automatically on the condition that a predetermined confirmation operation or confirmation action has been performed. For example, when the work vehicle 10 finishes work in the field F1 and starts moving toward the field F2, the operation control unit 21 displays the travel screen D3 shown in FIG. 9. When the worker presses the forced travel button on the travel screen D3 of the operation terminal 20, the output processing unit 215 outputs operation information including a forced travel instruction to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the operation information, it permits the work vehicle 10 to travel automatically on the road R0 (inter-field route R12) (see FIG. 3). Note that the vehicle control device 11 may permit the work vehicle 10 to travel automatically on the inter-field route R12 only while the worker is pressing the forced travel button. The inter-field route R12 is an example of a non-work route of the present invention.

[0095] In addition, the vehicle control device 11 may allow the work vehicle 10 to automatically drive on the inter-field route R12 only when the worker is directing his or her gaze at the camera image on the driving screen D3, or only while the worker is directing his or her gaze at the camera image on the driving screen D3.

[0096] Here, if the work vehicle 10 detects an obstacle X1 (see FIG. 11) while automatically traveling on the inter-field route R12, the vehicle control device 11 stops the work vehicle 10. As shown in FIG. 10A, a message indicating that obstacle X1 has been detected is displayed on the traveling screen D3. Note that in a configuration in which automatic traveling on the inter-field route R12 is permitted only while the worker continues to press the forced traveling button, when the work vehicle 10 detects the obstacle X1, the vehicle control device 11 disables the pressing of the forced traveling button and stops the automatic traveling. In this case, a message urging the user to release the forced traveling button is displayed on the traveling screen D3 (see FIG. 10A).

[0097] When the work vehicle 10 detects the obstacle X1 and stops temporarily, and the worker releases the forced travel button, the operation control unit 21 displays a message on the travel screen D3 as shown in FIG. 10B, inquiring whether or not to force the work vehicle 10 to travel along an avoidance route that avoids the obstacle X1. When the worker presses the forced travel button on the travel screen D3 shown in FIG. 10B, the vehicle control device 11 permits automatic travel and causes the work vehicle 10 to travel along the avoidance route. For example, as shown in FIG. 11, the vehicle control device 11 reverses the work vehicle 10 from the temporary stop position, causes the work vehicle 10 to automatically travel along an avoidance route Rb that passes beside the obstacle X1, and returns to the original inter-field route R12. The vehicle control device 11 may permit automatic travel along the avoidance route Rb only while the worker is pressing the forced travel button.

[0098] The vehicle control device 11 may also temporarily halt the work vehicle 10 when the work vehicle 10 returns from the avoidance route Rb to the inter-field route R12. Here too, the vehicle control device 11 disables the pressing of the forced travel button to stop the automatic travel, and a message prompting the operator to release the forced travel button is displayed on the travel screen D3. When the operator confirms from the camera image that the work vehicle 10 has passed the obstacle X1 and returned to the inter-field route R12, the operator presses the forced travel button again. This causes the vehicle control device 11 to permit automatic travel on the inter-field route R12 and cause the work vehicle 10 to automatically travel toward the field F2.

[0099] In another embodiment, the vehicle control device 11 may permit automatic travel along the inter-field route R12 when the operator directs his or her gaze toward the camera image, and permit automatic travel along the avoidance route Rb (see FIG. 11) when an obstacle X1 is detected.

[0100] In another embodiment, the vehicle control device 11 may always permit automatic travel along the inter-field route R12 and automatic travel along the avoidance route Rb when an obstacle is detected while the operator is pressing the forced travel button or directing his / her gaze toward the camera image. This configuration eliminates the need for the operator to release the forced travel button and press it again, or to look away from the camera image and reorient it, improving operability.

[0101] In the above-described embodiment, when specific work is required in the work vehicle 10 and when the work vehicle 10 is traveling on an inter-field route (outside the work area), automatic driving is permitted on the condition that a specified confirmation operation or confirmation action is performed by the operator. However, in another embodiment, automatic driving may be permitted on the condition that a specified confirmation operation or confirmation action is performed by the operator when the work vehicle 10 is in a state where it is difficult to continue automatic driving while it is automatically driving.

[0102] For example, if the work vehicle 10 deviates from the target route R while automatically traveling according to the target route R and there is a possibility that the work vehicle 10 may jump out of the field, the vehicle control device 11 stops the automatic traveling of the work vehicle 10. In this case, the vehicle control device 11 may permit the automatic traveling on the condition that a predetermined confirmation operation or confirmation action is performed by the operator.

[0103] As described above, the vehicle control device 11 automatically drives the work vehicle 10 in the work area Fa when the work vehicle 10 satisfies the driving start condition, and automatically drives the work vehicle 10 in non-work areas (non-work area Fb, road R0, etc.) when a predetermined checking operation or checking action is performed by the worker. Furthermore, the vehicle control device 11 may automatically drive the work vehicle 10 in the work area Fa only while a checking operation or checking action is being performed by the worker.

[0104] In addition, the operation control unit 21 causes the operation terminal 20 to display a reception screen (driving screen D3) that receives a confirmation operation (forced driving instruction) from the operator when the work vehicle 10 moves from the work area Fa to a non-work area (non-work area Fb, road R0, etc.), when specific work is required, or when it becomes difficult to continue automatic driving (see Figure 7).

[0105] Furthermore, when the work vehicle 10 is in a predetermined state while it is automatically traveling in a non-work area, the work vehicle 10 is allowed to automatically travel only while a confirmation operation or confirmation action is being performed by the worker. The predetermined state is, for example, a state in which an obstacle that would be an impediment to automatic traveling based on the inter-field route R12 (see FIG. 11) that is set in advance on the road R0 in the non-work area is detected, or a state in which specific work is required for the work vehicle 10.

[0106] In addition, the vehicle control device 11 may temporarily halt the work vehicle 10 if an obstacle is detected while the work vehicle 10 is traveling automatically, and then resume automatic traveling based on the inter-field route R12 if the obstacle is no longer detected before the worker performs a checking operation or confirmation action.

[0107] Thus, in this embodiment, even in an environment that satisfies the conditions for stopping automatic driving, movement by automatic driving is temporarily permitted by a safety confirmation and confirmation operation by the operator (supervisor). If it is determined that the operator has confirmed safety and clearly indicated his / her intention to continue automatic driving, the operator's instructions are prioritized and automatic driving is permitted outside the work area (non-work area Fb, inter-field route R12, etc.) even in an area where unmanned automatic driving is restricted.

[0108] 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.

[0109] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0110] The present invention can be understood as an invention of an automatic driving method (one example of the driving control method of the present invention) that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the vehicle control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0111] In step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state capable of autonomous driving. When the work vehicle 10 satisfies the conditions for starting autonomous driving (S1: Yes), the vehicle control device 11 shifts the process to step S2. The vehicle control device 11 waits until the work vehicle 10 satisfies the conditions for starting autonomous driving (S1: No).

[0112] In step S2, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. For example, when the worker issues a traveling start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs a traveling start instruction to the work vehicle 10. When the vehicle control device 11 acquires the traveling 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 in the work area Fa of the field F according to the target route R (see FIG. 4), and starts work by the work implement 14.

[0113] Next, in step S3, the vehicle control device 11 determines whether the work vehicle 10 has entered a predetermined state. Here, the predetermined state includes various states in which it is difficult to continue automatic driving, such as when the work vehicle 10 detects an obstacle during automatic driving, when a specific task (fuel replenishment, discharge of work objects (harvested products, harvested products, etc.), DPF regeneration, urea water replenishment, etc.) is required, when driving in a non-work area Fb, when driving outside the field (road R0), when deviating from the target route R, when there is a possibility of jumping out of the field, etc.

[0114] If the vehicle control device 11 determines that the work vehicle 10 has reached a predetermined state (S3: Yes), it transitions the process to step S4. If the vehicle control device 11 determines that the work vehicle 10 has not reached a predetermined state (S3: No), it transitions the process to step S8.

[0115] In step S4, the vehicle control device 11 temporarily stops the automatically traveling work vehicle 10. Specifically, the vehicle control device 11 temporarily stops the automatically traveling work vehicle 10 at a position where the automatically traveling work vehicle 10 was at when the work vehicle 10 reached a predetermined state.

[0116] Next, in step S5, the vehicle control device 11 determines whether or not a forced travel instruction has been received from the operation terminal 20 by the worker. For example, when the work vehicle 10 reaches a predetermined state, the operation control unit 21 of the operation terminal 20 displays a predetermined message on the travel screen D3 and also displays an operation button for receiving a forced travel instruction (forced travel button) (see FIGS. 7, 9, etc.). When the worker presses the forced travel button on the travel screen D3, the vehicle control device 11 receives the forced travel instruction from the operation terminal 20.

[0117] In another embodiment, when the operator directs his / her gaze toward the camera image displayed on the driving screen D3 (see FIG. 9), the vehicle control device 11 acquires a forced driving instruction from the operation terminal 20.

[0118] When the vehicle control device 11 acquires a forced travel instruction (S5: Yes), the process proceeds to step S6. When the vehicle control device 11 does not acquire a forced travel instruction (S5: No), the process proceeds to step S8.

[0119] In step S6, the vehicle control device 11 permits automatic driving and resumes automatic driving of the work vehicle 10. For example, if refueling is required during automatic driving of the work vehicle 10 (S3: Yes), the vehicle control device 11 acquires a forced driving instruction (S5: Yes), and resumes automatic driving of the work vehicle 10 and causes the work vehicle 10 to automatically drive along the travel route Ra (see FIG. 8) to the work space A1.

[0120] Also, for example, when the work vehicle 10 moves from field F1 to field F2 (S3: Yes), when the vehicle control device 11 acquires a forced driving instruction (S5: Yes), it resumes automatic driving of the work vehicle 10 and causes it to automatically drive along the inter-field route R12 (see Figure 3).

[0121] Next, in step S7, the vehicle control device 11 judges whether the forced driving instruction has been released. For example, when the worker releases the forced driving button on the driving screen D3 (see FIG. 9), the vehicle control device 11 judges that the forced driving instruction has been released. While the worker continues to press the forced driving button on the driving screen D3, the vehicle control device 11 judges that the forced driving instruction has not been released. Also, for example, when the worker takes his / her gaze off the camera image on the driving screen D3, the vehicle control device 11 judges that the forced driving instruction has been released. While the worker continues to watch the camera image on the driving screen D3, the vehicle control device 11 judges that the forced driving instruction has not been released.

[0122] When the vehicle control device 11 determines that the forced driving instruction has been released (S7: Yes), it shifts the process to step S4. That is, the vehicle control device 11 permits automatic driving while the forced driving instruction is acquired (e.g., while the forced driving button is pressed (ON)) (S6), and stops automatic driving every time the forced driving instruction is released (the forced driving button is turned OFF) (S4). When the vehicle control device 11 determines that the forced driving instruction has not been released (S7: No), it shifts the process to step S8.

[0123] In step S8, the vehicle control device 11 determines whether or not the work vehicle 10 has ended automatic driving. For example, when the work vehicle 10 reaches the driving end position G (see FIG. 3), the vehicle control device 11 determines that the work vehicle 10 has ended automatic driving (S8: Yes) and ends the automatic driving process. The vehicle control device 11 repeatedly executes the processes of steps S3 to S7 until the work vehicle 10 reaches the driving end position G (S8: No). In this manner, the vehicle control device 11 executes the automatic driving process.

[0124] As described above, the automatic driving system 1 according to this embodiment controls the traveling of the work vehicle 10 capable of automatic traveling. Furthermore, the automatic driving system 1 allows the work vehicle 10 to automatically travel in the work area Fa when the work vehicle 10 satisfies the travel start condition, and allows the work vehicle 10 to automatically travel in non-work areas outside the work area Fa (non-work area Fb, outside the field, etc.) when a predetermined confirmation operation or confirmation motion is performed by the worker. In other words, the automatic driving system 1 permits the work vehicle 10 to automatically travel in the non-work area, on the condition that the worker confirms (monitors) safety.

[0125] According to the above configuration, it is possible to ensure safety when the work vehicle 10 automatically travels through a non-work area. Also, a worker can check the situation around the work vehicle 10 from a camera image mounted on the work vehicle 10, for example, in a remote location, and give instructions for automatic travel.

[0126] Furthermore, the automatic driving system 1 can be configured to permit the work vehicle 10 to drive automatically only while the worker continues to check for safety (for example, while the worker holds down the forced drive button or looks at the camera image). With this configuration, automatic driving is stopped if the worker neglects to check for safety, so that the safety of the work vehicle 10 when driving in a non-work area can be further improved.

[0127] The confirmation operation and the confirmation action are not limited to an input operation (button pressing) by the operator on the operation terminal 20 or an action of viewing a camera image displayed on the operation terminal 20, but may be, for example, an action of the operator inputting (speaking) an instruction to start automatic driving by voice. For example, the vehicle control device 11 permits automatic driving when the operator speaks and acquires the voice of the instruction to start. Furthermore, the vehicle control device 11 may permit automatic driving only while the voice is being input.

[0128] The present invention is not limited to the above-described embodiment, and may be embodied as follows.

[0129] In another embodiment, the automatic driving system 1 may set an automatic driving permission area in which the automatic driving of the work vehicle 10 is permitted in the non-work area. For example, as shown in FIG. 13, the worker closes off the road R0 for entering the fields F1-F12 to close off the area surrounding the fields F1-F12 and prevent third parties from entering. Specifically, the worker places signs P0 on the road R0 surrounding the entire area of ​​the fields F1-F12 at each entry position to the entire area. In the example shown in FIG. 13, the worker places signs P0 at eight locations on the road R0. By placing the signs P0, it is possible to alert third parties.

[0130] The operation control unit 21 sets the automatic driving permitted area AR1 to a range specified based on the position information of each of a plurality of signs P0 installed on the road R0. The sign P0 is a signboard equipped with a transmitter capable of transmitting position information (latitude and longitude information) and a display unit that displays information indicating that entry into the automatic driving permitted area AR1 is prohibited ("Road Closed").

[0131] When the operation control unit 21 acquires position information from each of the eight signs P0 installed on the road R0, it sets an area surrounding the road R0 connecting the positions of each sign P0 as an automatic driving permitted area AR1. When the operation control unit 21 sets the automatic driving permitted area AR1, it may display a frame image of the automatic driving permitted area AR1 on a map displayed on the operation terminal 20. Furthermore, the setting processing unit 211 may display position information of one or more work vehicles 10 that can communicate with the operation terminal 20. Note that instead of the signs P0, the automatic driving permitted area AR1 may be set by an operator registering blockade points on a map.

[0132] When the automatic driving permission area AR1 is set, the vehicle control device 11 permits the first work vehicle 10 that enters the automatic driving permission area AR1 to automatically drive, regardless of whether or not the worker performs a confirmation operation or a confirmation action, and permits the second and subsequent work vehicles 10 that enter the automatic driving permission area AR1 to automatically drive only while the worker is performing a confirmation operation or a confirmation action. For example, when the first work vehicle 10 automatically drives on the road R0 within the automatic driving permission area AR1, safety is ensured because there are no other vehicles. In this case, the vehicle control device 11 permits the automatic driving of the work vehicle 10 regardless of the forced driving instruction by the worker.

[0133] On the other hand, if a work vehicle 10 is already traveling automatically on road R0, and another work vehicle 10 enters road R0 and travels automatically, there is a risk of contact with the automatically traveling work vehicle 10. In this case, the vehicle control device 11 permits the second and subsequent work vehicles 10 to travel automatically, on the condition that a forced travel command is issued by the worker. This allows multiple work vehicles 10 to travel automatically safely within the automatic travel permitted area AR1.

[0134] In the above example, the second and subsequent work vehicles 10 are permitted to automatically travel on the condition that the worker performs a confirmation operation or a confirmation action. In another embodiment, the Nth (N is 3 or more) and subsequent work vehicles 10 may be permitted to automatically travel on the condition that the worker performs a confirmation operation or a confirmation action. In another embodiment, the worker may be able to set the value of "N". In another embodiment, the worker may be able to set or switch the work vehicles 10 that require a confirmation operation or a confirmation action. For example, the vehicle control device 11 permits automatic travel on the condition that the worker performs a confirmation operation or a confirmation action for one or more specific work vehicles 10 selected by the worker from among the multiple work vehicles 10. In another embodiment, the vehicle control device 11 may automatically switch between permitting automatic travel on the condition that the worker performs a confirmation operation or a confirmation action for the work vehicle 10, or disabling the condition. For example, the vehicle control device 11 may switch between the necessity of the above condition based on information such as the work content, current position, target route, and vehicle speed of the work vehicle 10. In addition, as another embodiment, the vehicle control device 11 may permit automatic driving for all work vehicles 10 within the automatic driving permitted area AR1 on the condition that a confirmation operation or confirmation action is performed by the worker.

[0135] In addition, when a measure is taken to prohibit entry of vehicles not involved in work into the automatic driving permission area AR1, the vehicle control device 11 may permit the work vehicle 10 in the automatic driving permission area AR1 to automatically drive regardless of whether or not a worker performs a confirmation operation or a confirmation action. In addition, when the above-mentioned measure is not taken in the automatic driving permission area AR1, the vehicle control device 11 may permit the work vehicle 10 in the automatic driving permission area AR1 to automatically drive only while a worker performs a confirmation operation or a confirmation action. Vehicles not involved in work include general vehicles not related to work, excluding work vehicles that perform work in fields, transport vehicles that transport waste, and supply vehicles that supply supplies. The measure to prohibit entry of vehicles is, for example, a measure to install a sign P0.

[0136] When the entry of vehicles unrelated to the work is prohibited, safety within the automatic driving permitted area AR1 is ensured, so the vehicle control device 11 may permit automatic driving regardless of the presence or absence of a confirmation operation or confirmation action by the worker. On the other hand, when the entry of vehicles unrelated to the work is not prohibited, safety within the automatic driving permitted area AR1 becomes insufficient, so the vehicle control device 11 permits automatic driving on the condition that a confirmation operation or confirmation action is performed by the worker.

[0137] As another embodiment of the present invention, when the vehicle control device 11 detects an obstacle during automatic driving of the work vehicle 10, the vehicle control device 11 may temporarily stop the work vehicle 10, and then the work vehicle 10 may be driven to avoid the obstacle by remote control of the worker. For example, when the work vehicle 10 detects an obstacle, the worker operates the steering device to perform manual steering remotely while checking the camera image on the operation terminal 20. The vehicle control device 11 drives the work vehicle 10 in response to the manual steering. Furthermore, when the work vehicle 10 passes the obstacle and returns to the target route, and is in a state where automatic driving can be resumed, the vehicle control device 11 accepts an instruction to start automatic driving from the worker. When the vehicle control device 11 accepts the start instruction, the vehicle control device 11 causes the work vehicle 10 to resume automatic driving.

[0138] As described above, in the above-described embodiment, the vehicle control device 11 corresponds to the driving control system of the present invention, but the driving control system of the present invention may be configured with the operation terminal 20 alone, or may be configured to include the work vehicle 10 and the operation terminal 20.

[0139] [Notes on the invention] The following is an outline of the invention extracted from the embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0140] <Appendix 1> A driving control method for controlling driving of an automatically-driving work vehicle, comprising: In a work area, when the work vehicle satisfies a travel start condition, the work vehicle is automatically traveled; In a non-work area, when a predetermined confirmation operation or confirmation action is performed by a worker, the work vehicle is automatically driven. A driving control method that performs the above.

[0141] <Appendix 2> In the non-work area, the work vehicle is automatically driven only while the confirmation operation or the confirmation action is being performed by a worker. 2. A method for controlling a vehicle according to claim 1.

[0142] <Appendix 3> When the work vehicle moves from the work area to the non-work area, a reception screen for receiving the confirmation operation from the worker is displayed on an operation terminal. 3. A driving control method according to claim 1 or 2.

[0143] <Appendix 4> When the work vehicle automatically traveling in the non-work area reaches a predetermined state, the work vehicle is automatically traveled only while the confirmation operation or the confirmation action is being performed by a worker. 4. The driving control method according to claim 2 or 3.

[0144] <Appendix 5> The predetermined state is a state in which an obstacle that will hinder automated driving based on a non-work route previously set in the non-work area is detected, or a state in which a specific work is required in the work vehicle. 5. A cruise control method as described in claim 4.

[0145] <Appendix 6> When the obstacle is detected during the automatic travel of the work vehicle, the work vehicle is temporarily stopped, and when the obstacle is no longer detected before the confirmation operation or the confirmation action is performed by a worker, the automatic travel based on the non-work route is resumed. 6. A cruise control method as described in appendix 5.

[0146] <Appendix 7> An automatic driving permission area in which automatic driving of the work vehicle is permitted is set in the non-work area, permitting automatic driving for a first work vehicle that has entered the automatic driving permission area, regardless of the presence or absence of the confirmation operation or the confirmation action by a worker; The second and subsequent work vehicles that have entered the automatic driving permission area are permitted to automatically drive only while a worker is performing the confirmation operation or the confirmation action. A driving control method according to any one of claims 2 to 6.

[0147] <Appendix 8> An automatic driving permission area in which automatic driving of the work vehicle is permitted is set in the non-work area, When a measure is taken to prohibit vehicles not involved in work from entering the automatic driving permission area, automatic driving is permitted for the work vehicle within the automatic driving permission area regardless of whether or not a worker has performed the confirmation operation or the confirmation action; When the measure has not been taken in the automatic driving permission area, automatic driving is permitted for the work vehicle in the automatic driving permission area only while the confirmation operation or the confirmation action is being performed by a worker. A driving control method according to any one of claims 2 to 7. [Explanation of symbols]

[0148] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 20: Operation terminal 21: Operation control section 53: Camera 54: Obstacle sensor 111: Driving processing unit 112: Acquisition processing unit 211: Setting processing section 212: Reception processing unit 213: Acquisition processing unit 214: Generation processing unit 215: Output processing section A1:Work space AR1: Autonomous driving permitted area D1: Menu screen D2: Teaching operation screen D3: Driving screen F: Field Fa :Work area Fb: Non-work area P0: Sign R: Target route R0 :road R12: Inter-field route (non-work route) Ra: Travel route (non-work route) Rb: Avoidance route (non-work route)

Claims

1. A driving control method for controlling driving of an automatically-driving work vehicle, comprising: In a work area, when the work vehicle satisfies a travel start condition, the work vehicle is automatically traveled; In a non-work area, when a predetermined confirmation operation or confirmation action is performed by a worker, the work vehicle is automatically driven. A driving control method that performs the above.

2. In the non-work area, the work vehicle is automatically driven only while the confirmation operation or the confirmation action is being performed by a worker. The cruise control method according to claim 1 .

3. When the work vehicle moves from the work area to the non-work area, a reception screen for receiving the confirmation operation from the worker is displayed on an operation terminal. The cruise control method according to claim 1 .

4. When the work vehicle automatically traveling in the non-work area reaches a predetermined state, the work vehicle is automatically traveled only while the confirmation operation or the confirmation action is being performed by a worker. The cruise control method according to claim 2 .

5. The predetermined state is a state in which an obstacle that will hinder automated driving based on a non-work route previously set in the non-work area is detected, or a state in which a specific work is required in the work vehicle. The cruise control method according to claim 4.

6. When the obstacle is detected during the automatic travel of the work vehicle, the work vehicle is temporarily stopped, and when the obstacle is no longer detected before the confirmation operation or the confirmation action is performed by a worker, the automatic travel based on the non-work route is resumed. The cruise control method according to claim 5.

7. An automatic driving permission area in which automatic driving of the work vehicle is permitted is set in the non-work area, Allowing automatic driving for the first work vehicle that has entered the automatic driving permission area regardless of the presence or absence of the confirmation operation or the confirmation action by a worker; and permitting automatic driving of the second or subsequent work vehicles that have entered the automatic driving permitted area only while the confirmation operation or the confirmation action is being performed by a worker. The cruise control method according to claim 2 .

8. An automatic driving permission area in which automatic driving of the work vehicle is permitted is set in the non-work area, When a measure is taken to prohibit vehicles not involved in work from entering the automatic driving permitted area, automatic driving is permitted for the work vehicle within the automatic driving permitted area regardless of whether or not a worker has performed the confirmation operation or the confirmation action; When the measure has not been taken in the automatic driving permission area, automatic driving is permitted for the work vehicle in the automatic driving permission area only while the confirmation operation or the confirmation action is being performed by a worker. The cruise control method according to claim 2 .

9. A driving control program for controlling driving of an automatically-driving work vehicle, In a work area, when the work vehicle satisfies a travel start condition, the work vehicle is automatically traveled; In a non-work area, when a predetermined confirmation operation or confirmation action is performed by a worker, the work vehicle is automatically driven. A driving control program for causing one or more processors to execute the above.

10. A driving control system for controlling driving of an automatically-driving work vehicle, A driving control system that automatically drives the work vehicle in a work area when the work vehicle satisfies a driving start condition, and automatically drives the work vehicle in a non-work area when a specified confirmation operation or confirmation action is performed by a worker.

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