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

Abstract

To provide a travel control method, a travel control system, and a travel control program that can improve operability when causing a work vehicle to automatically travel.SOLUTION: A travel processing unit 111 causes a work vehicle 10 to travel manually on the basis of an operator's manual travel operation. A route-generation processing unit 113 generates a target route, which is a route for the work vehicle 10 to travel automatically, when the operator's route-generation instruction operation to the operation unit 172 is accepted while the work vehicle 10 is traveling manually. A travel processing unit 111 causes the work vehicle 10 to travel automatically along the target route when the operator's automatic-travel start operation to the operation unit 172 is accepted after the route-generation instruction operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a travel control method, a travel control system, and a travel control program for operating a work vehicle.

Background Art

[0002] Conventionally, as a work vehicle capable of autonomous driving, there is known a work vehicle that performs autonomous driving only along a preset target route when going straight. For example, in Prior Art Document 1, there is disclosed a work vehicle provided with a correction means for correcting a target travel direction when a deviation occurs between the direction intended by the operator and the direction recognized by the work vehicle when traveling straight by autonomous driving.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When operating a work vehicle while switching between manual driving and autonomous driving, the operator performs an operation of switching, for example, from manual driving to autonomous driving. Here, for example, when the target route for autonomous driving is different from the route intended by the operator, the operator has to interrupt the travel and work of the work vehicle and generate a new target route or align the work vehicle. Thus, in the conventional technology, there arises a problem that the operability when driving the work vehicle in autonomous driving is low.

[0005] An object of the present invention is to provide a travel control method, a travel control system, and a travel control program capable of improving the operability when operating a work vehicle in autonomous driving.

Means for Solving the Problems

[0006] The driving control method according to the present invention generates a target route, which is a route when the work vehicle automatically travels, when a first operation of the operator on an operation unit is received in a manual driving mode in which the work vehicle is manually driven based on the manual driving operation of the operator, and switches to an automatic driving mode in which the work vehicle is automatically driven along the target route when a second operation of the operator on the operation unit is received after the first operation. The first operation and the second operation are operations of the operator on a single operation unit.

[0007] The driving control system according to the present invention includes a route generation processing unit and a driving processing unit. The route generation processing unit generates a target route, which is a route when the work vehicle automatically travels, when a first operation of the operator on an operation unit is received in a manual driving mode in which the work vehicle is manually driven based on the manual driving operation of the operator. The driving processing unit switches to an automatic driving mode in which the work vehicle is automatically driven along the target route when a second operation of the operator on the operation unit is received after the first operation. The first operation and the second operation are operations of the operator on a single operation unit.

[0008] The driving control program according to the present invention causes one or more processors to generate a target route, which is a route when the work vehicle automatically travels, when a first operation of the operator on an operation unit is received in a manual driving mode in which the work vehicle is manually driven based on the manual driving operation of the operator, and to switch to an automatic driving mode in which the work vehicle is automatically driven along the target route when a second operation of the operator on the operation unit is received after the first operation. The first operation and the second operation are operations of the operator on a single operation unit.

Effect of the Invention

[0009] According to the present invention, it is possible to provide a travel control method, a travel control system, and a travel control program that can improve the operability when automatically driving a work vehicle.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 7A

Figure 7B

Figure 7C

Figure 7D

Figure 8A

Figure 8B

Figure 9

Figure 10

Figure 11

[0011] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIGS. 1 and 2, the travel control system according to the embodiment of the present invention includes a work vehicle 10, a base station (not shown), and a satellite (not shown). In this embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine, a construction machine, a snowplow, or the like. The work vehicle 10 travels within a farm field F (see FIG. 4) from a work start position S to a work end position G according to an operator's operation and performs a predetermined work (for example, tilling work). Specifically, the work vehicle 10 automatically travels along a straight travel path R1, which is a target path, according to an automatic travel operation by the operator, and manually travels along a turning path R2 according to a manual travel operation (driving operation) by the operator. The work vehicle 10 travels within the farm field F and performs work while repeating the automatic travel along the straight travel path R1 and the manual travel along the turning path R2. Note that the target path is a path when the work vehicle 10 automatically travels and is a path generated in advance based on an operator's operation. In this embodiment, the straight travel path R1 corresponds to the target path.

[0013] In this embodiment, the case where the work vehicle 10 automatically travels when traveling straight is taken as an example, but the work vehicle 10 may automatically travel when turning. When the work vehicle 10 automatically travels when turning, the turning path R2 corresponds to the target path. That is, the work vehicle of the present invention is configured to switch between a function of automatically traveling along the target path and a function of manually traveling according to an operator's manual travel operation.

[0014] In the farm field F shown in FIG. 4, for example, the work vehicle 10 travels from the work start position S to the work end position G while sequentially repeating the straight travel path R1, the turning path R2, the straight travel path R1, the turning path R2,.... Each of the plurality of straight travel paths R1 is substantially parallel to each other. The travel path including the straight travel path R1 and the turning path R2 shown in FIG. 4 is an example, and the travel path is appropriately determined according to the size of the work vehicle 10, the size of the work implement 14, the work content, the shape of the farm field F, etc.

[0015] Note that the travel control system may include an operation terminal (such as a tablet terminal or a smartphone) operated by an operator. The operation terminal can communicate with the work vehicle 10 via a communication network such as a mobile phone line network, a packet line network, or a wireless LAN. For example, the operator performs an operation of registering various information (such as work vehicle information, farm field information, and work information) on the operation terminal. Also, the operator can grasp the travel status, work status, etc. of the work vehicle 10 based on the travel trajectory displayed on the operation terminal at a location away from the work vehicle 10.

[0016] [Work vehicle 10] As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work implement 14, a communication unit 15, a positioning device 16, an operation device 17, etc. The vehicle control device 11 is electrically connected to the storage unit 12, the travel device 13, the work implement 14, the positioning device 16, the operation device 17, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication. Also, the vehicle control device 11 and the operation device 17 may be capable of wireless communication.

[0017] The communication unit 15 is a communication interface for connecting the work vehicle 10 to a communication network by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device (such as an operation terminal) via the communication network.

[0018] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as a driving control program for causing the vehicle control device 11 to execute a driving control process (see FIG. 9) described later. For example, the driving control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Note that the driving control program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network and stored in the storage unit 12.

[0019] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. The front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. Further, the traveling device 13 is not limited to a wheel type including the front wheels 132 and the rear wheels 133, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0020] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven using fuel supplied from a fuel tank (not shown). The traveling device 13 may include an electric motor as a drive source together with the engine 131 or instead of the engine 131. A generator (not shown) is connected to the engine 131, and electric power is supplied from the generator to electrical components such as the vehicle control device 11 provided in the work vehicle 10 and a battery. The battery is charged by the electric power supplied from the generator. Then, electrical components such as the vehicle control device 11, the positioning device 16, and the operation device 17 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 stops.

[0021] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. Also, the driving force of the engine 131 is transmitted to the work implement 14 via a PTO shaft (not shown). The traveling device 13 performs a traveling operation according to the command of the vehicle control device 11.

[0022] The work implement 14 is, for example, a tiller, a seeder, a lawn mower, a plow, or a fertilizer applicator, etc., and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various operations using each of the work implements 14. FIG. 2 shows the case where the work implement 14 is a tiller.

[0023] The steering wheel 137 is an operation unit operated by an operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 by a hydraulic power steering mechanism (not shown) or the like according to the operation of the steering wheel 137 by the vehicle control device 11, and changes the traveling direction of the work vehicle 10.

[0024] Also, in addition to the steering wheel 137, the traveling device 13 includes a shift lever, an accelerator, a brake, etc. (not shown) operated by the vehicle control device 11. Then, the traveling device 13 switches the gears of the transmission 134 to forward gears or reverse gears, etc. according to the operation of the shift lever by the vehicle control device 11, and switches the traveling mode of the work vehicle 10 to forward or reverse, etc. Also, the traveling device 13 controls the rotational speed of the engine 131 according to the operation of the accelerator by the vehicle control device 11. Also, the traveling device 13 brakes the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake according to the brake operation by the vehicle control device 11.

[0025] The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided above the cabin 18 in which the operator rides. Further, the installation location of the positioning device 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be distributed and arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Further, as the positioning device 16, for example, a mobile phone terminal, a smartphone, or a tablet terminal may be substituted.

[0026] The positioning control unit 161 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like that stores a positioning control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the positioning control program may be downloaded from a server (not shown) to the positioning device 16 via a communication network and stored in the storage unit 162.

[0027] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wirelessly and performing data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network.

[0028] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellite.

[0029] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distances. Further, the positioning control unit 161 may perform positioning by a real-time kinematic method (RTK-GPS positioning method (RTK method)) of calculating the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. Thus, the work vehicle 10 performs automatic travel using the positioning information by the RTK method. Note that the current position of the work vehicle 10 may be the same position as the positioning position (for example, the position of the positioning antenna 164), or may be a position deviated from the positioning position.

[0030] The operation device 17 is a device operated by an operator boarding the work vehicle 10, and includes a display unit 171 that displays various information and an operation unit 172 that receives the operator's operations. For example, as shown in FIGS. 2 and 3, the operation device 17 is installed near the steering wheel 137 in the cabin 18. Note that the display unit 171 and the operation unit 172 may be installed at different positions. For example, the operation unit 172 may be installed on the steering wheel 137. Further, the display unit 171 and the operation unit 172 may be configured by an integrated touch panel. That is, the operation unit 172 may be configured by physical buttons whose shapes change according to the operator's operations, or may be configured by electronic button images displayed on the display unit 171. Further, the operation device 17 may be an operation terminal (tablet terminal, smartphone, etc.) that the operator can carry.

[0031] The operation unit 172 includes an automatic driving button B1 (see FIG. 3) that an operator presses when automatically driving the work vehicle 10. That is, the automatic driving button B1 functions as a switching button (automatic driving instruction button) for switching the traveling mode of the work vehicle 10 from manual driving (manual driving mode) to automatic driving (automatic driving mode). The automatic driving button B1 is an example of the operation unit and operation button of the present invention. The specific operation method of the automatic driving button B1 will be described later.

[0032] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12.

[0033] As shown in FIG. 1, the vehicle control device 11 includes various processing units such as a traveling processing unit 111, a reception processing unit 112, a route generation processing unit 113, a display processing unit 114, and a position adjustment processing unit 115. The traveling processing unit 111 is an example of the first traveling processing unit and the second traveling processing unit of the present invention. The route generation processing unit 113 is an example of the route generation processing unit of the present invention. The vehicle control device 11 functions as the various processing units by causing the CPU to execute various processes according to the traveling control program. Also, some or all of the processing units may be configured by electronic circuits. The traveling control program may be a program for causing a plurality of processors to function as the processing units.

[0034] The traveling processing unit 111 controls the traveling of the work vehicle 10. Specifically, when the traveling mode of the work vehicle 10 is manual traveling, the traveling processing unit 111 manually travels the work vehicle 10 based on the operator's operation (manual traveling operation). For example, when the traveling processing unit 111 acquires operation information corresponding to a manual traveling operation (driving operation) such as a steering operation, a shift operation, an accelerator operation, or a brake operation by the operator, the traveling processing unit 111 causes the traveling device 13 to execute a traveling action based on the operation information.

[0035] Further, when the traveling mode of the work vehicle 10 is automatic traveling, the traveling processing unit 111 automatically travels the work vehicle 10 based on position information (positioning information) indicating the current position of the work vehicle 10 positioned by the positioning control unit 161. For example, when the work vehicle 10 satisfies the automatic traveling start condition and the traveling processing unit 111 acquires an automatic traveling start instruction from the operator, the traveling processing unit 111 starts the automatic traveling of the work vehicle 10 based on the positioning information. Further, the traveling processing unit 111 automatically travels the work vehicle 10 according to a pre-generated target route.

[0036] Here, a specific example of the automatic driving according to the present embodiment will be described with reference to FIGS. 5 and 6. In the present embodiment, in the farm field F shown in FIG. 4, the work vehicle 10 is automatically driven along the straight path R1 among the driving paths. First, the operator sets a reference line L1 for generating the straight path R1 which is the target path. For example, the operator manually drives the work vehicle 10 in the direction (target direction) in which the work vehicle 10 is desired to travel and work at an arbitrary position (for example, the outer peripheral end) within the farm field F. Specifically, the operator manually drives the work vehicle 10 in a direction parallel to the work direction (for example, the tilling direction) when the work vehicle 10 is working in the work area. Then, when the work vehicle 10 is manually driven in the intended target direction, the operator operates (selects) the operation unit 172 twice at an arbitrary position. The vehicle control device 11 registers the operation position (point A) by the operator's first selection operation, and registers the operation position (point B) by the operator's second selection operation. When the vehicle control device 11 acquires the position information of points A and B, it sets a straight line passing through points A and B as the reference line L1 (see FIG. 5). The vehicle control device 11 registers the reference line L1 in the storage unit 12. The registration process of the reference line L1 is executed in advance before the work vehicle 10 starts working. After the reference line L1 is registered, the work vehicle 10 starts working in the farm field F.

[0037] For example, when the operator drives the work vehicle 10 straight in the farm field F, the operator operates the operation unit 172 to switch the driving mode from manual driving to automatic driving. When the driving mode is switched to automatic driving, the vehicle control device 11 (path generation processing unit 113) generates a target path (straight path R1) parallel to the reference line L1 based on the current position P1 of the work vehicle 10 (see FIG. 6). For example, the path generation processing unit 113 generates, as the target path, a path (straight path R1) that connects the automatic driving start position Sa corresponding to point A on a straight line passing through the current position P1 and parallel to the reference line L1 and the automatic driving end position Gb corresponding to point B.

[0038] When the work vehicle 10 satisfies the automatic driving start condition and acquires an automatic driving start instruction from the operator, the driving processing unit 111 starts the automatic driving of the work vehicle 10 along the straight travel route R1. Note that the automatic driving start condition includes that the current position P1 of the work vehicle 10 and the automatic driving start position Sa substantially coincide (including complete coincidence), and the orientation of the work vehicle 10 is within a predetermined orientation. Thus, the work vehicle 10 automatically travels along the straight travel route R1 (see FIG. 6) from the automatic driving start position Sa to the automatic driving end position Gb.

[0039] Further, when the work vehicle 10 reaches the automatic driving end position Gb, the driving processing unit 111 switches the driving mode to manual driving. When the driving mode is switched to manual driving, for example, the operator manually drives the work vehicle 10 by a manual driving operation on the turning route R2 (see FIG. 4).

[0040] As described above, the driving processing unit 111 switches the driving mode according to the operation of the operator, and makes the work vehicle 10 automatically travel along the straight travel route R1 and manually travel along the turning route R2.

[0041] Here, the reception processing unit 112 receives a driving mode switching operation by the operator. Specifically, the reception processing unit 112 receives an operation to switch the driving mode from manual driving to automatic driving via the operation of the operation unit 172 (automatic driving button B1) by the operator.

[0042] Next, a specific operation method of the automatic driving button B1 will be described with reference to FIGS. 7A to 7D. FIGS. 7A to 7D show an example of the specific configuration of the operation device 17 and the display screen. As shown in FIG. 7A, the display processing unit 114 causes the display unit 171 to display information indicating whether automatic driving is possible. For example, when the work vehicle 10 satisfies the automatic driving start condition, the display processing unit 114 causes the display unit 171 to display a message indicating that automatic driving is possible (see FIG. 7A).

[0043] When the work vehicle 10 satisfies the automatic driving start condition, the reception processing unit 112 enables the reception of the automatic driving button B1. For example, as shown in FIG. 7B, when the operator presses (selects) the automatic driving button B1 (AUTO button) with a finger, the reception processing unit 112 receives the operation (selection operation). The operation (selection operation) of pressing the automatic driving button B1 is an example of the first operation of the present invention.

[0044] When the reception processing unit 112 receives the selection operation of the automatic driving button B1, the route generation processing unit 113 generates, as a target route, a route passing through the current position P1 of the work vehicle 10 at the time when the selection operation is received and parallel to a preset reference line L1 (the straight - ahead route R1 in FIG. 6). That is, the operation of the operator pressing the automatic driving button B1 corresponds to a route generation instruction operation (an example of the first operation of the present invention). When the operator presses the automatic driving button B1, the reception processing unit 112 receives the route generation instruction. Further, the display processing unit 114 causes the display unit 171 to display the target route generated by the route generation processing unit 113 (see FIG. 7B). Note that the display processing unit 114 may display the reference line L1 together with the target route on the display screen shown in FIG. 7B.

[0045] Specifically, the position adjustment processing unit 115 sets the control center position (current position P1) of the work vehicle 10 at a position shifted by a preset set distance from the positioning position P0 which is the position of the positioning control unit 161 or the positioning antenna 164. The operator can set the control center position (current position P1) at an arbitrary position by setting the set distance. For example, the current position P1 is set on the front side of the work vehicle 10 from the positioning position P0. Also, the current position P1 may be set on the rear side of the work vehicle 10 (for example, the position of the working machine 14) from the positioning position P0, or may be set at a position shifted in the left - right direction from the center position in the left - right direction. Further, the current position P1 may be set on the front side in the traveling direction from the vehicle body of the work vehicle 10. Also, the current position P1 may be the same position as the positioning position P0.

[0046] The path generation processing unit 113 generates a target path based on the current position P1 (control center position) of the work vehicle 10 set by the position adjustment processing unit 115. As shown in FIGS. 8A and 8B, the target path is generated based on a position shifted from the positioning position P0 of the work vehicle 10 by a preset set distance. For example, as shown in FIG. 8A, the path generation processing unit 113 generates a target path based on the current position P1 set on the front side of the work vehicle 10 from the positioning position P0. Further, for example, as shown in FIG. 8B, the path generation processing unit 113 generates a target path based on the current position P1 set on the rear side of the work vehicle 10 (for example, the position of the work implement 14) from the positioning position P0.

[0047] By generating the target path of the work vehicle 10 based on a position (current position P1) shifted from the positioning position P0 to an arbitrary position, the operator can automatically drive the work vehicle 10 with reference to an arbitrary position. For example, by generating the target path of the work vehicle 10 based on the current position P1 shifted forward from the positioning position P0 (see FIG. 8A), the operator can automatically drive the work vehicle 10 with reference to, for example, the position of the bonnet in front of the work vehicle 10. Further, by generating the target path of the work vehicle 10 based on the current position P1 shifted rearward from the positioning position P0 (see FIG. 8B), the operator can automatically drive the work vehicle 10 with reference to, for example, the position of the work implement 14.

[0048] In addition, in order to prevent malfunction due to chattering of the automatic driving button B1, the reception processing unit 112 may receive the operation (path generation instruction operation) when a certain time (for example, 0.2 seconds) has elapsed while the automatic driving button B1 is pressed.

[0049] After the operator presses the automatic driving button B1 with a finger, and then the operator releases the finger from the automatic driving button B1 before a predetermined time (for example, 3 seconds) elapses after pressing the automatic driving button B1 with a finger (see FIG. 7C), the reception processing unit 112 receives the operation (release operation). The operation of releasing the automatic driving button B1 before the predetermined time elapses after pressing the automatic driving button B1 (release operation) is an example of the second operation of the present invention.

[0050] When the reception processing unit 112 receives the release operation of the automatic driving button B1, the travel processing unit 111 starts the automatic travel of the work vehicle 10 according to the target route (straight travel route R1) (see FIG. 7C). That is, the operation of the operator releasing the automatic driving button B1 before the predetermined time elapses corresponds to an automatic driving start operation (or a travel mode switching operation) (an example of the second operation of the present invention). When the operator releases the automatic driving button B1 before the predetermined time elapses, the reception processing unit 112 receives an automatic driving start instruction, and the travel processing unit 111 switches the travel mode from manual travel to automatic travel and starts the automatic travel according to the target route. Further, the display processing unit 114 causes the display unit 171 to display a message indicating the start of automatic travel and the traveling direction of the work vehicle 10 (see FIG. 7C). In this way, when the vehicle control device 11 receives the automatic driving start operation after the route generation instruction operation, the vehicle control device 11 switches the work vehicle 10 from manual travel to automatic travel. Further, when the vehicle control device 11 receives the automatic driving start operation before a predetermined time elapses after receiving the route generation instruction operation, the vehicle control device 11 switches the work vehicle 10 from manual travel to automatic travel.

[0051] Here, when a predetermined time (for example, 3 seconds) has elapsed with the operator pressing the automatic driving button B1 with a finger (see FIG. 7D), that is, when the operator does not release the finger from the automatic driving button B1 until the predetermined time has elapsed after pressing the automatic driving button B1 with a finger, the reception processing unit 112 receives the operation (pressing and holding operation). When the reception processing unit 112 receives the pressing and holding operation of the automatic driving button B1, the route generation processing unit 113 discards the generated target route (straight - ahead route R1) (see FIG. 7D). That is, the operation of the operator maintaining the state of pressing the automatic driving button B1 until the predetermined time elapses corresponds to a cancel operation for canceling the generated target route. When the operator maintains the pressing state of the automatic driving button B1 until the predetermined time elapses, the reception processing unit 112 receives an instruction to cancel the target route, and the route generation processing unit 113 discards (cancels) the generated target route. Further, the display processing unit 114 causes the display unit 171 to display a message indicating that the generated target route has been discarded (see FIG. 7D). In this case, the traveling processing unit 111 maintains the manual driving of the work vehicle 10. Thus, when the vehicle control device 11 does not receive the automatic driving start operation until the predetermined time has elapsed after receiving the route generation instruction operation, the vehicle control device 11 maintains the manual driving of the work vehicle 10. Also, when the vehicle control device 11 does not receive the automatic driving start operation until the predetermined time has elapsed after receiving the route generation instruction operation, the vehicle control device 11 discards the generated target route.

[0052] Through the above operations, for example, when the operator wants to make the work vehicle 10 perform automatic driving, the operator can generate and confirm a target route by performing an operation of pressing the automatic driving button B1 (route generation instruction operation). Then, when the generated target route is the intended route, the operator can start the automatic driving of the work vehicle 10 following the target route by performing an operation of releasing the automatic driving button B1 before the predetermined time has elapsed (automatic driving start operation).

[0053] In addition, when the generated target route is not the intended route, the operator can discard the target route by continuously pressing the automatic driving button B1 for a predetermined time (cancel operation), change the position of the work vehicle 10, and then press the automatic driving button B1 again (route generation instruction operation) to regenerate the target route. Therefore, the operator can surely generate the intended target route and make the work vehicle 10 automatically drive according to the intended target route.

[0054] Note that the display processing unit 114 may display information such as the target route and the driving locus on the display unit 171 while the work vehicle 10 is driving (manual driving or automatic driving).

[0055] [Travel Control Processing] Hereinafter, with reference to FIG. 9, an example of the travel control processing executed by the vehicle control device 11 will be described. Note that the present invention may be regarded as an invention of a travel control method in which the vehicle control device 11 executes part or all of the travel control processing, or an invention of a travel control program for causing the vehicle control device 11 to execute part or all of the travel control method. Further, one or a plurality of processors may execute the travel control processing.

[0056] First, in step S1, the vehicle control device 11 starts the engine 131 of the work vehicle 10 in response to an engine start operation by the operator. When the engine 131 starts, the positioning control unit 161 executes an azimuth recognition process (initialization).

[0057] Next, in step S2, the vehicle control device 11 determines whether it has received a manual driving operation (driving operation) by the operator. For example, the operator performs a steering operation, a shift operation, an accelerator operation, a brake operation, etc. to move the work vehicle 10 to the work start position S. When the vehicle control device 11 receives the manual driving operation (S2: Yes), the process proceeds to step S3.

[0058] In step S3, the vehicle control device 11 causes the work vehicle 10 to travel manually based on the manual driving operation by the operator. Specifically, when the vehicle control device 11 acquires the operation information of the manual driving operation by the operator, it causes the traveling device 13 to execute a traveling operation.

[0059] Next, in step S4, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can travel automatically. For example, when the vehicle control device 11 satisfies the automatic driving start conditions such as the current position P1 of the work vehicle 10 and the automatic driving start position Sa (see FIG. 6) being substantially coincident and the orientation of the work vehicle 10 being within a predetermined orientation, it determines that the work vehicle 10 is in a state where it can travel automatically. If the work vehicle 10 is in a state where it can travel automatically (S4: Yes), the process proceeds to step S5. On the other hand, if the work vehicle 10 is not in a state where it can travel automatically (S4: No), the process proceeds to step S12. While the work vehicle 10 is not in a state where it can travel automatically, the vehicle control device 11 repeats the manual driving according to the operator's manual driving operation until the work is completed (S12: No).

[0060] Also, when the work vehicle 10 is in a state where it can travel automatically (S4: Yes), the vehicle control device 11 causes the display unit 171 to display a message indicating that automatic driving is possible (see FIG. 7A). Thereby, the operator can recognize that the work vehicle 10 can travel automatically.

[0061] In step S5, the vehicle control device 11 determines whether the automatic driving button B1 has been pressed. For example, when the operator determines that they want the work vehicle 10 to travel automatically, they press the automatic driving button B1 included in the operation unit 172 of the operation device 17 with a finger (see FIG. 7B). If the automatic driving button B1 has been pressed (S5: Yes), the process proceeds to step S6. On the other hand, if the automatic driving button B1 has not been pressed (S5: No), the process proceeds to step S12.

[0062] In step S6, the vehicle control device 11 generates a target route that is the route for the work vehicle 10 to automatically travel. Specifically, when the automatic travel button B1 is pressed, the vehicle control device 11 receives a route generation instruction, and generates, as the target route, a route (the straight travel route R1 in FIG. 6) that passes through the current position P1 of the work vehicle 10 at the time when the automatic travel button B1 is pressed and is parallel to a preset reference line L1. Note that the vehicle control device 11 may set the current position P1 (control center position) at the positioning position P0 which is the position of the positioning control unit 161 or the positioning antenna 164, or may set the current position P1 at a position shifted by a predetermined distance in any one of the front-rear, left-right directions from the positioning position P0.

[0063] Next, in step S7, the vehicle control device 11 causes the display unit 171 to display the generated target route (see FIG. 7B). Thereby, the operator can grasp the route along which the work vehicle 10 can automatically travel. Then, the operator can easily determine whether the generated target route is the route intended by himself / herself.

[0064] Next, in steps S8 and S9, the vehicle control device 11 determines whether the automatic travel button B1 has been released (canceled) before a predetermined time (for example, 3 seconds) has elapsed since the automatic travel button B1 was pressed. Specifically, if the operator releases the finger from the automatic travel button B1 before 3 seconds have elapsed since pressing the automatic travel button B1 with a finger (S8: No and S9: Yes), the process proceeds to step S10 (see FIG. 7C). On the other hand, if 3 seconds have elapsed while the operator is pressing the automatic travel button B1 with a finger (S8: Yes), the process proceeds to step S81 (see FIG. 7D).

[0065] For example, when the operator determines that the generated target route is the route intended by himself / herself, the operator releases the finger from the automatic travel button B1 within less than 3 seconds after pressing the automatic travel button B1 (see FIG. 7C). On the other hand, when the operator determines that the generated target route is not the route intended by himself / herself, the operator maintains the pressed state of the automatic travel button B1 until 3 seconds have elapsed (see FIG. 7D).

[0066] In step S81, the vehicle control device 11 discards the generated target route (see FIG. 7D). Specifically, when 3 seconds have elapsed since the operator pressed the automatic driving button B1 with a finger, the vehicle control device 11 receives a cancel instruction for the target route and discards (cancels) the generated target route. Further, the vehicle control device 11 causes the display unit 171 to display a message indicating that the generated target route has been discarded (see FIG. 7D). After step S81, the process proceeds to step S12. In this case, for example, the vehicle control device 11 continues manual driving and regenerates the target route based on a new route generation instruction from the operator.

[0067] In step S10, the vehicle control device 11 automatically drives the work vehicle 10 according to the generated target route. Specifically, when the operator releases the finger from the automatic driving button B1 before 3 seconds have elapsed since pressing the automatic driving button B1 with a finger, the vehicle control device 11 receives an automatic driving start instruction, switches the driving mode from manual driving to automatic driving, and starts automatic driving. For example, the vehicle control device 11 automatically drives the work vehicle 10 along a straight path R1 (see FIG. 6) from the automatic driving start position Sa to the automatic driving end position Gb. Further, the vehicle control device 11 causes the display unit 171 to display a message indicating that automatic driving has started (see FIG. 7C). Thereby, the operator can recognize that the work vehicle 10 has started automatic driving. After step S10, the process proceeds to step S11.

[0068] In step S11, the vehicle control device 11 determines whether the work vehicle 10 has completed automatic driving on the target route. For example, when the work vehicle 10 reaches the automatic driving end position Gb (see FIG. 4) of the straight path R1, the vehicle control device 11 determines that the work vehicle 10 has completed automatic driving on the target route. When the work vehicle 10 has completed automatic driving on the target route (S11: Yes), the process proceeds to step S12. On the other hand, when the work vehicle 10 has not completed automatic driving on the target route (S11: No), the process proceeds to step S111.

[0069] While the work vehicle 10 is automatically traveling along the target route and finishes the work in the field F (S111: Yes), the vehicle control device 11 ends the said travel control process.

[0070] Also, in step S12, the vehicle control device 11 determines whether the work vehicle 10 has finished the work. When the work vehicle 10 has finished the work (S12: Yes), the vehicle control device 11 ends the said travel control process. On the other hand, when the work vehicle 10 has not finished the work (S12: No), the process returns to step S3, and the vehicle control device 11 repeats the above-mentioned process.

[0071] In the above manner, the vehicle control device 11 executes the said travel control process for the work vehicle 10.

[0072] As described above, the work vehicle 10 according to the present embodiment manually travels the work vehicle 10 based on the manual travel operation of the operator. When the work vehicle 10 receives the first operation (route generation instruction operation) of the operator on the operation unit 172 during manual travel, it generates a target route which is the route when the work vehicle 10 automatically travels. When it receives the second operation (automatic travel start operation) of the operator on the operation unit 172 after the said first operation, it automatically travels the work vehicle 10 according to the target route.

[0073] According to the above configuration, when the operator performs the first operation, a target route for automatic travel is generated. Therefore, the operator can generate the intended target route. Also, when the operator performs the second operation following the first operation, the work vehicle 10 can be automatically traveled according to the said target route. In this way, the operator can confirm the target route before starting the automatic travel of the work vehicle 10 and can start the automatic travel after confirming the target route by means of a simple operation on the operation unit 172. Therefore, it becomes possible to improve the operability when automatically traveling the work vehicle 10.

[0074] Here, in the case of a configuration where a target route is generated by a single operation of the operator to start the automatic driving, there is a risk that the work vehicle 10 may start automatic driving according to a target route unintended by the operator. In this regard, in the present embodiment, since the operation for generating the target route (first operation) and the operation for starting the automatic driving (second operation) are separated and a two-step operation is required, the above problem can be prevented.

[0075] [Other Embodiments] The present invention is not limited to the above-described embodiments, and may be the following embodiments. For example, the route generation processing unit 113 may preset a target route for automatic driving. FIG. 10 shows straight paths Ra to Rd of the preset target route. For example, the straight paths Ra to Rd are generated based on setting information such as the reference line L1, the respective widths of the work vehicle 10 and the working machine 14, and the working width. The route generation processing unit 113 generates, as the target route for automatic driving, the straight path Rc that is closest to the current position P1 of the work vehicle 10 at the time when the automatic driving button B1 is pressed by the operator among the straight paths Ra to Rd. In this case, the work vehicle 10 automatically drives from the current position P1 toward the straight path Rc, and when it enters the straight path Rc, it automatically drives on the straight path Rc. Further, after the work vehicle 10 automatically drives on the straight path Rc, the route generation processing unit 113 generates the straight path Rd as the next target route.

[0076] As another embodiment, as shown in FIG. 11, the route generation processing unit 113 may move the entire straight paths Ra to Rd so as to overlap the current position P1 of the work vehicle 10 at the time when the automatic driving button B1 is pressed, and generate it as the target route for automatic driving. In this case, as shown in FIG. 11, the route generation processing unit 113 moves the entire straight paths Ra to Rd in the direction in which the amount of movement is the smallest (the left direction in FIG. 11) to generate the straight path Rc that overlaps the current position P1 as the target route. In this case, the work vehicle 10 automatically drives on the straight path Rc from the current position P1.

[0077] In the above-described embodiment, an operation in which an operator presses a single operation unit 172 (automatic driving button B1) is received as a first operation (route generation instruction operation), and an operation in which the operator releases (opens) the pressed automatic driving button B1 within a predetermined time is received as a second operation (automatic driving start operation). That is, the first operation and the second operation have different operation contents from each other.

[0078] As another embodiment of the present invention, the first operation and the second operation may have the same operation content as each other. For example, a first operation (route generation instruction operation) in which an operator presses and releases the automatic driving button B1 for the first time is received, and then a second operation (automatic driving start operation) in which the operator presses and releases the automatic driving button B1 within a predetermined time is received.

[0079] Also, in the above-described embodiment, the operation unit that receives the first operation (route generation instruction operation) and the second operation (automatic driving start operation) is composed of a single operation unit 172 (automatic driving button B1), but the present invention is not limited to this. As another embodiment, the operation device 17 may be configured to separately include a first operation button that receives the route generation instruction operation and a second operation button that receives the automatic driving start operation. In this case, when the operator presses the first operation button while the work vehicle 10 is manually traveling, the route generation processing unit 113 generates a target route for automatic driving, and then, when the operator presses the second operation button before a predetermined time has elapsed, the traveling processing unit 111 switches from manual driving to automatic driving and causes the work vehicle 10 to automatically travel along the target route.

[0080] Also, the form of the operation unit 172 is not limited to an operation tool of the type that is pushed in with a finger, and may be an operation tool of the type that is pulled with a finger, an operation tool of the type that slides in the horizontal direction, or the like.

[0081] The travel control system of the present invention is configured to include at least a travel processing unit 111 and a route generation processing unit 113 included in the vehicle control device 11. The travel control system may be mounted on the work vehicle 10, or may be mounted outside the work vehicle 10, for example, on an operation terminal (such as a tablet terminal or a smartphone).

[0082] The travel control method according to the present invention includes manually driving a work vehicle based on an operator's manual driving operation, generating a target route, which is a route for the work vehicle to automatically travel, when a first operation of the operator on an operation unit is received while the work vehicle is manually traveling, and automatically driving the work vehicle along the target route when a second operation of the operator on the operation unit is received after the first operation.

[0083] The travel control system according to the present invention includes a first travel processing unit, a route generation processing unit, and a second travel processing unit. The first travel processing unit manually drives a work vehicle based on an operator's manual driving operation. The route generation processing unit generates a target route, which is a route for the work vehicle to automatically travel, when a first operation of the operator on an operation unit is received while the work vehicle is manually traveling. The second travel processing unit automatically drives the work vehicle along the target route when a second operation of the operator on the operation unit is received after the first operation.

[0084] The travel control program according to the present invention is a program for causing one or more processors to manually drive a work vehicle based on an operator's manual driving operation, generate a target route, which is a route for the work vehicle to automatically travel, when a first operation of the operator on an operation unit is received while the work vehicle is manually traveling, and automatically drive the work vehicle along the target route when a second operation of the operator on the operation unit is received after the first operation.

Explanation of Reference Numerals

[0085] 10: Work vehicle 11: Vehicle control device 12: Memory unit 13: Travel device 14: Working machine 15: Communication unit 16: Positioning device 17: Operating device 111: Travel processing unit (first travel processing unit, second travel processing unit) 112: Reception processing unit 113: Route generation processing unit 114: Display processing unit 171: Display unit 172: Operation unit B1: Automatic travel button (operation button) F: Field L1: Reference line P0: Positioning position P1: Current position R1: Straight travel route (target route)

Claims

1. When receiving a first operation of the operator on an operation unit in a manual driving mode for manually driving a work vehicle based on the operator's manual driving operation, generating a target path that is a path when the work vehicle automatically travels; When receiving a second operation of the operator on the operation unit after the first operation, switching to an automatic driving mode for automatically driving the work vehicle along the target path; A travel control method for executing: The first operation and the second operation are operations of the operator on a single operation unit. A travel control method.

2. When the second operation is not received within a predetermined time after receiving the first operation, discarding the generated target path. The travel control method according to Claim 1.

3. When discarding the generated target path, notifying that the target path is discarded. The travel control method according to Claim 2.

4. When shifting to the automatic driving mode, starting the automatic driving of the work vehicle. The travel control method according to Claim 3.

5. When the second operation is received before a predetermined time has elapsed after receiving the first operation, switching from the manual driving mode to the automatic driving mode. The travel control method according to any one of Claims 1 to 4.

6. A path generation processing unit that generates a target path that is a path when the work vehicle automatically travels when receiving a first operation of the operator on an operation unit in a manual driving mode for manually driving a work vehicle based on the operator's manual driving operation; A travel processing unit that switches to an automatic driving mode for automatically driving the work vehicle along the target path when receiving a second operation of the operator on the operation unit after the first operation; Comprising: The first operation and the second operation are operations of the operator on a single operation unit. A travel control system.

7. When receiving a first operation of the operator on an operation unit in a manual driving mode for manually driving a work vehicle based on the operator's manual driving operation, generating a target path that is a path when the work vehicle automatically travels; When receiving a second operation of the operator on the operation unit after the first operation, switching to an automatic driving mode for automatically driving the work vehicle along the target path; A travel control program for causing one or more processors to execute, wherein the first operation and the second operation are operations of the operator on the single operation unit, the travel control program.

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