Turning control for autonomous agricultural vehicle

Abstract

To provide a system and a method for realizing efficient turning control for an autonomous vehicle when the autonomous vehicle turns into a row between trellises.SOLUTION: An autonomous vehicle navigation system includes a controller configured or programmed to receive environment or location information on a work vehicle detected by a sensor, receive user input data, and cause the work vehicle to traverse and exit a first plot, traverse a margin area located between the first plot and an adjacent field, and perform turning maneuver processing before entering a second row in the first plot. The controller determines, before the work vehicle starts traversing, whether or not a turning area wider function is effective on the basis of a first condition group depending on the user input data is satisfied. While the work vehicle performs turning maneuver processing, the controller determines whether or not the work vehicle is allowed to retreat and enter a third row of the adjacent field, on the basis of the information detected by the sensor.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to a system and method for controlling turning of an autonomous agricultural vehicle, such as a tractor, when turning into a row between trellises. [Background technology]

[0002] There has been much research and development into the automation of agricultural machinery used in fields. For example, work vehicles such as tractors, combine harvesters, and rice transplanters that can autonomously navigate within fields using positioning systems such as the Global Navigation Satellite System (GNSS) are becoming commercially available.

[0003] US Patent Application Publication No. 2023 / 0015153 discloses an agricultural machine that travels autonomously according to a planned travel line. The planned travel line may include a straight section that drives the vehicle body (vehicle body) straight and a turning section that turns the vehicle body. The autonomous travel controller is configured to control the travel and steering of the vehicle body to perform line alignment (straight line positioning). In line alignment, the autonomous travel controller is configured to perform a K-turn (turning back) by moving the vehicle body forward and then moving the vehicle body backward. In line alignment, the autonomous travel controller is configured or programmed to perform a K-turn multiple times and start autonomous travel when the number of times the K-turn has been performed reaches a predetermined number or more. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] US Patent Application Publication No. 2023 / 0015153 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in situations where the space of the travel route is limited when the vehicle turns to enter the row between the trellises, the vehicle may need to perform multiple turning movements or multiple backing movements to turn to enter the row between the trellises, especially when an implement or work tool is attached to the vehicle or tractor. Therefore, there is a need for an autonomous tractor system that can define area boundaries during turning control when turning to enter the space or row between the trellises and determine whether the vehicle can utilize a particular area during a turning maneuver. [Means for solving the problem]

[0006] The preferred embodiments of the present invention provide novel techniques, systems and methods for controlling turning of an autonomous agricultural vehicle as it turns into a row between trellises and for defining area boundaries during turning control.

[0007] According to a preferred embodiment of the present invention, an autonomous vehicle navigation system for a work vehicle capable of autonomous driving is provided, comprising a controller. The controller is configured or programmed to receive information about the position of the work vehicle or the surrounding conditions of the work vehicle detected by at least one sensor, and to receive input data input by a user on a terminal device. The controller is configured or programmed to control the work vehicle to: drive the work vehicle in a first section including a plurality of rows; drive the work vehicle out of the first section from a first row of the plurality of rows included in the first section; drive the work vehicle in a margin area provided between the first section and an adjacent section including a plurality of rows or a second section; the margin area is between the first section and the adjacent section or the second section, and the adjacent section or the second section is separated from the first section; and execute a turning operation process before the work vehicle enters the second row of the plurality of rows of the first section. The controller is controlled or programmed to determine whether to enable (ON) a turning area expansion function based on whether at least one condition in a first condition group is satisfied based on the input data input by a user at the terminal device before the work vehicle starts traveling. The controller is configured or programmed to determine whether to allow the work vehicle to enter the adjacent area or a third row included in the multiple rows of the second section based on whether at least one condition in a second condition group is satisfied based on the information detected by the at least one sensor when the work vehicle is performing the turning operation process.

[0008] According to a preferred embodiment of the present invention, the information includes surrounding condition information of the work vehicle, the at least one sensor is mounted on the work vehicle, and the at least one or more conditions of the first condition group are determined to be satisfied or not from the information held by the work vehicle before the work vehicle starts traveling, and the at least one or more conditions of the second condition group are determined to be satisfied or not from the surrounding condition information acquired by the at least one sensor mounted on the work vehicle while it is traveling.

[0009] According to a preferred embodiment of the present invention, the input data entered by the user at the terminal device includes a user selection function that is set to ON or OFF, and the at least one condition in the first group of conditions that allows the work vehicle to reverse and enter the third row is based on the user selection function.

[0010] According to a preferred embodiment of the present invention, the input data input by a user at the terminal device includes an indicator indicating whether the implement attached to the work vehicle includes one or more tires, and the at least one condition for allowing the work vehicle to back up and enter the third row depends on the indicator indicating whether the implement attached to the work vehicle includes one or more tires, and if the implement includes one or more tires, the work vehicle is not permitted to back up and enter the third row, and if the implement does not include one or more tires, the work vehicle is permitted to back up and enter the third row.

[0011] According to a preferred embodiment of the present invention, the input data input by the user at the terminal device includes the length (A) of the work vehicle, the length (L) of the implement attached to the work vehicle, and the width (W) of the margin area. A ), and the at least one or more conditions for allowing the work vehicle to reverse and enter the third row include the length (A), the length (L), and the width (WA ) depends on the conditional expression (L < A) and the conditional expression (W A < When either one of (L + A) is satisfied, the work vehicle is permitted to reverse and enter the third row.

[0012] According to a preferred embodiment of the present invention, the input data input by the user in the terminal device includes CL that defines the position of the center line of the implement attached to the work vehicle and TCL that defines the position of the center line of the work vehicle. The at least one or more conditions that allow the work vehicle to reverse and enter the third row depend on the CL and the TCL. When the CL is equal to or substantially equal to the TCL, the work vehicle is permitted to reverse and enter the third row.

[0013] According to a preferred embodiment of the present invention, the input data input by the user in the terminal device includes an indicator indicating whether there is a trellis in the adjacent area or the second section. When the trellis is in the adjacent area or the second section, the work vehicle is permitted to reverse and enter the third row.

[0014] According to a preferred embodiment of the present invention, the input data input by the user in the terminal device includes an indicator indicating whether the adjacent area is a field. When the adjacent area is a field, the work vehicle is permitted to reverse and enter the third row.

[0015] According to a preferred embodiment of the present invention, the input data input by the user in the terminal device includes W1 that defines the trellis row width and A1 that defines the total width of the work vehicle and the implement attached to the work vehicle. When the total width A1 is smaller than the trellis row width W1 (A1 > W1), the work vehicle is permitted to reverse and enter the third row.

[0016] According to a preferred embodiment of the present invention, the input data input by a user at the terminal device or the information detected by the at least one sensor is the gradient of the second section or the adjacent field, and if the gradient is less than a predetermined value, the work vehicle is permitted to back up and enter the third row of the second section or the adjacent field.

[0017] According to a preferred embodiment of the present invention, the input data entered by a user at the terminal device includes an indicator indicating whether a work plan is in progress in the second plot or the adjacent field, and if there is no work plan in progress in the second plot or the adjacent field, the work vehicle is permitted to back up and enter the third row of the second plot or the adjacent field.

[0018] According to a preferred embodiment of the present invention, the information detected by the at least one sensor includes an indication that the type of trellis of the second section is I-type vineyard training or Y-type vineyard training, and if the type of the trellis is I-type vineyard training, the work vehicle is permitted to back up and enter the third row of the second section, and if the type of the trellis is Y-type vineyard training, the work vehicle is not permitted to back up and enter the third row of the second section.

[0019] According to a preferred embodiment of the present invention, the information detected by the at least one sensor includes an inflation layer value, and if the inflation layer value is less than a predetermined value, the work vehicle is permitted to reverse and enter the third row of the second section.

[0020] According to a preferred embodiment of the present invention, the input data input by the user in the terminal device includes W1 that defines the trellis column width and A1 that defines the total width of the work vehicle and the implement attached to the work vehicle. The information detected by the at least one sensor includes an inflation layer value (inf). When the conditional expression (A1 < W1 - inf × 2) is satisfied, the work vehicle is permitted to reverse and enter the third column of the second section.

[0021] According to a preferred embodiment of the present invention, the controller is controlled or programmed to determine N1, the number of reverse operations required when the work vehicle executes the turning operation process using the adjacent area or the third column, and N2, the number of reverse operations required when the work vehicle executes the turning operation process without using the adjacent area or the third column. The input data input by the user in the terminal device includes α, the number of reverse operations set by the user. When the conditional expressions (N2 ≤ α) and (N2 - N1 > 1) are satisfied, the work vehicle is permitted to reverse and enter the third column of the second section.

[0022] According to a preferred embodiment of the present invention, the information detected by the at least one sensor includes T1, which is the trellis column direction of the trellis in the second column, and T2, which is the trellis column direction of the trellis in the third column. When the angular difference between T1 and T2 is smaller than a predetermined value, the work vehicle is permitted to reverse and enter the third column of the second section.

[0023] According to a preferred embodiment of the present invention, the first section, the margin area, and the second section are included in a farm field. The information detected by the at least one sensor includes the position of the work vehicle with respect to the central part and the ends of the farm field and the boundary between the central part of the farm field and the end that extends along the outermost end on the outside of the first section. When the work vehicle is located in the central part of the farm field, the work vehicle is permitted to reverse and enter the third column of the second section.

[0024] According to a preferred embodiment of the present invention, the information detected by the at least one sensor includes an indication of whether an obstacle has been detected in the third row, and if no obstacle is detected in the third row, the work vehicle is permitted to back up and enter the third row.

[0025] According to another preferred embodiment of the present invention, a method executed by a controller of an autonomous vehicle navigation for a work vehicle capable of autonomous driving includes the steps of receiving information on the position of the work vehicle or the surrounding conditions of the work vehicle detected by at least one sensor, receiving input data input by a user on a terminal device, and controlling the work vehicle to perform a turning operation process before the work vehicle enters the second row of the first row of the first section, the work vehicle traveling in a first section including a plurality of rows, the work vehicle exiting the first section from a first row of the plurality of rows included in the first section, the work vehicle traveling in a margin area provided between the first section and an adjacent area or a second section including a plurality of rows, the margin area being between the first section and the adjacent area or the second section, the adjacent area or the second section being separated from the first section, and the work vehicle entering the second row of the plurality of rows of the first section. The controller determines whether to enable (ON) a turning area expansion function based on whether at least one or more conditions of a first condition group are satisfied based on the input data input by the user on the terminal device before the work vehicle starts traveling. When the work vehicle is performing the turning operation process, the controller determines whether to allow the work vehicle to enter the adjacent area or a third row included in the multiple rows of the second section based on whether the at least one condition of a second group of conditions is satisfied based on the information detected by the at least one sensor.

[0026] According to an embodiment of the present invention, the method further includes a step of setting a geofence between the margin area and the adjacent area or the second plot when the controller determines that at least one condition of the first set of conditions or the second set of conditions is not satisfied.

[0027] According to an embodiment of the present invention, a system and method may be provided that provides efficient turning control of an autonomous vehicle as it turns into a row between trellises.

[0028] The above and other features, components, steps, configurations, characteristics and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention with reference to the accompanying drawings. [Brief description of the drawings]

[0029] [Figure 1A] FIG. 1 illustrates a turning path for an autonomous agricultural vehicle utilizing an opposing trellis. [Figure 1B] FIG. 13 is a diagram showing a turning path of an autonomous agricultural vehicle when a geofence (virtual boundary) is provided on the trellis on the opposing side. [Diagram 2] 1 is a flowchart showing a process for controlling turning between trellises of a vehicle during autonomous driving. [Figure 3A] FIG. 13 is a diagram showing conditions for decision point 1. [Figure 3B] FIG. 13 is a diagram showing parameters used in the conditions of decision point 1 and / or decision point 2. [Figure 4A] FIG. 13 is a diagram showing the conditions of decision point 2. [Figure 4B] FIG. 13 is a diagram showing parameters used in the conditions of decision point 1 and / or decision point 2. [Figure 4C] 1 shows the state before and during a pivot between trellis rows. [Figure 4D] 1 shows the state before and during a pivot between trellis rows. [Figure 5A]An embodiment of a work vehicle that automatically travels along a travel route and a target path within multiple trellis sections is shown. [Figure 5B] An embodiment of a work vehicle that automatically travels along a travel route and a target path within multiple trellis sections is shown. [Figure 6] FIG. 1 is a diagram illustrating an overview of an autonomous tractor system according to a preferred embodiment of the present invention. [Figure 7] 1 is a side view that shows a schematic view of a work vehicle and an implement attached to the work vehicle according to a preferred embodiment of the present invention. [Figure 8] 1 is a block diagram showing an exemplary configuration of a work vehicle, an implement, and a user terminal according to a preferred embodiment of the present invention. [Figure 9] FIG. 1 is a conceptual diagram illustrating an exemplary work vehicle that performs positioning based on RTK-GNSS. [Figure 10] FIG. 2 is a schematic diagram showing an example of an operation terminal and an operation switch. [Figure 11] 4 is a flowchart showing an exemplary operation of steering control during automatic driving. [Figure 12A] FIG. 2 is a diagram showing an example of a work vehicle traveling along a target route. [Figure 12B] FIG. 13 is a diagram showing an example of a work vehicle that is in a position deviated to the right from a target route. [Figure 12C] FIG. 13 is a diagram showing an example of a work vehicle that is in a position deviated to the left from a target route. [Figure 12D] FIG. 1 is a diagram showing an example of a work vehicle facing in an inclined direction with respect to a target route. [Figure 13A] Specific examples of conditions regarding fields or inter-trellis rows are given below. [Figure 13B] 13B shows conditions for the field or inter-trellis rows other than those shown in FIG. 13A. [Figure 14A] 1 shows an example of an implement that does not have wheels and is connected to a work vehicle. [Figure 14B] 1 shows another example of an implement that does not have wheels and is connected to a work vehicle. [Figure 14C]1 shows an example of an implement having wheels that is coupled to a work vehicle. [Figure 14D] 1 shows an example of an implement having a centerline that does not coincide with the centerline of the tractor. [Figure 15] FIG. 13 is a diagram showing an example of an input screen of a user terminal for inputting user input data before driving. [Figure 16A] Shows type I trellis vine training. [Figure 16B] Shows Y-shaped trellis vine training. [Figure 17] FIG. 1 is a schematic diagram showing an example of the configuration of a system in which a processing unit that communicates with a work vehicle via a network generates a travel route and performs a trellis entry determination. [Figure 18] FIG. 2 is a block diagram showing an example of the configuration of a processing unit. [Figure 19] 1 is a schematic diagram showing an example of the configuration of a system in which a monitoring terminal communicates with a work vehicle; [Figure 20] FIG. 13 is a schematic diagram showing an example of the configuration of another system in which a monitoring terminal communicates with a work vehicle. [Figure 21] 1 is a block diagram showing an example of the configuration of an autonomous vehicle control system according to a preferred embodiment of the present invention. [Figure 22] 1 shows an exemplary visualization of a navigation path along which a work vehicle travels along rows between trellises according to a preferred embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Hereinafter, the embodiments of the present invention will be described in more detail. However, more detailed explanations than necessary may be omitted. For example, detailed explanations of things well known to those skilled in the art or duplicated explanations of substantially the same configurations may be omitted. This is to avoid redundant explanations and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are described so that those skilled in the art can fully understand the present disclosure, but do not limit the scope of the claims. In the following description, components having the same or similar functions are given the same reference numerals.

[0031] The following embodiments are illustrative, and the technology of the present invention is not limited to the following preferred embodiments. For example, the numerical values, shapes, materials, steps and the order of steps, layout of the display screen, and the like shown in the following preferred embodiments are illustrative, and various changes are possible as long as they are technically meaningful. Any one embodiment can be combined with other embodiments as long as they are technically meaningful.

[0032] The preferred embodiment of the present invention provides a turning control system and method that can be utilized by an autonomous vehicle to perform a variety of predetermined tasks, including, for example, agricultural tasks, imaging of surrounding conditions, transportation tasks, etc.

[0033] The autonomous vehicles used with the preferred embodiments of the present invention are preferably tractors or other agricultural vehicles, although any suitable type of autonomous vehicle will work with the preferred embodiments of the present invention.

[0034] In this disclosure, "agricultural vehicle", "agricultural machine" or "work vehicle" refers to a vehicle or machine for agricultural or farming use. Examples of such machines or vehicles include tractors, harvesters, rice transplanters, crop management vehicles, vegetable transplanters, mowers, seeding machines, spreaders, agricultural mobile robots, and the like. In addition to cases where a work vehicle such as a tractor functions alone as an "agricultural machine", there are also cases where an implement attached to or towed by the work vehicle functions as an "agricultural machine" in cooperation with the work vehicle. Agricultural machines perform farm work such as plowing, sowing, exterminating and controlling pests, spreading fertilizer, planting crops, and harvesting on the ground surface in a field.

[0035] Here, "automatic driving" means that the movement of the agricultural machine is controlled by the operation of a controller (control device) rather than the manual operation of the driver. An agricultural machine that performs automatic driving is sometimes called an "automatic driving agricultural machine" or a "robot agricultural machine". During automatic driving, not only the movement of the agricultural machine but also the operation of farm work may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine or vehicle by automatic driving is called "automatic driving". The controller can control at least one of the steering required for the movement of the agricultural machine, the adjustment of the moving speed, and the start and end of the movement. When the controller controls a work vehicle to which an implement is attached, it can control the lifting and lowering of the implement, the start and end of the operation of the implement, etc. The movement by automatic driving includes not only the movement of the agricultural machine proceeding along a predetermined route toward a destination, but also the movement of the agricultural machine following a tracking target. Some of the agricultural machines that perform automatic driving may have a function of moving based on the instructions of a user. In addition, the agricultural machine that performs automatic driving may operate not only in an automatic driving mode but also in a manual driving mode in which the agricultural machine moves by manual operation of the driver. When steering of an agricultural machine is performed by the operation of a controller, rather than manually, the steering of the agricultural machine is called automatic steering. A part or all of the controller may be external to the agricultural machine. Control signals, commands (command signals), data, etc. may be communicated between the agricultural machine and a controller external to the agricultural machine. An agricultural machine that performs automatic driving can move autonomously while sensing the surrounding situation, without human involvement in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can move unmanned in a field or outside the field (e.g., on a road). During autonomous movement, an operation to detect and avoid obstacles may be performed.

[0036] A "terminal" or "terminal device" is a device for a user to input settings, data, or a selected movement path (movement route) of an agricultural machine. The terminal device may be a portable device such as a smartphone, tablet computer, laptop computer, or remote control, or may be a stationary computer such as a desktop personal computer (PC). The terminal device may be used in a field where the agricultural machine performs farm work, or may be used at a location away from the field where the agricultural machine performs farm work.

[0037] Additionally, the "sensor" referred to here includes, but is not limited to, a camera, a GNSS sensor, a GPS sensor, a LiDAR sensor, an obstacle sensor, etc., and may be used to detect the position of the work vehicle and the surroundings or surrounding conditions (environment) of the work vehicle. Sensors may be combined in any manner, and multiple types of sensors may be used.

[0038] When the terminal device is used at a location away from the field where the agricultural machine performs agricultural work, the terminal device may be, for example, a monitoring computer in the user's home or office that monitors the agricultural machine. The monitoring computer may be a stationary computer or a portable computer such as a smartphone, a tablet computer, or a laptop computer. Even in this case, the user may start application software installed on the terminal device, display a map of the field on a display (display device), and perform an operation to specify a desired movement path (movement route) of the agricultural machine on the map. In this way, the agricultural machine can be controlled to automatically move along a desired path (route) by remote operation using the terminal device.

[0039] A "processor" or a "processor unit" is a device that generates a route along which an agricultural machine moves. In the following description, the processing unit may be referred to as a "route generating device". The processing unit may be, for example, a computer including one or more processors and one or more memories. In this case, the processor can generate a route by executing a computer program stored in the memory. The processing unit may be mounted on the agricultural machine, or may be installed at a location remote from the agricultural machine. In addition, one of the electronic control units (ECUs) mounted on the agricultural machine may function as the processing unit. Alternatively, an external computer that communicates with the agricultural machine via a network, such as a server, may function as the processing unit. Furthermore, a terminal device may function as the processing unit. That is, a processor in the terminal device may generate a moving route and transmit a signal including information on the moving route to the agricultural machine. In this case, the terminal device may be built into the above-mentioned processing unit. Therefore, the terminal device and the processing unit do not need to be separate and independent devices. Rather, one device may function as both the terminal device and the processing unit.

[0040] According to a preferred embodiment of the present invention, a user, such as a supervisor or manager of an agricultural machine, can operate a terminal device to control the agricultural machine to travel a desired route. Furthermore, when the user moves or operates the terminal device or detects an obstacle in real time, the travel route can be changed.

[0041] According to a preferred embodiment of the present invention, the controller is configured or programmed to control the operation of the agricultural machine such that the agricultural machine moves along the travel route. The controller moves the agricultural machine along the travel route by sending control signals to a drive device (e.g., a prime mover, a transmission, or a steering device) included in the agricultural machine. The controller may be an ECU or any other device included in the agricultural machine, or an external computer (e.g., a server) that communicates with the agricultural machine. The controller may encompass the above-mentioned function of the processing unit, i.e., the function of generating a travel route.

[0042] A geofence is known as a virtual geographical boundary or edge around a location on a map established by GPS or RFID technology. A geofence can trigger a software or mobile application to respond when a mobile device or vehicle enters or leaves a particular area. Geofencing can create a virtual geographical boundary that triggers a mobile device or vehicle to respond when the mobile device or vehicle enters or leaves a particular area. An administrator or developer first establishes a virtual boundary around a particular location in GPS or RFID enabled software. If the vehicle is equipped with a GPS tracking device, geofencing the vehicle defines a virtual geographical boundary that triggers a particular action.

[0043] According to a preferred embodiment of the present invention, a geofence is used to create a virtual boundary between a first trellis section and (opposite) a second trellis section that are adjacent to each other.

[0044] With reference to FIG. 1A, with respect to an overall path plan determined for an agricultural vehicle 100 such as a tractor, the vehicle 100 starts on a path in row R1, then turns and proceeds along a turning path TP indicated by a dashed arrow in a margin area M, and proceeds on a path down row R4. Each space or row R1, R2, R3, R4, R5 is defined as a row between vegetation V, for example. The vegetation V may be grapes in a vineyard, or plants or crops in a field. Also, the vegetation V may be supported by a trellis support structure T, although a trellis structure is not necessarily required. The margin area M includes a passage between adjacent plots PL1 and PL2. The first plot PL1 includes an area including the rows R1-R4, and the second plot PL2 is adjacent to or facing the first plot PL1 and includes an area including the row R5 and the trellis area TA. As shown in Figure 1A, for example, column R1 corresponds to the "first column," column R4 corresponds to the "second column," and column R5 corresponds to the "third column." The regions and components shown in Figure 1A and similar figures herein are not necessarily drawn to scale, so their proportions or sizes are not intended to represent actual proportions or sizes.

[0045] As shown in FIG. 1A, when the tractor 100 turns from the margin area M into row R4, in a situation where the length, width, or overall size of the tractor, which may include the implement 300 attached to the tractor 100, is relatively large relative to the limited space of the margin area M (a space that limits the movement of the tractor), the tractor 100 may need to reverse or back into row R5, perhaps multiple times, as shown by arrow R. In such a situation, multiple turning and backing movements R may be required. Furthermore, the tractor needs to distinguish between the trellis area TA and the row or area R5 to avoid obstacles or to prevent a collision with an oncoming trellis in the section PL2. LiDAR, cameras, and / or other sensors may be used to avoid obstacles when backing into row R5. When vehicle 100 turns from margin area M into row R4, if global path planning determines a path that extends into row 5 and LiDAR obstacle avoidance does not impede such a path or if second section PL2 is an open area that is freely traversable by the tractor, the vehicle will be able to enter row R5.

[0046] However, referring to FIG. 1B, a geofence can be used to define the boundary between a travelable area (e.g., margin area M) where the vehicle can travel and a no-go area where the vehicle should not travel. The geofence GF can be created manually by GPS, for example, in a planning interface for the vehicle's travel route. If a geofence indicated by a dashed line GF is created between the margin area M and the second section PL2 (e.g., created manually using a GPS in the planning interface), the vehicle cannot enter the second section PL2 and is prohibited from reversing into the row R5 included in the second section PL2. This restricts or limits the movement of the tractor when the tractor needs to perform multiple reverse moves R when turning from the turning path TP to the row R4. In some cases, the geofence GF needs to be set to prevent the tractor 100 from colliding with obstacles, building structures, roads, etc. that may be present in the area of ​​the second section PL2.

[0047] According to a preferred embodiment of the present invention, the above problem is solved by providing a novel automatic turning control system and automatic turning control method that manages (controls) boundaries and judgment conditions that determine whether a tractor can enter or retreat into an opposing section (e.g., row R5 of section PL2) or an area of ​​section PL2 adjacent to margin area M when a trellis structure T is not present.

[0048] FIG. 2 is a flowchart showing a turning control process between trellises of a vehicle during automatic driving according to a preferred embodiment of the present invention. The purpose of the function of the flowchart in FIG. 2 is to utilize the opposite trellis (e.g., row R5 of section PL2) or the adjacent area of ​​section PL2 during turning specified by the turning path TP when the working machine 100 enters the second row R4 trellis. When the implement 300 is attached to the tractor 100, it is not desirable for the tractor to turn or steer frequently. Turning or steering many times means that the tractor moves frequently from right to left or left to right, which is inefficient. It is desirable for the route direction (path direction) of the tractor to be stable. In order to stabilize the path direction of the tractor, when the tractor enters the second row R4 trellis, the boundary of the turning route utilizes the opposite trellis (or the adjacent area) so that the tractor can obtain a longer merging route or turning route.

[0049] As shown in the flowchart of FIG. 2, the decision point 1 decides whether the turning area expansion function corresponding to the user selection function (entering the oncoming trellis) is ON (enabled) or OFF (disabled). The decision point 1 is decided based on information obtainable from a computer server or information stored in the vehicle before the vehicle starts traveling (e.g., before the vehicle starts a traveling route or before the overall route planning process is executed). At the decision point 1, the ON / OFF decision is made based on the user's intention and / or information held in advance by the vehicle. Thereafter, the decision point 2 includes a process (e.g., S106, S107) of detecting surrounding situation information (environmental information) related to the oncoming trellis or the route planning problem and deciding whether the vehicle can enter the oncoming trellis or not, as shown in the flowchart of FIG. 2. The two-stage decision by different information categories based on the characteristics of the decision point 1 and the decision point 2 according to the embodiment of the present invention will be described in detail below.

[0050] As shown in FIG. 3A, decision point 1 is determined by a first information category (corresponding to a "first condition group") that includes one or more of the following items:

[0051] - User selection (user can manually select ON / OFF) -Type of implement (type of implement attached to the tractor) · Trellis in adjacent regions (e.g., whether there is a trellis in an adjacent region, Or what type of trellis is in the opposite compartment? - The adjacent area is a road, building, or other obstacle Tractor and implement width relative to trellis row width · The gradient of the adjacent regions (how steep is the trellis on the opposite side?) · Work plans for adjacent areas (are there work plans on the opposite trellis?) For example, the items in the first condition group for decision point 1, including "Tractor and implement width relative to trellis row width in adjacent area" and / or "Tractor and implement width relative to trellis row width", contain information that is only available when the vehicle enters the trellis row. If such information is stored in advance (before the journey begins) by the vehicle's processing unit or computer server, the system can make a decision based on that condition. If such information is not stored in advance, the control system does not determine the condition.

[0052] 2 and 3A, if it is determined in step S101 that the "turning area expansion function" is OFF (disabled), the process proceeds to a step of setting a geofence in the opposing trellis or adjacent area (S109). If the turning area expansion function is ON (enabled), the process proceeds to step S102, where a travel route is generated using a global (overall) route plan. FIGS. 5A and 5B show an example of a travel route TR in a farm field map MP1 generated using the global (overall) route plan in step S102. The travel route TR has a start point SP, a parallel route PP, a turning route TP, and an end point EP. Referring again to FIG. 2, step S101 includes a decision point 1, the details of which are shown in FIG. 3A and described below. As shown in FIG. 3A, the information of the decision point 1 is available information before travel (for example, before the vehicle starts traveling on the travel route or before the global (overall) route planning process is executed), and is based on data input by the user to the terminal device or a reliable information source. When autonomous driving starts in S103, a local (partial) route plan is generated to generate a driving route using real-time data obtained from multiple sensors (S104). The global (whole) route plan in step S102, the autonomous driving in S103, and the local (partial) route plan in S104 will be described in further detail below.

[0053] For example, when turning from the margin area M to the row of the section PL1, the turning is started in S105 and an attempt is made to enter the oncoming trellis (the "third row" or the "adjacent area") based on decision point 2 at this point in the process. If the turning area expansion function is determined to be "ON" based on decision point 1 in S101 before starting the automatic driving in S103, the controller determines whether or not it is permitted to enter the oncoming trellis (the "third row" or the "adjacent area") based on decision point 2, which includes a determination regarding at least one parameter received or acquired in real time from information from a LiDAR, a camera, or other sensor. The turning area expansion function can be set ON or OFF by the user via the "user selection function". However, regardless of whether the user has set the turning area expansion function (user selection function) to "ON" or "OFF", if the turning area expansion function is determined to be "OFF" based on any item of the first condition group by decision point 1, the turning area expansion function is automatically set to "OFF".

[0054] Decision point 2 is determined based on information detected by one or more sensors mounted on the vehicle regarding the oncoming trellis or adjacent area. As described above, at decision point 1, it is determined whether the turning area expansion function is ON / OFF based on the user's intention or information that the vehicle has before starting driving. After that, the process of decision point 2 detects surrounding situation information regarding the oncoming trellis or the route planning problem, and determines whether the vehicle can enter the oncoming trellis or adjacent area, or whether the vehicle should avoid entering the oncoming trellis or adjacent area.

[0055] Details of the conditions for decision point 2 ("second group of conditions") include, but are not limited to, one or more of the following items, as shown in FIG. · Type of trellis (I-shape or T-shape) Inflation layer value Tractor and implement width relative to trellis row width Number of retreats (e.g. switching to a retreat move, the number of times a retreat move can or cannot be made, i.e. limited number of times) The gradient of the opposite trellis column (e.g., region R5) Trellis row direction (e.g., is the direction of the opposite trellis the same as the row the tractor is entering? Different? Turning location (is the tractor turning in the middle of the field or at the edge of the field?) - Is there an obstacle on the opposite trellis? Based on the information about the decision point 2, the controller determines whether or not it is physically possible to enter the opposite trellis in step S107 of the process. If the entry decision step in step S107 is determined to be "YES", in step S110, the controller allows the vehicle or tractor 100 to enter or retreat into the space (e.g., "third column" R5) of the opposite trellis (e.g., section PL2) as shown in FIG. 1A. That is, in step S110, the controller allows the vehicle 100 to enter the space between the trellises if a partial (local) path is generated in the space between the trellises. That is, if the partial (local) path planning device does not generate a path (e.g., path R shown in FIG. 1A) that enters the opposite space (e.g., column R5 shown in FIG. 1A) (e.g., of section PL2 shown in FIG. 1A), the vehicle does not need to enter the opposite side. After step S110, the controller switches the tractor 100 back into forward driving mode to complete the turn along the turning path TP, after which the tractor travels along the next trellis, for example, the “second row” R4 in FIG. 1A.

[0056] FIG. 6 is a diagram for explaining an overview of an autonomous tractor system according to a preferred embodiment of the present invention. FIG. 6 shows a work vehicle 100 and a terminal 400 that provides a user interface to a user 10. The work vehicle 100 is an example of the above-mentioned agricultural machine, and the terminal 400 is an example of the above-mentioned terminal device. In this embodiment, the work vehicle 100 is a tractor. A tractor can be equipped with an implement at the rear and / or front, and can automatically travel in a field when performing agricultural work according to a specific implement. The agricultural work performed in this preferred embodiment is any work including, for example, tilling, sowing, planting crops, spraying, harvesting, etc. The technology according to this embodiment and the following embodiments can be similarly applied to agricultural machines other than tractors.

[0057] The work vehicle 100 has an automatic driving function. That is, the work vehicle 100 runs not by manual operation but by the operation of a controller. The controller according to the preferred embodiment is provided inside the work vehicle 100 and can control the speed and steering of the work vehicle 100.

[0058] The work vehicle 100 is equipped with a positioning device 110 including a GNSS receiver. The controller causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 identified by the positioning device 110 and a target route (planned route) previously stored in a storage device. In addition to controlling the travel of the work vehicle 100, the controller also controls the operation of the implement. As a result, the work vehicle 100 can perform processing or work using the implement while traveling automatically.

[0059] The terminal 400 may be a portable device such as a smartphone, a tablet computer, a remote control, or the like. The terminal 400 may be used by a user 10 who is in a farm field and located away from the work vehicle 100. The terminal 400 transmits a command signal to the work vehicle 100 in response to an operation by the user 10. When the work vehicle 100 receives the command signal, it automatically moves (travels) along a designated travel route set by the user.

[0060] In a preferred embodiment of the present invention, the work vehicle 100 includes a processing unit (also referred to as a "processor" or "path generating device") that generates a path along which the work vehicle 100 travels. The path generating device generates a travel path TR along which the work vehicle 100 travels when performing work in a field. The path generating device generates the travel path based on information input by a user and map information stored in a storage device. The controller controls the drive devices (e.g., steering device, transmission, and power unit) of the work vehicle 100 along the generated travel route. This causes the work vehicle 100 to automatically travel along the travel route.

[0061] A more specific example of the configuration and operation of the system according to the preferred embodiment will be described below.

[0062] 7 is a side view that shows a schematic diagram of the work vehicle 100 and a specific implement 300 that is coupled to the work vehicle 100. The work vehicle 100 according to the present preferred embodiment functions in both a manual driving mode and an automatic driving mode. When in the automatic driving mode, the work vehicle 100 is capable of unmanned driving.

[0063] As shown in Fig. 7, the work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. The vehicle body 101 is provided with tires (wheels) 104 and a cabin 105. The tires 104 have a pair of front wheels 104F and a pair of rear wheels 104R. A driver's seat 107, a steering device 106, an operation terminal 200, and an operation switch are provided inside the cabin 105. Note that the front wheels 104F and / or the rear wheels 104R may be crawlers (tracks) instead of tires.

[0064] The work vehicle 100 shown in FIG. 7 further includes a plurality of cameras 120. The cameras 120 may be provided, for example, on the front, rear, left and right sides of the work vehicle 100. The cameras 120 capture images of the surroundings of the work vehicle 100 and generate image data. The images acquired by the cameras 120 may be transmitted, for example, to a monitoring computer (also called a monitoring terminal) that performs remote monitoring. These images are used to monitor the work vehicle 100 during unmanned operation. The cameras 120 may be provided as necessary, or may be omitted if unnecessary.

[0065] The work vehicle 100 further includes a positioning device 110. The positioning device 110 includes a GNSS receiver. The GNSS receiver includes an antenna for receiving signals from GNSS satellites, and a processing circuit for identifying the position of the work vehicle 100 based on the signals received by the antenna. The positioning device 110 receives GNSS signals transmitted from GNSS satellites, and performs positioning based on the GNSS signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System (e.g., Michibiki)), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 110 is disposed above the cabin 105, but may be disposed in any other position.

[0066] The positioning device 110 may include other types of devices such as a LiDAR sensor 135 instead of or in addition to the GNSS receiver. The positioning device 110 may use data acquired by the camera 120 for positioning. When an object that is a characteristic point exists in the surroundings where the work vehicle 100 is traveling, the position of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the LiDAR sensor 135 or the camera 120 and a surrounding map pre-recorded in the storage device. The LiDAR sensor 135 or the camera 120 may be used in combination with a GNSS receiver. The position data based on the GNSS signal is corrected or complemented using the data acquired by the LiDAR sensor 135 or the camera 120, so that the position of the work vehicle 100 can be specified with higher accuracy. In addition, the positioning device 110 may complement the position data using a signal from an inertial measurement unit (IMU). The inertial measurement unit (IMU) can measure the inclination and minute movements of the work vehicle 100. Positioning performance can be improved by supplementing position data based on GNSS signals with data acquired by an IMU.

[0067] In addition, in this preferred embodiment of the present invention, the work vehicle 100 is equipped with a plurality of obstacle sensors 130. In the specific example shown in Fig. 7, the obstacle sensors 130 are provided in front of and behind the cabin 105. The obstacle sensors 130 may be provided in other positions. For example, the obstacle sensors 130 may be provided on the side, front, or rear of the vehicle body 101, or in any position in the cabin 105. Using the obstacle sensors 130, it is possible to detect surrounding obstacles during autonomous driving and to stop or to bypass the obstacles.

[0068] The positioning device 110, the camera 120, the obstacle sensor 130, and the LiDAR sensor 135 may be provided at other positions. The positioning device 110, the camera 120, the obstacle sensor 130, and the LiDAR sensor 135 may be used in any combination, or multiple types of sensors may be used.

[0069] Solar panels 155 may be provided on top of the work vehicle 100, or in any suitable location, to generate electrical energy for storage in batteries on the work vehicle 100. The solar powered electrical energy may be used to power various electrical systems and components of the work vehicle, including electric motors (if suitably provided).

[0070] The prime mover 102 may be, for example, a diesel engine. Note that an electric motor may be used instead of a diesel engine. The transmission 103 is capable of changing the propulsive force and travel speed of the work vehicle 100 by means of a gear change mechanism. The transmission 103 is also capable of switching the work vehicle 100 between forward travel and reverse travel.

[0071] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are the wheels that are responsible for steering, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also called the steering angle). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an auxiliary force for changing the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle may be automatically adjusted by the power of the hydraulic device or the electric motor under the control of a controller provided in the work vehicle 100.

[0072] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 may have, for example, a three-point coupling device (also called a "three-point link" or a "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, a communication cable, or the like. The coupling device 108 is for attaching the implement 300 to the work vehicle 100 or detaching it from the work vehicle 100. The coupling device 108 can change the position and attitude of the implement 300 by raising and lowering the three-point link using, for example, a hydraulic device. In addition, the coupling device 108 can transmit motive power from the work vehicle 100 to the implement 300 via the universal joint. The work vehicle 100 can make the implement 300 perform a predetermined task while towing the implement 300. The coupling device may be provided at the front of the vehicle body 101. In that case, the implement may be coupled to the front of the work vehicle 100.

[0073] 7 is a rotary tiller, the implement 300 is not limited to a rotary tiller. For example, any implement such as a seeding machine, a spreader, a transplanter, a grass cutter, a baler, a harvester, a spreader, a harrow, etc. can be coupled to the work vehicle 100 and used.

[0074] The work vehicle 100 shown in Fig. 7 can be driven by a person. Alternatively, it may be capable of only unmanned driving. In that case, it is not necessary to provide the work vehicle 100 with components required only for manual driving, such as the cabin 105, steering device 106, and driver's seat 107. The unmanned work vehicle 100 may travel by autonomous driving, or may travel by remote control by a user.

[0075] 8 is a block diagram showing an exemplary configuration of the work vehicle 100, the implement 300, and the user terminal 400. The work vehicle 100 and the implement 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 and the user terminal 400 can communicate with each other via wireless communication.

[0076] The work vehicle 100 in the embodiment of FIG. 8 includes a positioning device 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 135, and an operation terminal 200, as well as a drive unit 140, a sensor 150 for detecting the driving state of the work vehicle 100, a control system 160, a communication device 190, and an operation switch 210. The positioning device 110 includes a GNSS receiver 111, an RTK receiver 112, and an inertial measurement unit (IMU) 115. The sensor 150 includes a steering wheel sensor 152, a turning angle sensor 154, and a wheel axle sensor 156. The control system 160 includes a storage device 170 and a controller 180. The controller 180 includes a plurality of electronic control units (ECUs) 181 to 185 and a sensor monitor 186. The implement 300 includes a drive unit 340, a controller 380, and a communication device 390. The terminal 400 includes a GNSS receiver 410, an input device 420, a display device 430, a storage device 450, a processor 460, and a communication device 490. Note that Fig. 8 shows components that are relatively closely related to the autonomous driving of the work vehicle 100, and other components are omitted from the illustration.

[0077] The positioning device 110 shown in FIG. 8 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 9 is a conceptual diagram showing an example of a work vehicle 100 performing positioning based on RTK-GNSS. In positioning using RTK-GNSS, not only GNSS signals transmitted from multiple GNSS satellites 50 but also correction signals transmitted from a reference station 60 are used. The reference station 60 may be located near the field in which the work vehicle 100 travels (for example, within 1 km from the work vehicle 100). The reference station 60 generates a correction signal, for example, in an RTCM format, based on the GNSS signals received from the multiple GNSS satellites 50 and transmits it to the positioning device 110. The GNSS receiver 111 of the positioning device 110 receives the GNSS signals transmitted from the multiple GNSS satellites 50. The RTK receiver 112 includes an antenna and a modem, and receives the correction signal transmitted from the reference station 60. The positioning device 110 includes a processor that calculates the position of the work vehicle 100 based on the GNSS signal and the correction signal, and thus performs positioning. By using RTK-GNSS, positioning can be performed with an accuracy of, for example, an error of about several centimeters. Position information (including latitude, longitude, and altitude information) is acquired by high-precision positioning using RTK-GNSS. The positioning device 110 may calculate the position of the work vehicle 100 at a frequency of, for example, about 1 to 10 times per second.

[0078] The positioning method is not limited to RTK-GNSS. Any positioning method (e.g., interferometric positioning or relative positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In this case, the positioning device 110 does not need to be equipped with the RTK receiver 112.

[0079] The positioning device 110 of the preferred embodiment further includes an IMU 115. The IMU 115 has a three-axis accelerometer and a three-axis gyroscope. The IMU 115 may include a direction sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals representing parameters such as the acceleration, speed, displacement, and attitude of the work vehicle 100. The positioning device 110 can estimate the position and orientation of the work vehicle 100 with high accuracy based on not only the GNSS signal and the correction signal but also the signal output from the IMU 115. The signal output from the IMU 115 may be used to correct or complement the position calculated based on the GNSS signal and the correction signal. The IMU 115 outputs signals more frequently than the GNSS signal. By using the signal output at a high frequency, the position and orientation of the work vehicle 100 can be measured more frequently (for example, about 10 Hz or more). In place of the IMU 115, a three-axis accelerometer or a three-axis gyroscope may be separately provided. The IMU 115 may also be provided as a device separate from the positioning device 110.

[0080] In addition to or instead of the GNSS receiver 111, the RTK receiver 112, and the IMU 115, the positioning device 110 may have other types of sensors, such as a LiDAR sensor or an image sensor. Although it depends on the surrounding conditions in which the work vehicle 100 travels, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on data from these sensors.

[0081] 8, the processor of the positioning device 110 calculates the position of the work vehicle 100 based on signals output from the GNSS receiver 111, the RTK receiver 112, and the IMU 115. Note that the position may be calculated by a device other than the positioning device 110. For example, the controller 180 or an external computer may acquire output data from each receiver and each sensor required for positioning, and calculate the position of the work vehicle 100 based on this data.

[0082] Moreover, each camera 120 is an imaging device that captures the surrounding conditions of the work vehicle 100, and includes an imaging element, an optical system including a lens, and a signal processing circuit. When the work vehicle 100 is traveling, the camera 120 captures the surrounding conditions of the work vehicle 100 and generates image data (e.g., video). For example, when a remote observer uses a monitoring terminal to check the surrounding conditions of the work vehicle 100, the image generated by the camera 120 can be used. The image generated by the camera 120 can also be used for positioning or detecting obstacles. As shown in FIG. 8, multiple cameras 120 may be provided at different positions on the work vehicle 100, or a single camera may be provided.

[0083] A plurality of obstacle sensors 130 detect objects (obstacles) around the work vehicle 100. Each obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. If an obstacle is present closer than a predetermined distance from the obstacle sensor 130, the obstacle sensor 130 outputs a signal indicating the presence of an obstacle. A plurality of obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be provided at different positions on the work vehicle 100. By providing a large number of obstacle sensors 130, blind spots when monitoring obstacles around the work vehicle 100 can be reduced.

[0084] The drive unit 140 includes various devices necessary for running the work vehicle 100 and driving the implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may include an internal combustion engine such as a diesel engine. Instead of or in addition to an internal combustion engine, the drive unit 140 may include one or more electric motors dedicated for traction and steering.

[0085] The steering wheel sensor 152 measures the rotation angle of the steering wheels of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F which are responsible for steering. The measured values ​​by the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the controller 180.

[0086] The wheel axle sensor 156 measures the rotational speed of the wheel axle connected to the tire 104, i.e., the number of rotations per unit time. The wheel axle sensor 156 may be, for example, a sensor that uses a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The wheel axle sensor 156 may output, for example, a numerical value indicating the number of rotations per minute (unit: rpm) of the wheel axle. The speed of the work vehicle 100 can be measured using the wheel axle sensor 156.

[0087] The storage device 170 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 170 stores various data generated by the positioning device 110, the camera 120, the obstacle sensor 130, the sensor 150, and the controller 180. The data stored in the storage device 170 includes map data of the surrounding area where the work vehicle 100 travels, data of a target route during autonomous driving, data indicating an area where work has been completed, and the like. The storage device 170 also stores computer programs for causing an ECU in the controller 180, described below, to execute various processes. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or a communication line (e.g., the Internet). Such computer programs may be sold as commercially available software.

[0088] The controller 180 includes a plurality of ECUs. The plurality of ECUs include, for example, an ECU 181 for controlling speed, an ECU 182 for controlling steering, an ECU 183 for controlling an implement, an ECU 184 for controlling automatic driving, and an ECU 185 for generating a route. The ECU 181 controls the prime mover 102, the transmission 103, and the brakes included in the drive unit 140 to control the speed of the work vehicle 100. The ECU 182 controls the hydraulic device and the electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 152 to control the steering of the work vehicle 100. The ECU 183 controls the operation of the three-point link, the PTO shaft, and the like included in the coupling device 108 to cause the implement 300 to perform a desired operation. The ECU 183 also generates a signal for controlling the operation of the implement 300 and transmits the signal from the communication device 190 to the implement 300. The ECU 184 performs calculations and control to realize automatic driving based on signals output from the positioning device 110, the steering wheel sensor 152, the turning angle sensor 154, and the wheel axle sensor 156. During automatic driving, the ECU 184 transmits a gear shift command to the ECU 181 and transmits a steering angle change command to the ECU 182. The ECU 181 controls the prime mover 102, the transmission 103, or the brakes in response to the gear shift command to change the speed of the work vehicle 100. The ECU 182 controls the steering device 106 in response to the steering angle change command to change the steering angle. The ECU 185 functions as the processing unit (i.e., the route generating device) described above, and generates a target route for the work vehicle 100 and records it in the storage device 170. The ECU 185 also receives a command from the terminal 400 and generates a travel route for leading the tractor to the target route. The ECU 184 sends necessary commands to the ECUs 181 and 182 so that the work vehicle 100 moves along the route generated by the ECU 185 .

[0089] The controller 180 includes a sensor monitor 186 that monitors data measured by the camera 120 , the obstacle sensor 130 and the LiDAR sensor 135 .

[0090] Through the operation of these ECUs, controller 180 realizes autonomous driving. During autonomous driving, controller 180 controls drive device 140 based on the position of work vehicle 100 measured or estimated by positioning device 110 and the target route or travel route stored in storage device 170. In this way, controller 180 causes work vehicle 100 to travel along the target route or travel route.

[0091] The multiple ECUs included in the controller 180 may communicate according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. Note that in FIG. 8, the ECUs 181 to 185 are illustrated as individual corresponding blocks, but each of these multiple functions may be realized by an ECU. Alternatively, an in-vehicle computer that integrates at least some of the functions of the ECUs 181 to 185 may be provided. The controller 180 may include ECUs other than the ECUs 181 to 185, or may include any number of ECUs depending on the functions. Each of the ECUs includes a processing circuit including one or more processors.

[0092] The communication device 190 is a circuit for realizing communication with the communication device 390 of the implement 300. The communication device 190 includes a circuit for transmitting and receiving signals conforming to the ISOBUS standard such as ISOBUS-TIM between the communication device 390 of the implement 300. This allows the implement 300 to perform a desired operation or to obtain information from the implement 300. The communication device 190 may also include a communication circuit or antenna for transmitting and receiving signals conforming to any wireless communication standard (Wi-Fi (registered trademark), mobile phone communication such as 3G, 4G, and 5G, Bluetooth (registered trademark), etc.) between the communication device 490 of the terminal 400. The communication device 190 can also communicate with an external computer via a wired or wireless network. The external computer may be, for example, a server computer that centrally manages information about the farm field using the cloud and supports agriculture using data on the cloud. Such an external computer may be configured to execute a part of the functions of the work vehicle 100. For example, the external computer may be configured to execute the path generation function of the ECU 185. In this case, the external computer functions as the "processor" or "processing unit" discussed above.

[0093] The operation terminal 200 is a terminal through which a user performs operations related to the traveling of the work vehicle 100 and the operation of the implement 300, and is also called a virtual terminal (VT). The operation terminal 200 may include, for example, a display device such as a touch screen panel and / or one or more buttons. The display device may be, for example, a display such as a liquid crystal or an organic light-emitting diode (OLED). By operating the operation terminal 200, a user can perform various operations such as turning on / off the automatic driving mode, setting a target route, recording or editing a map, and turning on / off the implement 300. At least some of these operations can also be realized by operating the operation switch 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user who is away from the work vehicle 100 can also control the operation of the work vehicle 100 by operating the detached operation terminal 200. Furthermore, instead of operation terminal 200, a smartphone, tablet computer, personal computer (PC), or the like may be operated, or a device on which necessary application software is installed may be operated to control the operation of work vehicle 100. Note that terminal 400 may complement the functions of operation terminal 200.

[0094] The drive device 340 of the implement 300 performs operations necessary for the implement 300 to execute a predetermined task (work). The drive device 340 includes devices adapted to the intended use of the implement 300, such as a pump, a hydraulic device, an electric motor, or a pump. The controller 380 controls the operation of the drive device 340. The controller 380 causes the drive device 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. In addition, a signal corresponding to the state of the implement 300 may be transmitted from the communication device 390 to the work vehicle 100.

[0095] The terminal 400 may be, for example, a mobile device such as a smartphone, a tablet computer, or a remote control. The GNSS receiver 410 of the terminal 400 outputs data including location information of the terminal 400 based on signals transmitted from a plurality of GNSS satellites. The GNSS receiver 410 may output, for example, data in an NMEA format. The input device 420 is a device that accepts an input operation from a user, and may include one or more buttons or switches. The display device 430 may be, for example, a display device such as a liquid crystal display or an organic EL display. The input device 420 and the display device 430 may be realized as a touch screen panel. The storage device 450 may include, for example, a semiconductor storage medium such as a flash memory. The storage device 450 stores a computer program executed by the processor 460 and various data generated by the processor 460. The processor 460 performs the following operations by executing a computer program stored in the storage device 450. In response to a call operation by a user using the input device 420, the processor 460 transmits a call signal including the position information of the terminal 400 from the communication device 490 to the 190 of the work vehicle 100. The position information of the terminal 400 is generated based on a signal output from the GNSS receiver 410.

[0096] 10 is a schematic diagram showing one embodiment of the operation terminal 200 and operation switches 210 provided in the cabin 105. The cabin 105 is provided with a number of switches 210 that can be operated by the user. The operation switches 210 may include, for example, a switch for selecting a main gear shift or a range gear shift, a switch for switching between an automatic driving mode and a manual driving mode, a switch for switching between forward and reverse, a switch for raising and lowering the implement 300, and the like. Note that if the work vehicle 100 is a vehicle that only performs unmanned driving and does not have a human driving function, there is no need to provide the operation switches 210 in the work vehicle 100.

[0097] 5A and 5B are schematic diagrams showing an embodiment of the work vehicle 100 that automatically travels along a target route in a field. In these embodiments, the field includes a work area (section PL1) where the work vehicle 100 performs work using the implement 300, and an aisle (margin area) M located near the outer periphery of the field. The area on the field map corresponding to the work area (section PL1) and the aisle (avenue) M can be specified in advance by the user. The target route in this embodiment includes multiple parallel main routes PP and multiple turning routes TP connecting the multiple main routes PP. The main routes PP are located in the work area (section PL1), and the turning routes TP are located in the margin area M. Although the main routes PP are shown as straight routes in FIGS. 5A and 5B, the main routes PP may include curved sections. Each main route PP in the trellis is identified by an entry point EN and an end point EP. The dashed lines in FIG. 5A and FIG. 5B indicate an area of ​​vegetation (grass and trees) V or a trellis structure T as shown in FIG. 1A, for example. The area of ​​vegetation V or trellis structure T may be set and recorded in advance in the storage device 170, or may be set and recorded by a user operating the operation terminal 200. Alternatively, during automatic driving, the area of ​​vegetation V or trellis structure T may be automatically recognized and recorded in real time by various sensors of the work vehicle 100. The target path or global (whole) path plan is generated by the ECU 185 based on the user's operation before starting automatic driving. The target path may be generated to cover, for example, the entire work area PL1 of the field. The work vehicle 100 automatically and repeatedly moves from the work start point (start point SP) to the work end point (end point EP) along the target path shown in FIG. 5A and FIG. 5B. Note that the target path shown in FIG. 5A and FIG. 5B is an example, and the target path may be determined arbitrarily.

[0098] When the work vehicle 100 turns along each turning path TP, the controller 180 of the work vehicle 100 is configured or programmed to calculate a judgment condition according to "judgment point 2" as shown in FIG. 1 and FIG. 2. The control system 160 functions as a turning path control system that controls a series of operations executed during turning on the turning path TP in the margin area M in step S110 shown in FIG. 2. The series of operations may include a field-out operation (field exit operation) executed at the start of turning and a field-in operation (field entry operation) executed at the end of turning. The field-out operation (field exit operation) may include, for example, at least one of an operation of raising the implement 300 connected to the work vehicle 100, an operation of stopping the output of power to the implement 300, an operation of disabling the differential lock function of the work vehicle 100, an operation of switching from two-wheel drive mode to four-wheel drive mode, and an operation of reducing the engine speed of the work vehicle 100. The field-in operation may include, for example, at least one of the following operations: raising the implement 300, switching to a reverse gear transmission, activating the differential lock function, switching from four-wheel drive mode to two-wheel drive mode, and increasing the engine speed.

[0099] During turning TP in the margin area M, the controller 180 controls the operation of the work vehicle 100 and the implement 300 in accordance with "decision point 2." This allows automatic turning in the margin area M to be performed smoothly.

[0100] An example of steering control by controller 180 will be described more specifically below with reference to FIGS. 12A to 12D.

[0101] FIG. 12A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 12B is a diagram showing an example of a work vehicle 100 in a position shifted to the right from the target route P. FIG. 12C is a diagram showing an example of a work vehicle 100 in a position shifted to the left from the target route P. FIG. 12D is a diagram showing an example of a work vehicle 100 facing in an oblique direction with respect to the target route P. In FIGS. 12A to 12D, the attitude of the work vehicle 100 measured by the positioning device 110, that is, the position and orientation, is represented as R(x, y, θ). Here, (x, y) are coordinates in the XY coordinate system, which is a two-dimensional coordinate system fixed to the earth, that is, the position of a reference point in the work vehicle 100. In the example shown in FIGS. 12A to 12D, the reference point in the work vehicle 100 is the position where the GNSS antenna in the vehicle cabin is located, but may be any position. θ is an angle indicating the measured orientation of the work vehicle 100. In the examples shown in these figures, the target path P is illustrated as being parallel to the Y axis, but in general, the target path P does not need to be parallel to the Y axis.

[0102] As shown in FIG. 12A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the controller 180 maintains the steering angle and speed of the work vehicle 100 without changing them.

[0103] 12B, when the position of the work vehicle 100 deviates to the right from the target route P, the controller 180 changes the steering angle so that the traveling direction of the work vehicle 100 tilts to the left, so that the work vehicle 100 approaches the route P. At this time, not only the steering angle but also the speed may be changed. The magnitude of the steering angle may be adjusted, for example, according to the magnitude of the position deviation amount Δx.

[0104] 12C, when the position of the work vehicle 100 deviates to the left from the target route P, the controller 180 changes the steering angle so that the traveling direction of the work vehicle 100 tilts to the right, so as to bring the work vehicle 100 closer to the route P. In this case as well, not only the steering angle but also the speed may be changed. The amount of change in the steering angle may be adjusted, for example, according to the magnitude of the position deviation amount Δx.

[0105] Also, as shown in FIG. 12D, when the position of the work vehicle 100 does not deviate significantly from the target route P, but the orientation (direction) of the work vehicle 100 differs from the orientation (direction) of the target route P, the controller 180 changes the steering angle so that the directional deviation Δθ becomes smaller. In this case, not only the steering angle but also the speed may be changed. The amount of change in the steering angle can be adjusted, for example, according to the magnitude of the position deviation Δx and the directional deviation Δθ. The amount of change in the steering angle may be adjusted, for example, according to the magnitude of the position deviation Δx and the directional deviation Δθ. For example, the amount of change in the steering angle according to the directional deviation Δθ may be increased as the absolute value of the position deviation Δx becomes smaller. When the absolute value of the position deviation Δx is large, the steering angle changes significantly in order for the work vehicle 100 to return to the route P, and therefore the absolute value of the directional deviation Δθ also necessarily becomes large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the directional deviation Δθ closer to 0. Therefore, when determining the steering angle, it is advantageous to apply a relatively large weight (that is, a control gain) to the directional deviation Δθ.

[0106] Control techniques such as PID control and MPC (Model Predictive Control) may be applied to the steering control and speed control of the work vehicle 100. By applying these control techniques, the work vehicle 100 can be controlled to approach the target route P more smoothly.

[0107] If the obstacle sensor 130 detects an obstacle while traveling, the controller 180 stops the work vehicle 100. Alternatively, if an obstacle is detected, the controller 180 may control the drive device 140 so as to avoid the obstacle.

[0108] The work vehicle 100 acquires (detects) the field state while autonomously traveling along a travel route in the field area of ​​the section PL1. Referring to Figures 13A and 13B, examples of the field state or trellis state include the inclination (gradient) θ1 of the ground surface K2 of the field (rows between the trellis), the state of the uneven portion 101 on the ground surface K2 of the field, the width W11 of an obstacle 102 on the field K2, the height H1 of the obstacle 102, the width W5 of the row K2, the size R1 of the curved portion of the row K2, and the state of the intersection R2. The obstacle 102 may be a structure or a person.

[0109] Specifically, as shown in Fig. 8 and Fig. 13, according to a preferred embodiment of the present invention, the controller 180 or the monitor 186 detects the inclination θ1 of the moving direction of the ground K2 in front (or rear) relative to the moving direction of the work vehicle 100 based on, for example, an image of the front area or rear area of ​​the work vehicle 100 captured by the camera 120 or the obstacle sensor 130, and / or scan data acquired by the LiDAR sensor 135. Alternatively, the inertial measurement unit (IMU) 115 may detect the inclination θ1 of the ground K2 on which the work vehicle 100 is traveling based on the pitch angle. The inertial measurement unit 115 can detect the roll angle, pitch angle, and yaw angle of the vehicle 100 using, for example, an acceleration sensor and a gyro sensor, and can correct the vehicle position using the detected roll angle, pitch angle, and yaw angle of the vehicle body.

[0110] In addition, the controller 180 or the sensor monitor 186 detects, for example, based on an image capture or scan data, the length L10 of the uneven portion 101 ahead in the direction in which the work vehicle 100 is moving, the width W10 of the uneven portion 101, the depth F10 of the uneven portion 101, and the position of the uneven portion 101 on the ground surface K2.

[0111] The controller 180 or the sensor monitor 186 detects the height H1 and width W11 of the structure 102 in the front or rear of the direction in which the work vehicle 100 moves, for example, based on the captured image or scan data. The monitor 186 has data (profile data) on the external shape of the structure 102, and may determine the type of the structure 102 by performing a matching process that matches the shape represented by the profile data with the shape of the structure 102 extracted from the captured image or scan data. The type of the structure 102 may also be identified by comparing the features of the structure 102 extracted from the captured image or scan data with the features of the structure 102 based on the profile data.

[0112] 13B, the monitor 186 detects the width (trellis row width) W5 of the ground surface K2 in the front or rear of the direction in which the work vehicle 100 moves, the magnitude R1 (radius) of the curved portion of the trellis row width in the route of the ground surface K2, and the intersection R2 of the passage (avenue) or margin area of ​​the ground surface K2, based on, for example, the captured image or scan data. Note that, with reference to FIG. 13B and FIG. 1A, the intersection R2 may correspond to an intersection between any of the rows R1 to R4 and the margin area M. With regard to the magnitude R1 of the curved portion of the ground surface K2 and the intersection R2 of the ground surface K2, the controller 180, the terminal 400, etc. may estimate the situation (condition) of the magnitude R1 of the curved portion of the ground surface K2 and the intersection R2 displayed on the field map MP1, for example, by referring to the field map MP1 as shown in FIG. 5A or FIG. 5B.

[0113] The above-described method for detecting the field condition is merely an example, and the present invention is not limited to this.

[0114] [Details of Judgment Point 1] FIG. 3A is a diagram showing details of the conditions of decision point 1 according to a preferred embodiment of the present invention. Each item of decision point 1 is information available before driving (for example, before the vehicle starts a driving route or before the global (overall) route planning process is executed). In addition, in a preferred embodiment of the present invention, the information of each item listed as details of decision point 1 can be obtained from input data input by a user at a device terminal, information from a computer server, Internet map information such as Google Maps (registered trademark), or other reliable information sources. Specific conditions of decision point 1 will be described below with reference to FIG. 3A and FIG. 3B.

[0115] [User can choose to turn the feature on or off] For an item, the user selects ON / OFF of the function, and when the user sets the function to ON, the entry into the trellis is set to YES, and when the user sets the function to OFF, the entry into the trellis is set to NO.

[0116] [Type of implement] For the item of the type of implement, if the implement has tires (for example, a trailer type, etc.), the entry into the trellis is set to NO. If the implement does not have tires, the entry into the trellis is set to YES. For example, during turning, the implement without tires can be raised by a three-point (3P) hitch included in the coupling device 108, as shown in, for example, FIG. 14A and FIG. 14B. On the other hand, the implement with tires is not raised by a three-point (3P) hitch, as shown in, for example, FIG. 14C. In some situations, when the tractor is turning while reversing, it may be difficult to control the orientation and xy position of the implement with tires. That is, in the preferred embodiment of the present invention, only the implement without tires should be allowed to enter between the trellises while reversing. FIG. 14A and FIG. 14B show an example of an implement without wheels 300. FIG. 14C shows an example of an implement with wheels 300.

[0117] [Type (Length) of Implement] In a preferred embodiment of the present invention, for the item of the type (length) of the implement, when the length L of the implement is shorter than the length A of the tractor, entry between the trellises is set to YES (permitted). There is a risk that the tractor will reverse and enter between the trellises. If the length L of the implement is long, the risk of entering between the trellises becomes high. Therefore, in a preferred embodiment of the present invention, when the length L of the implement is equal to or longer than the length A of the tractor, entry into the trellises is set to NO (not permitted). If the length of L is short, the risk of entering the trellises is small. The shorter the length L of the implement, the smaller the risk of entering between the trellises and colliding. Therefore, in a preferred embodiment of the present invention, when the length L of the implement is shorter than the length A of the tractor (when L < A), the function of entering between the trellises is set to "YES" (permitted).

[0118] However, in another aspect according to a preferred embodiment of the present invention, when the implement is longer than the length of the tractor and a larger space is required to reverse and turn, and there is sufficient space to perform the turning and reversing operations, it is reasonable to consider the situation where it is useful to reverse and enter the row between the trellises. Therefore, as shown in FIGS. 1A and 3B, the width W A of the avenue or the margin area M is added as a condition that entry between the trellises is set to YES (permitted) when it is shorter than the sum (L + A) of the length A of the tractor and the length L of the implement. The width W A of the avenue is longer than the sum (L + A) of the length A of the tractor and the length L of the implement (W A < L + A), the tractor avoids entering between the trellises as much as possible. When the sum (L + A) of the length A of the tractor and the length L of the implement is longer than the width W A of the avenue, since there is little space for reversing, entry between the trellises is permitted.

[0119] [Type (Center Line) of Implement] In the item of type of implement (center line), if the center lines of the tractor and the implement are almost the same or equal to each other, entry into the trellis is set to YES (permitted). An example of such a case is shown in FIG. 14C, where the position of the center line P40 of the tractor 100 coincides with the position of the center line P30 of the implement 300.

[0120] If the center line of the tractor and the center line of the implement do not match, for example, if the implement is a harvester and interferes with the adjacent trellis, it is extremely difficult to enter between the opposing trellises during turning, so this function is set to NO (not permitted). An example in which the center line P40 of the tractor 100 is not the same as the center line P30 of the implement 300 is shown in FIG. 14D.

[0121] [Trellis in adjacent area / adjacent area is field] For the item of adjacent area trellis / adjacent area is field, whether the adjacent area has a trellis or not is one of the first assumption points. If the tractor is turning and the area on the other side is a trellis or a field, the function is set to ON (trellis entry = YES (permitted)). If the area on the other side is a road, a house, or an obstacle, the function is set to OFF (trellis entry = NO (not permitted)). In a preferred embodiment of the present invention, information on the item of whether the adjacent area has a trellis or not and whether the adjacent area is a field or not can be obtained from input data entered by a user at an equipment terminal, information from map data preregistered in a navigation system connected to a vehicle control system, Google Maps (registered trademark), or other reliable information sources. For example, geographical data can be collected and a map showing the surrounding situation (environment) can be generated by flying a remotely operated drone equipped with a camera or by driving a vehicle in advance around a vineyard or farmland.

[0122] Tractor and implement width relative to row width between trellises Regarding the item of the width of the tractor and implement relative to the row width between the trellises, as shown in Figures 3A and 3B, the width between the trellises W1 is compared with the width A1 of the tractor and implement. If the width between the trellises W1 is larger than the width A1 of the tractor and implement (W1>A1), there is enough space for the tractor and implement to enter between the trellises, so this function is set to ON (trellis entry permitted, YES). Otherwise, if the width between the trellises W1 is equal to or smaller than the width A1 of the tractor and implement (W1≦A1), there is not enough space for the tractor and implement to enter between the trellises, so this function is set to OFF (trellis entry not permitted, NO).

[0123] In a preferred embodiment of the present invention, the column width W1 between the trellises may be measured end to end, as shown in Figure 3B, i.e., the column width W1 is measured from the end of one vine to the end of the other vine, as shown in Figure 3B.

[0124] However, since each plant V as shown in Figure 1A may vary in size or thickness compared to one another, it may be difficult to obtain an accurate end-to-end width (between each plant V). Therefore, in an alternative embodiment of the present invention, it is preferred that the user manually inputs the post-to-post width W2 (i.e., the width from midline to midline of each trellis T as shown in Figure 3B), where "post" is synonymous with the center of the vine.

[0125] [Slope of adjacent field] Regarding the item of gradient of adjacent fields, if the gradient of the opposing (adjacent) field (area of ​​PL2) is less than a predetermined value [NA] (e.g., if the slope is small or the ground is flat), the trellis entry function is set to YES (permitted). If it is equal to or greater than a predetermined value [NA], which is a threshold gradient or upper limit gradient at which the vehicle cannot travel (e.g., if the ground of the adjacent field is a steep slope or not very flat), the trellis entry function is set to NO (not permitted). In a preferred embodiment of the present invention, the predetermined value [NA] can be set to an absolute value. In this case, the "gradient" can correspond to the surrounding situation (environment), either uphill or downhill.

[0126] [Work plan for adjacent fields] For work plan items in adjacent fields, if a tractor operating autonomously is in one field and a farmer or a person, such as a manual harvester, is in the other opposing (adjacent) field, the agricultural machinery must not enter the trellis and interfere with or interrupt the work plan being carried out on that trellis. Therefore, if there is a work plan scheduled in the adjacent field, the tractor may not go beyond the opposing area.

[0127] In a preferred embodiment of the present invention, all items for setting the criteria or conditions of decision point 1 are information available before the vehicle starts traveling. Specifically, before the vehicle starts traveling, decision point 1 is determined based on information available from a computer server or information stored in the vehicle. At decision point 1, ON / OFF is determined based on the user's intention and / or information held in advance by the vehicle.

[0128] For example, information regarding the type of implement can be provided to the controller in a variety of ways. One possible method is to input the data via the ISOBUS from the tractor. Alternatively, if the user or manager knows the type of implement owned, the data can be input via an application (app) or web browser app on the terminal device 400, the terminal 200 provided in the tractor, or a website including an application dashboard app.

[0129] In a preferred embodiment of the invention, the information available before driving, including the implement type item at decision point 1, can be manually entered by the user at a user interface on terminal 400. Alternatively, the data can be entered via ISOBUS, a communications technology that allows information to be communicated between the tractor and the implement.

[0130] In a preferred embodiment of the present invention, the information available before driving includes items related to information about the trellises in the neighboring areas or information about the neighboring fields, which can be obtained by the user entering them into the app or by satellite images provided from internet resources. For example, for the row width W1 between the trellises, the satellite images can be used to calculate the distance between two points that are the ends or edges in the width direction between each trellis. Such information available before driving can be obtained from input data entered by the user at the device terminal, map data pre-stored in a navigation system (Google Maps (registered trademark)) linked to the vehicle control system, or other reliable sources. For example, surrounding situation (environment) or geographical data can be collected and a map can be generated by flying a remotely operated drone equipped with a camera or by driving a vehicle around the vineyard or farmland in advance.

[0131] In a preferred embodiment of the present invention, a combination of any one or more items or a combination of all items can be used to determine decision point 1 (whether a function to be entered into the trellis is ON or OFF). For example, in a preferred embodiment of the present invention, decision point 1 may be based only on item 1 (a user selects ON / OFF of a function). In another preferred embodiment of the present invention, decision point 1 may be based only on item 1 and / or item 2 (type of implement), etc.

[0132] Referring to FIG. 2, in step S106, the controller judges whether or not there is a trellis in the turning path based on the same information as the "trellis of the adjacent area" in the details of the judgment point 1 as shown in FIG. 3A. When the judgment algorithm of the controller judges that the tractor needs to switch to the reverse direction (reverse), it compares the position data of the local path calculated with reference to the GPS with the position data of the "trellis of the adjacent area" calculated with reference to the GPS. The timing at which it is judged that it is necessary to switch to reverse may be the timing at which the tractor switches from going straight to turning, or the timing at which the tractor turns and updates the local path (partial route). The condition of the "trellis of the adjacent area" may be the same information as the information of the judgment point 1 updated from the start of traveling to the timing at which it is judged that the direction will be switched to the reverse direction, or may be information based on real-time information updated by a sensor such as LiDAR that scans the surrounding situation of the tractor at the timing at which the tractor switches from going straight to turning or at the timing at which the tractor is turning. When referring to the same kind of information as in decision point 1, at least the information referred to must be update information. The main purpose of decision point 2 is to evaluate real-time information during the turning process. When making the decision in step S106 based on real-time information, "real-time" depends on the timing when the local path (partial path) indicates that the tractor is to switch to reverse (i.e., the timing of switching to reverse). The above timing may be before the start of turning in S105 or during turning. In a preferred embodiment of the present invention, step S106 is judged when the local path (partial path) includes the rear. The controller 180 has position data of the "trellis adjacent area" and position data of the future trajectory of the turning local path (partial path to turn). The controller 180 compares the position data of the "trellis adjacent area" with the position data of the future trajectory of the turning local path to judge whether the trajectory of the local path is within the adjacent trellis.Fig. 4C shows the movement before the turn when the controller recognizes and determines that the tractor will switch back into reverse because the path into the trellis is more reasonable. Fig. 4D shows the movement during the turn when the controller determines that the tractor needs to switch back into reverse. Step S106 can be executed at either of the times shown in Fig. 4C and Fig. 4D.

[0133] If the controller determines in step S106 that there is no trellis on the turning path, then in step S109, a geofence GF is set on the boundary of the area M, as shown in Fig. 1B. When the geofence GF is set in step S109, the system controller prohibits the vehicle from entering an area beyond the geofence GF.

[0134] [Details of Judgment Point 2] 4A is a diagram showing details of decision point 2 in step S107 according to a preferred embodiment of the present invention. Decision point 2 is based on real-time information. Information used for decision point 2 may be obtained in real time after the tractor starts traveling, or may be obtained while the tractor is traveling autonomously (e.g., after the vehicle starts traveling along the travel route or after a global route planning process has been performed). Details of decision point 2 shown in FIG. 4A are described below.

[0135] [Trellis training type] Regarding the trellis training type, the training type of the vineyard typically includes I-type vineyard training and Y-type vineyard training. If the fields are close to each other, the training type of the vineyard can be identified by LiDAR, camera, and / or other sensors to detect what kind of training is used for the vines in the field. Figure 16A shows an example of a trellis with I-type training. In a preferred embodiment of the present invention, if the trellis is determined to have I-type training, the function of entering between the trellises is set to YES because there is enough space between the left and right trellises of the vineyard.

[0136] However, as shown in FIG. 16B, which shows an example of a trellis with Y-type training, Y-type training has a larger canopy area than I-type training. Although there may be a large space in the lower area of ​​the trellis, in the upper area between adjacent trellises, the space between the left and right trellises of the vineyard may be very narrow. The space between each trellis is limited as the size of the eaves increases. Therefore, in a preferred embodiment of the present invention, if a trellis is determined to have Y-type training, the function of entering between trellises can be set to OFF (function of entering between trellises: NO).

[0137] The present invention is not limited to a particular type of training and can be utilized to detect other trellising methods for vineyards.

[0138] [Inflation layer value] The value of the inflation layer (expansion layer) is compared with an upper threshold to determine whether the tractor may enter the inter-trellis. Inflation layers are well known to those skilled in the art and are further described below. The inflation layer is determined by a processor or electronic computing unit supporting the agricultural machine (e.g., the tractor). If the inflation layer is equal to or less than a predefined upper threshold, the agricultural machine may enter the inter-trellis (enter inter-trellis function: YES). If not, the function is set to OFF (enter inter-trellis function: NO).

[0139] Tractor and implement width relative to trellis row width The tractor and implement width A1 is compared with the inter-trellis row width W1 minus a value equal to twice the inflation layer value (Inf) (e.g. Inf x 2). The value equal to twice the inflation layer value takes into account the inflation layers on both sides of the inter-trellis. If the tractor and implement width A1 is smaller than the inter-trellis row width W1 minus a value equal to twice the inflation layer, the agricultural machine can enter the trellis (enter inter-trellis function: YES). Otherwise, the function is set to OFF (enter inter-trellis function: NO). Alternatively, if the inter-trellis width W1 is unknown or cannot be determined at the time, the width W2 can be used instead of width W1.

[0140] [Backtracking count] "Number of reverse shifts" refers to the number of times the vehicle reverses (shifts the gear or transmission into reverse) to make a turn. The values ​​of N1, N2, and α are defined as follows: N1: The number of reverse turns required when turning using a trellis N2: Number of reverse turns required when turning without using a trellis α: The number of retreats set by the user Considering the risk of entering the trellis gap, it is necessary to ensure that N2 is equal to or less than α, and the difference between the number of reversals N2 required to turn without using the trellis minus the number of reversals required to turn using the trellis is greater than 1. For example, if the user sets α=3, N2 must be equal to or less than 3 (=α), and N2-N1 must be greater than 1. If N2 is greater than α, or if N2-N1 is not greater than 1, it is not worth the tractor entering the trellis, so this function is set to OFF (entering the trellis gap function: NO). Basically, if the number N2 is not that large, the efficiency benefit is small relative to the risk of entering the trellis gap during turning. As mentioned above, if the difference between N2 and N1 is only 0 or 1, it is not reasonable to take the risk of entering the trellis gap.

[0141] The computer or controller determines N1 and N2 by calculating the target route path using a local planner based on real-time information. If the controller can completely calculate the trajectory of the turning local path before starting the turn, the number of candidates for N1 and N2 will be greater than 2. However, if the controller cannot calculate the trajectory of the turning local path including the number of reverse turns, N1 and N2 will be 1. In this case, the decision item for entering the trellis gap is set to NO.

[0142] [Slope of adjacent field] If the gradient of the adjacent field is less than the threshold [NA] and is easy for the vehicle to cross, the function of entering the trellis is set to YES. On the other hand, if the gradient is steep and difficult or impossible for the vehicle to cross, the function of entering the trellis is set to NO. The gradient of the adjacent field may be determined based on information detected in real time. If the information is detected in real time, the controller calculates the gradient of the adjacent trellis from the information detected by the LiDAR sensor 135 or the camera 120, and corrects the information by the information of the IMU 115. The reason why the correction by the IMU is preferred is because the gradient information from the LiDAR sensor 135 is simply relative information. Therefore, the correction by the IMU 115 (current attitude of the tractor) assists in the calculation of the absolute gradient information.

[0143] The gradient information does not need to be detected in real time: in alternative embodiments, the gradient information may be received from a server, may be pre-stored in memory of storage device 450, or may be entered by a user at terminal 400.

[0144] Trellis Column Orientation Referring to FIG. 4B, when the orientation T1 of the trellis row is the same as or substantially the same as the orientation T2 of the trellis row, the tractor can go straight, so no steering control is required when going straight to the trellis on the opposite side, and the tractor can enter the trellis on the opposite side. When the orientation T1 of the trellis row is substantially different from the orientation T2 of the trellis row, steering control is required, so it is preferable not to let the tractor enter the trellis of the opposite row. In order to determine the orientation of the trellis in real time, T1 is calculated from the two-dimensional information of the trellis on which the tractor is currently traveling, and T2 is calculated based on the two-dimensional information of the adjacent trellis detected while the tractor is turning. "During turning" means the period from when the tractor starts turning to when the turning is finished. The two-dimensional information of the adjacent trellis is calculated in the same manner as for straight running. The angle between the orientation T1 and the orientation T2 of the trellis row is measured. If the angle is equal to or less than a predetermined value, the trellis entry judgment is set to YES. Otherwise, the trellis entry judgment is set to NO.

[0145] [Turning location (center or edge of field)] FIG. 4B shows the regions and boundaries of the "field center" and "field edge". The boundary between the "field center" and the "field edge" is shown by a dashed line, more specifically, the field side edge of the outermost trellis. If the tractor is currently located in the field center, the trellis entry judgment is set to YES. If the tractor is currently located at the field edge, the trellis entry judgment is set to NO.

[0146] [Obstacles in the trellis] If it is detected that there is an obstacle on the opposite trellis, the decision point 2 does not permit the tractor to enter the opposite trellis. The detection of an obstacle in the opposite trellis will be described later.

[0147] 2, if it is determined in step S107 that at least one condition of the second group of conditions of decision point 2 is not satisfied, then in S109, as shown in FIG. 1B, a geofence GF is set at the boundary of the margin area M. If the geofence GF is set, the system controller prohibits the vehicle from entering another area beyond the geofence GF. If the entry determination step in step S107 is determined to be "YES" (for example, if all of the conditions of the second group targeted by decision point 2 are satisfied), the process proceeds to step S110, where, as described above, if a local path is generated between adjacent areas or trellises, the vehicle is permitted to enter the space between the trellises.

[0148] 17 is a diagram showing a schematic configuration of a system in which a processing unit 500 that communicates with a work vehicle 100 via a network 40 generates a travel route. In this example, an external processing unit 500, rather than the controller 180 of the work vehicle 100, generates the travel route and transmits the information to the work vehicle 100. The processing unit 500 may be a computer such as a cloud server.

[0149] FIG. 18 is a block diagram showing the configuration of the processing unit 500. The processing unit 500 includes a processor 560, a storage device 570, and a communication device 590. The storage device 570 includes a memory for storing a computer program executed by the processor 560. The communication device 590 exchanges signals between the communication device 190 of the work vehicle 100 and the communication device 490 in the terminal 400. In this embodiment, when the terminal 400 records a new work schedule for the work vehicle 100, user input data information is transmitted to the processing unit 500 via the network 40. The processor 560 of the processing unit 500 generates a travel route and determines entry into the trellis by the method described below based on the position information of the work vehicle 100 and the data information input by the user. The communication device 590 of the processing unit 500 transmits information of the travel route to the work vehicle 100. The work vehicle 100 moves along the travel route. The processor 560 of the processing unit 500 may generate not only a travel route but also a target route for the travel task. In that case, the work vehicle 100 does not need to be equipped with the ECU 185 for route generation shown in FIG.

[0150] Instead of the processing unit 500, the terminal 400 may generate the travel route. In that case, the terminal 400 acquires the position information of the work vehicle 100 and the information of the turning path control from the work vehicle 100 or the processing unit 500. The processor 460 of the terminal 400 generates the travel route based on the position information of the work vehicle 100 and the information of the turning path control. The terminal 400 transmits a signal including the information of the travel route to the work vehicle 100. By such an operation, it is possible to obtain the same effects as the above-mentioned embodiments.

[0151] In each of the above embodiments, instead of terminal 400, a monitoring terminal that monitors work vehicle 100 may perform the operation of controlling work vehicle 100. Such a monitoring terminal may be provided, for example, at the home or workplace of a user that monitors work vehicle 100.

[0152] FIG. 19 is a diagram that illustrates an example of a system in which a monitoring terminal 600 controls a work vehicle 100. The monitoring terminal 600 is, for example, a laptop computer or a personal computer, and can communicate with the work vehicle 100 via the network 40. The monitoring terminal 600 may be a portable computer such as a smartphone or a tablet computer. By operating the monitoring terminal 600, the user can control the travel of the work vehicle 100 along a desired route, as in the above-mentioned embodiments. The configuration of the monitoring terminal 600 is the same as the configuration of the terminal 400 shown in FIG. 8. In this example, the configuration of the work vehicle 100 is the same as the embodiment shown in FIG. 8. The monitoring terminal 600 may generate a travel route instead of the ECU 185 in the controller 180 of the work vehicle 100. In that case, the monitoring terminal 600 acquires the position information of the work vehicle 100. The monitoring terminal 600 generates a travel route and a trellis entry judgment based on the data input by the user, the position information of the work vehicle 100, and the turning path control information, and transmits this information to the work vehicle 100.

[0153] FIG. 20 is a diagram illustrating roughly another example of a system in which a monitoring terminal 600 controls a work vehicle 100. This system corresponds to the system illustrated in FIG. 17 except that the terminal 400 is replaced with a monitoring terminal 600. In this system, the monitoring terminal 600 transmits data information input by a user to the processing unit 500 based on the user's operation. As in the example of FIG. 17, the processing unit 500 generates a travel route and transmits it to the work vehicle 100. In this example as well, the monitoring terminal 600 may generate a travel route and transmit it to the work vehicle 100 instead of the processing unit 500.

[0154] Fig. 15 shows an example of an input screen provided on a user terminal for a user to input input data before driving. As shown in Fig. 15, a user can select ON / OFF of a turning area expansion function, input the type of implement (whether or not the implement has tires), the dimensions of the implement 300 relative to the tractor 100, and a work plan schedule. Note that the input screen is not limited to a specific layout, and multiple input screens can be provided in a web application or software application of the user terminal.

[0155] FIG. 21 is a block diagram showing a specific example of the configuration of an autonomous work vehicle control system 700 for a work vehicle 100 according to a preferred embodiment of the present invention. In this embodiment, the work vehicle 100 is configured as a tractor, but the control system according to the present disclosure is not limited thereto. The tractor 100 can be automatically driven due to the above-mentioned characteristics. According to a preferred embodiment of the present invention, the work vehicle 100 may be a fully automated, driverless agricultural work vehicle, which allows a farmer to autonomously navigate (steer) a large field using a terminal device 400 via a user application, such as a web-based application or a mobile application. According to the present disclosure, the autonomous work vehicle control system 700 has been developed primarily for vineyard work, but may be modified for other specific applications. The autonomous work vehicle control system 700 includes a combination of hardware and software components.

[0156] In the autonomous work vehicle control system 700, the tractor 100 has at least one or two LiDAR sensors 135, at least one camera 120, and a GPS system such as the positioning device 110 described and illustrated with reference to FIG. 8. For example, one LiDAR sensor may be mounted on the front of the vehicle 100 and another LiDAR sensor may be mounted on the rear of the vehicle 100. Alternatively, one LiDAR sensor module may be provided on the top (top, upper part) of the vehicle in the center and configured to detect a 360-degree field of view (FOV). The one or more LiDAR sensors are configured to recognize the surrounding situation (environment), such as obstacles, trellises, etc. The GPS system 110 and the LiDAR sensor 135 provide information about the operating situation around the vehicle (tractor) 100. The one or more LiDAR sensors 135 are mainly used for the purpose of obstacle detection and avoidance. The LiDAR sensor 135 is also used to indicate whether the tractor (vehicle) 100 is inside or outside between the trellises.

[0157] 21, the autonomous work vehicle control system 700 may include a drive-by-wire (DBW) system 800 that outputs command signals to the tractor 100. The drive-by-wire (DBW) 800 system is an electronic control system that controls shifting, throttle, braking, and steering.

[0158] Referring to FIG. 21, the GPS system 110 locates the tractor vehicle 100 in the environment. One or more cameras 120 output live video information from the tractor 100. The vehicle processing unit (e.g., controller 180) assists in interfacing between the various sensors (LiDAR, GPS system, cameras), the navigation software 900, and the DBW system 800. The navigation software 900 outputs data for global route planning, obstacle detection, and local route planning. The navigation software 900 obtains data from the GPS system 110, map data (vineyards) 1000, and user applications (terminal device 400). The navigation software 900 may be implemented in a computer / processing unit provided in the vehicle 100 together with the controller 180, a computer cloud server, the terminal device 400, or any combination thereof. The map data 1000 may be obtained from a computer server, a cloud server, or other reliable information sources as described herein. The user application may receive command signals and input data entered by the user 10 via the terminal device 400 and then transmit to the map data (vineyard) 1000, the navigation software 900, and / or to communication devices (e.g., vehicle RF antennas 702 and transceivers 701) onboard the vehicle 100. Any number of vehicle transceivers 701 and RF antennas 702 may be provided on the vehicle 100 for wireless communication using known methods, standards, and / or protocols.

[0159] FIG. 22 is a diagram showing an example of visualization of a guided route (navigation route) of a work vehicle traveling on a row between trellises. As shown in FIG. 22, a global route is planned and generated based on map data 1000 and data input by a user in a user application. For example, the global route may be planned according to the travel route TR shown in FIG. 5A and FIG. 5B. A local route is generated and modified in real time based on various sensors (LiDAR sensor, camera, etc.) mounted on the vehicle 100 and obstacle detection processed by the controller 180. As shown in FIG. 22, an obstacle layer indicates the positions of landmarks such as obstacles or trellis structures that the vehicle should avoid.

[0160] For example, referring to FIG. 5A, FIG. 5B and FIG. 22, the planned travel route TR includes a straight section (parallel path) PP along which the work vehicle 100 travels straight, and a turning section (turning path) TP along which the work vehicle 100 turns. In a preferred embodiment of the present invention, the controller 180 generates the planned travel route TR. For example, the controller 180 can be configured or programmed to function as a global planner and a local planner that generate the planned travel route TR. The global planner generates an initial planned travel route TR based on desired passing points EN1-EN4, EX1-EX4 on the field map MP1. An example of a global planner includes a Dijkstra global planner known to those skilled in the art. The local planner accepts the initial planned travel route TR generated by the global planner, and if there is an obstacle on the initial planned travel route TR, for example, if the obstacle is detected by one or more various sensors when the work vehicle 100 travels through the field, the local planner changes / updates the initial planned travel route TR so that the work vehicle avoids the obstacle. For example, the local planner may utilize a Timed Elastic Band (TEB) optimization method known to those skilled in the art, or the techniques described with respect to Figures 12A-12D, 13A and 13B. Thus, the controller 180 is configured or programmed to determine whether to update the planned travel route TR of the work vehicle based on obstacles detected by one or more of the various sensors.

[0161] For example, if the trellis structure has larger tendrils or branches than the map data 1000 from the storage device indicates, and the tendrils or branches are too close together or are crowded into the global path of the vehicle's driving route, a buffer area is preferably provided to account for such differences. An inflation layer is provided as a region surrounding the obstacle layer. An inflation layer value (inf), which indicates the distance between the inflation layer and the outermost boundary drawn around the obstacle, can be adjusted in real time or by user settings, and an inflation layer can be provided to prevent collisions, acting as an invisible bubble surrounding the obstacle to be avoided in the vehicle's driving route. A local path that avoids the obstacle is generated by overlaying the inflation layer with the obstacle layer provided as two-dimensional map data. The inflation layer can be stored in the map data 1000 and used for future driving plans or operations of the autonomous work vehicle.

[0162] According to a preferred embodiment, and referring to FIG. 3B and FIG. 4A for decision point 2, the input data entered by the user into the terminal device 400 includes: W1 defines the trellis column width The work vehicle 100 and the implement 300 attached to the work vehicle 100 A1 defines the overall width The information detected by the one or more various sensors includes an inflation layer value (Inf), as shown in FIG. 22. According to a preferred embodiment, referring to FIG. 1A, FIG. 3 and FIG. 22, if the inequality A1<[W1-(Inf×2)] holds, the work vehicle 100 may reverse and enter the third row R5 of the second lot section PL2. Alternatively, if the trellis row width W1 is unknown or cannot be determined at the time, the width W2 may be utilized instead of the width W1. In such a case, in a preferred alternative embodiment, at decision point 2, if the inequality A1<[W2-(Inf×2)] holds, the work vehicle 100 may reverse and enter the third row R5 of the second lot section PL2.

[0163] In addition to application in vineyards, the techniques of the present disclosure may be applied to any agricultural machinery, such as, for example, a tractor, a harvester, a rice transplanter, a crop management vehicle, a vegetable transplanter, a grass cutter, a seeding machine, a sprayer, or an agricultural robot.

[0164] Although the preferred embodiments of the present invention have been described above, it should be understood that several modifications and variations may be apparent to those skilled in the art without departing from the scope and spirit of the invention. Accordingly, the scope of the present invention is to be determined solely by the following claims. [Explanation of symbols]

[0165] 100 Work vehicles 180 Controller 300 Implement 400 Terminal Equipment 700 Autonomous Work Vehicle Control System PL1 1st Section PL2 2nd Section R1 1st row R4 2nd row R5 3rd row M Margin Area GF Geofence

Claims

1. 1. An autonomous vehicle navigation system for a work vehicle capable of self-driving, comprising: A controller is provided. The controller: receiving information regarding the location of the work vehicle or the surrounding conditions of the work vehicle detected by at least one sensor; receiving input data input by a user on a terminal device; The work vehicle travels through a first section including a plurality of rows; the work vehicle exits the first section from a first row of the plurality of rows included in the first section; The work vehicle travels through a margin area provided between the first section and an adjacent area including a plurality of rows or a second section, the margin area being between the first section and the adjacent area or the second section, and the adjacent area or the second section being spaced apart from the first section; controlling the work vehicle to perform a turning operation process before the work vehicle enters a second row of the plurality of rows of the first section; The terminal device is controlled or programmed to determine whether or not to enable (ON) a turning area expansion function based on whether or not at least one condition of a first condition group is satisfied based on the input data input by a user at the terminal device before the work vehicle starts traveling, The controller is configured or programmed to determine whether to allow the work vehicle to enter the adjacent area or a third row included in the multiple rows of the second section based on the information detected by the at least one sensor that the at least one condition of a second group of conditions is satisfied when the work vehicle is performing the turning operation process.

2. The information includes surrounding situation information of the work vehicle, The at least one sensor is mounted on the work vehicle; a determination is made as to whether or not the at least one condition in the first condition group is satisfied based on the information held by the work vehicle before the work vehicle starts traveling; 2. The autonomous vehicle navigation system according to claim 1, wherein at least one or more conditions in the second group of conditions are determined to be satisfied or not based on the surrounding situation information acquired by the at least one sensor mounted on the work vehicle while the work vehicle is traveling.

3. 2. The autonomous vehicle navigation system of claim 1, wherein the controller is configured or programmed to set a geofence between the margin area and the adjacent area or the second section if the controller determines that the at least one condition of the first set of conditions or the second set of conditions is not satisfied.

4. the input data input by the user at the terminal device includes a user-selected function that is set to ON or OFF; The autonomous vehicle navigation system of claim 1 , wherein the at least one condition in the first set of conditions for allowing the work vehicle to back up into the third row is based on the user-selected function.

5. The input data input by the user at the terminal device includes an indicator indicating whether or not the implement attached to the work vehicle includes one or more tires, the at least one condition for allowing the work vehicle to reverse and enter the third row is dependent on the indicator indicating whether the implement attached to the work vehicle includes one or more tires; If the implement includes one or more tires, the work vehicle is not permitted to reverse and enter the third row; 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row if the implement does not include one or more tires.

6. The input data input by the user on the terminal device includes the length (A) of the work vehicle, the length (L) of the implement attached to the work vehicle, and the width (W) of the margin area. Ａ ) and The at least one condition that allows the work vehicle to reverse and enter the third row is the length (A), the length (L), and the width (W Ａ ) and depends on Conditional formula (L<A) and conditional formula (W Ａ 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row if any one of conditions A, B, C, D, E, F, F is satisfied.

7. The input data input by the user at the terminal device includes a CL that defines a position of a center line of an implement attached to the work vehicle, and a TCL that defines a position of a center line of the work vehicle, 2. The autonomous vehicle navigation system of claim 1, wherein the at least one condition for allowing the work vehicle to reverse into the third row is dependent on the CL and the TCL, and when the CL is equal to or substantially equal to the TCL, the work vehicle is permitted to reverse into the third row.

8. the input data input by the user at the terminal device includes an indicator indicating whether or not a trellis is present in the adjacent region or the second partition; The autonomous vehicle navigation system of claim 1 , wherein the work vehicle is permitted to back up and enter the third row if the trellis is in the adjacent region or the second section.

9. the input data input by a user to the terminal device includes an indicator indicating whether the adjacent area is a farm field, The autonomous vehicle navigation system of claim 1 , wherein if the adjacent area is a farm field, the work vehicle is permitted to back up into the third row.

10. The input data input by the user at the terminal device includes W1 defining a trellis row width and A1 defining a total width of the work vehicle and an implement attached to the work vehicle, The autonomous vehicle navigation system of claim 1 , wherein the work vehicle is permitted to back up and enter the third row if the total width A1 is less than the trellis row width W1 (A1>W1).

11. The adjacent area is an adjacent field, the input data input by a user at the terminal device or the information detected by the at least one sensor is a gradient of the second plot or the adjacent field; 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the second parcel or the third row of the adjacent field if the gradient is less than a predetermined value.

12. The adjacent area is an adjacent field, the input data input by the user via the terminal device includes an indicator indicating whether a work plan is in progress in the second plot or the adjacent field, 2. The autonomous vehicle navigation system of claim 1, wherein if there is no ongoing work plan in the second lot or the adjacent field, the work vehicle is permitted to back up and enter the third row of the second lot or the adjacent field.

13. the information detected by the at least one sensor includes an indication that the type of trellis of the second section is I-type or Y-type; If the type of the trellis is an I-type vineyard trellis, the work vehicle is permitted to reverse and enter the third row of the second section; 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is not permitted to back up and enter the third row of the second section if the trellis type is Y-type vineyard training.

14. the information detected by the at least one sensor includes an inflation layer value; 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row of the second section if the inflation layer value is less than a predetermined value.

15. The input data input by the user at the terminal device includes W1 defining a trellis row width and A1 defining a total width of the work vehicle and an implement attached to the work vehicle, The information detected by the at least one sensor includes an inflation layer value (inf); 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row of the second section if a conditional expression (A1<W1-inf×2) is satisfied.

16. The controller is controlled or programmed to determine a number N1 of reverse movements required when the work vehicle executes the turning operation process using the adjacent area or the third row, and a number N2 of reverse movements required when the work vehicle executes the turning operation process without using the adjacent area or the third row; The input data input by the user at the terminal device includes a number of backtracks α set by the user, 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row of the second section when the conditional formula (N2≦α) and the conditional formula (N2-N1>1) are satisfied.

17. the information detected by the at least one sensor includes a trellis column direction T1 of the second trellis and a trellis column direction T2 of the third trellis; 2. The autonomous vehicle navigation system of claim 1, wherein the work vehicle is permitted to back up and enter the third row of the second section if the angular difference between T1 and T2 is less than a predetermined value.

18. The first section, the margin area, and the second section are included in a field, The information detected by the at least one sensor is The position of the work vehicle relative to the center and edge of the field; a boundary between the center of the field and the edge extending along an outer edge of the first section; The autonomous vehicle navigation system of claim 1 , wherein when the work vehicle is located in the center of the field, the work vehicle is permitted to back up and enter the third row of the second section.

19. the information detected by the at least one sensor includes an indication of whether an obstacle is detected in the third row; 2. The autonomous vehicle navigation system of claim 1, wherein if the obstacle is not detected in the third row, the work vehicle is permitted to back up and enter the third row.

20. 1. A method performed by a controller of autonomous vehicle navigation for a work vehicle capable of self-driving, comprising: receiving information about a position of the work vehicle or about an environment surrounding the work vehicle detected by at least one sensor; receiving input data input by a user on a terminal device; The work vehicle travels through a first section including a plurality of rows; the work vehicle exits the first section from a first row of the plurality of rows included in the first section; The work vehicle travels through a margin area provided between the first section and an adjacent area including a plurality of rows or a second section, the margin area being between the first section and the adjacent area or the second section, and the adjacent area or the second section being spaced apart from the first section; controlling the work vehicle to perform a turning maneuver process before the work vehicle enters a second row of the plurality of rows of the first section; a step of determining whether or not to enable (ON) a turning area expansion function based on whether or not at least one condition of a first condition group is satisfied based on the input data input by a user at the terminal device before the work vehicle starts traveling; and determining whether to allow the work vehicle to enter the adjacent area or a third row included in the multiple rows of the second section based on the fact that at least one or more conditions of a second group of conditions are satisfied based on the information detected by the at least one sensor when the work vehicle is performing the turning operation process.

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