Control method, control program, and control system

Abstract

To provide a control method, a control program, and a control system capable of preventing deterioration in work efficiency when a work vehicle detects an obstacle in automated travelling.SOLUTION: An automated travelling system 1 executes different handling processes depending on whether a detection object detected by an obstacle sensor 54 while a work vehicle 10 is travelling autonomously in a farm field is positioned inside the farm field or outside the farm field.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control method for an autonomously driven work vehicle when an obstacle is detected. [Background technology]

[0002] Conventionally, there is known a technology for automatically driving a work vehicle along a predetermined target route in a work area. There is also known a technology for measuring the distance to an object in the work vehicle's traveling direction to determine whether or not there is an obstacle, and for performing collision avoidance control to avoid a collision with the work vehicle if the obstacle is within a predetermined detection range (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-65115 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, even when an object outside the field is detected, the object is judged to be an obstacle and collision avoidance control is performed. In this way, if an object (detection target) that is unlikely to collide with an autonomously traveling work vehicle is judged to be an obstacle and collision avoidance control is performed, a problem arises in that the work efficiency of the autonomously traveling work vehicle decreases.

[0005] An object of the present invention is to provide a control method, a control program, and a control system that can prevent a decrease in work efficiency when a work vehicle detects a detection target while autonomously traveling. [Means for solving the problem]

[0006] The control method of the present invention executes different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically driving in a work area is located within the work area or outside the work area.

[0007] In addition, the control method of the present invention executes different countermeasures when a detection target detected by a detection unit while a work vehicle is automatically driving in a work area is located within the work area, depending on whether the detection target is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

[0008] In addition, the control program of the present invention is a control program that causes one or more processors to execute different response processes depending on whether a detection target detected by a detection unit while a work vehicle is automatically driving in a work area is located within the work area or outside the work area.

[0009] In addition, the control system of the present invention executes different countermeasures depending on whether the target detected by the detection unit while the work vehicle is automatically driving in the work area is located within the work area or outside the work area. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control method, a control program, and a control system that can prevent a decrease in work efficiency when a work vehicle detects an obstacle while autonomously traveling. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of the measurement range of the obstacle sensor according to the embodiment of the present invention. [Figure 4]FIG. 4 is a diagram showing an example of detection of a detection target in a work vehicle according to an embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7C] FIG. 7C is a diagram showing an example of an information display screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a selection screen and an information display screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of detection information displayed on the selection screen of the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of detection information displayed on the camera screen of the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of detection information displayed on the operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of detection information displayed on the selection screen of the operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing an example of the procedure of the obstacle detection process executed by the automatic driving system according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of the detection information displayed on the information display screen of the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0013] As shown in FIG. 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. There may be one or more work vehicles 10. In this embodiment, an example will be described in which the automated driving system 1 includes multiple work vehicles 10 (two work vehicles 10a, 10b in FIG. 1). In the following, when there is no need to distinguish between work vehicle 10a and work vehicle 10b, they will be referred to as "work vehicle 10."

[0014] The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0015] In this embodiment, the work vehicle 10 will be described as a tractor. In other embodiments, the work vehicle 10 may be a combine harvester, rice transplanter, spreader, construction machinery, snowplow, or the like. The work vehicle 10a and the work vehicle 10b may be different types of vehicles, or may be the same type of vehicle. The work vehicle 10 is configured to be able to automatically travel (autonomously travel) within a field (work area) according to a predetermined target route. The work vehicle 10 is also capable of performing predetermined work while automatically traveling within the field. Furthermore, the work vehicle 10 is configured to be able to automatically travel along roads (connecting roads) connecting multiple fields according to a predetermined inter-field route.

[0016] The work vehicle 10 can automatically travel along preset target routes and routes between fields within and outside the fields (including roads, etc.) based on position information of the current position of the work vehicle 10 calculated by the positioning unit 17. The work vehicle 10 may also automatically travel with a worker on board.

[0017] For example, when a target route including a work route and a start and end position for travel are set for a farm field, the work vehicle 10 performs predetermined work while automatically traveling along the target route within the farm field from the start position to the end position.

[0018] Furthermore, when work in one field is completed, the work vehicle 10 can move to another field to continue work. For example, when work in a first field is completed, the work vehicle 10 automatically travels along a predetermined inter-field route on a road to move to a second field. When the work vehicle 10 arrives at the second field, it performs predetermined work in the second field while automatically traveling along a predetermined target route.

[0019] The target route within the field is set appropriately depending on the work content. In addition, the road route between the fields is set in advance according to the operation by the operator (teaching operation). The route between the fields may be a road exclusively for work vehicles, such as a farm road, forest road, public road, private road, or highway, or may be a road that is passable by general vehicles (such as passenger cars).

[0020] The operation terminal 20 is an information processing device that displays various information related to the work vehicle 10. For example, the operation terminal 20 displays the current location information, driving status, work status, etc. for a pre-registered work vehicle 10. A user (operator, monitor) of the operation terminal 20 can remotely monitor the work vehicle 10 by checking the information.

[0021] [Work vehicle 10] 1 and 2, the work vehicle 10 is equipped with a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, an obstacle detection device 15, a communication unit 16, a positioning unit 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the obstacle detection device 15, and the positioning unit 17, etc. Note that the vehicle control device 11 and the obstacle detection device 15 may be capable of wireless communication, and the vehicle control device 11 and the positioning unit 17 may be capable of wireless communication.

[0022] The communication unit 16 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and performs data communication with external devices (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores data such as a target route.

[0024] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0025] The engine 131 is a drive source such as a diesel engine or a gasoline engine that runs on fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to the vehicle control device 11, obstacle detection device 15, positioning unit 17, and other electrical components provided on the work vehicle 10, as well as to the battery. The battery is charged with power supplied from the generator. The vehicle control device 11, obstacle detection device 15, positioning unit 17, and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0026] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11. The traveling device 13 also decelerates or stops the work vehicle 10 in accordance with commands from the vehicle control device 11.

[0027] The work implement 14 is, for example, a cultivator, a brush cutter, a plow, a fertilizer applicator, a sprayer (chemical applicator), a tiller, or a seed sower, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the work implements 14. Figure 2 shows a case where the work implement 14 is a cultivator.

[0028] The handle 137 is an operating unit that is operated by the worker or the vehicle control device 11. For example, in the traveling device 13, in response to operation of the handle 137 by the vehicle control device 11, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like, and the traveling direction of the work vehicle 10 is changed.

[0029] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0030] The positioning unit 17 is a communication device including a positioning control unit 171, a memory unit 172, a communication unit 173, and a positioning antenna 174. For example, as shown in FIG. 2 , the positioning unit 17 is provided on top of the cabin 138 in which the worker rides. The installation location of the positioning unit 17 is not limited to the cabin 138. The positioning control unit 171, the memory unit 172, the communication unit 173, and the positioning antenna 174 of the positioning unit 17 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning unit 17, and the positioning unit 17 can operate even when the engine 131 is stopped. The positioning unit 17 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0031] The positioning control unit 171 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 172 is a nonvolatile memory or the like that stores data such as a program for causing the positioning control unit 171 to execute positioning processing, positioning information, and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 172. Note that the program may be downloaded to the positioning unit 17 from a server (not shown) via the communication network N1 and stored in the storage unit 172.

[0032] The communication unit 173 is a communication interface that connects the positioning unit 17 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as a base station server via the communication network N1.

[0033] The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 174. For example, when the work vehicle 10 is autonomously traveling within a field, the positioning antenna 174 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 171 calculates the distance between the positioning antenna 174 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 171 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the determined position (for example, the position of the positioning antenna 174), or may be displaced from the determined position. The positioning control unit 171 may calculate (measure) the current position of the work vehicle 10 using a quantum compass.

[0035] When the obstacle detection device 15 detects a detection target (obstacle) while the work vehicle 10 is autonomously traveling, it outputs measurement information to the vehicle control device 11. Specifically, the obstacle detection device 15 includes a detection control unit 51, a memory unit 52, a camera 53, an obstacle sensor 54, and a communication unit 55. The obstacle detection device 15 may be configured as a single unit and mounted on the work vehicle 10, or multiple components may be distributed throughout the work vehicle 10.

[0036] The communication unit 55 is a communication interface that connects the obstacle detection device 15 to the communication network N1 via a wired or wireless connection and performs data communication with an external device (such as the operation terminal 20) via the communication network N1 in accordance with a predetermined communication protocol.

[0037] The storage unit 52 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 52 stores control programs such as an obstacle detection program for causing the obstacle detection device 15 to execute an obstacle detection process (see FIG. 13). For example, the obstacle detection program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 52. Note that the obstacle detection program may be downloaded to the obstacle detection device 15 from a server (not shown) via the communication network N1 and stored in the storage unit 52.

[0038] Camera 53 is a digital camera that captures images of a subject included in a predetermined imaging range and outputs the images as digital image data. Camera 53 continuously captures images of the subject at a predetermined frame rate, generates frame images (captured images) of a predetermined resolution, and sequentially transmits the frame images to detection control unit 51. Camera 53 also transmits image data of the captured images to operation terminal 20 via communication unit 55. Operation terminal 20 can display the captured images on the operation screen of operation display unit 23 (see FIG. 7A, etc.).

[0039] The camera 53 includes a front camera 53a capable of capturing an image range in front of the work vehicle 10, a rear camera 53b capable of capturing an image range in rear of the work vehicle 10, a left camera 53c capable of capturing an image range on the left side of the work vehicle 10, and a right camera (not shown) capable of capturing an image range on the right side of the work vehicle 10. As shown in FIG. 2, the front camera 53a is disposed on the upper front side of the cabin 138, the rear camera 53b is disposed on the upper rear side of the cabin 138, the left camera 53c is disposed on the upper left side of the cabin 138, and the right camera is disposed on the upper right side of the cabin 138. The camera 53 may be composed of only the front camera 53a and the rear camera 53b. Alternatively, the camera 53 may be a single omnidirectional camera capable of capturing images in all directions around the work vehicle 10.

[0040] The obstacle sensor 54 is a sensor that detects a target within a predetermined detection range using infrared rays, ultrasonic waves, or the like. For example, the obstacle sensor 54 may be a lidar sensor (distance sensor) that can measure the distance to the target in three dimensions using a laser, or a sonar sensor with multiple sonars that can measure the distance to the target using ultrasonic waves. The obstacle sensor 54 is installed in the center front or center rear of the body of the work vehicle 10, etc., and monitors the periphery of the work vehicle 10 to detect obstacles. In this embodiment, an example will be described in which the obstacle sensor 54 includes a front obstacle sensor 54a that can detect targets within detection ranges forward and to the sides (left and right) as viewed from the work vehicle 10, and a rear obstacle sensor 54b that can detect targets within detection ranges rearward and to the sides (left and right) as viewed from the work vehicle 10. As shown in FIG. 2, the front obstacle sensor 54a is located on the upper front side of the cabin 138, and the rear obstacle sensor 54b is located on the upper rear side of the cabin 138. The front obstacle sensor 54a and the rear obstacle sensor 54b can detect targets within a predetermined detection range around the work vehicle 10. The front camera 53a and the front obstacle sensor 54a may be configured as a single unit, and the rear camera 53b and the rear obstacle sensor 54b may be configured as a single unit. The obstacle sensor 54 may include a left obstacle sensor capable of detecting targets within a detection range on the left side as seen from the work vehicle 10, and a right obstacle sensor capable of detecting targets within a detection range on the right side as seen from the work vehicle 10.

[0041] 3 shows an example of the measurement range (detection range) of each of the front obstacle sensor 54a and the rear obstacle sensor 54b. In the following, the front obstacle sensor 54a and the rear obstacle sensor 54b will be referred to as the "obstacle sensor 54" when describing the same.

[0042] The obstacle sensor 54 measures the distance to each ranging point (measurement target) present within the measurement range using, for example, a laser (near-infrared laser light, etc.), and generates a distance image based on the measurement information. The obstacle sensor 54 includes an electronic control unit integrating a microcontroller and a processing unit constructed by various control programs, etc., and is connected to the detection control unit 51, the vehicle control device 11, etc. via a CAN so that they can communicate with each other.

[0043] As shown in Figures 2 and 3, the measurement range (detection range) of the forward obstacle sensor 54a is set to a first measurement range Rm1 forward from the cabin 138, and the measurement range (detection range) of the rear obstacle sensor 54b is set to a second measurement range Rm2 rearward from the cabin 138.

[0044] As shown in FIG. 3, the front obstacle sensor 54a and the rear obstacle sensor 54b are arranged on the lateral center line of the work vehicle 10, like the front camera 53a and the rear camera 53b. The front obstacle sensor 54a is arranged in a lateral center position at the top of the front end of the cabin 138, with a forward-leaning orientation looking down diagonally from above at the front side of the work vehicle 10. As a result, for the front obstacle sensor 54a, a predetermined range on the front side of the vehicle body about the lateral center line of the work vehicle 10 as an axis of symmetry is set as a first measurement range Rm1. The rear obstacle sensor 54b is arranged in a lateral center position at the top of the rear end of the cabin 138, with a rear-leaning orientation looking down diagonally from above at the rear side of the work vehicle 10. As a result, for the rear obstacle sensor 54b, a predetermined range on the rear side of the vehicle body about the lateral center line of the work vehicle 10 as an axis of symmetry is set as a second measurement range Rm2.

[0045] The forward obstacle sensor 54a and the rearward obstacle sensor 54b measure the distance from each obstacle sensor 54a, 54b to each ranging point in the first measurement range Rm1 or the second measurement range Rm2 using a time-of-flight (TOF) method, which measures the distance to a ranging point based on the round-trip time it takes for an emitted laser to reach the ranging point and return. The forward obstacle sensor 54a performs three-dimensional measurements in the first measurement range Rm1 by scanning the laser vertically and horizontally at high speed over the entire first measurement range Rm1 and sequentially measuring the distance to the ranging point for each scanning angle (coordinate). The forward obstacle sensor 54a sequentially measures the intensity of reflected light (reflection intensity) from each acquired ranging point. The forward obstacle sensor 54a repeatedly measures the distance to each ranging point in the first measurement range Rm1 and each reflection intensity in real time.

[0046] The rear obstacle sensor 54b performs three-dimensional measurements in the second measurement range Rm2 by scanning the laser vertically and horizontally at high speed over the entire second measurement range Rm2 and sequentially measuring the distance to the ranging point for each scanning angle (coordinate). The rear obstacle sensor 54b sequentially measures the intensity of reflected light (reflection intensity) from each acquired ranging point. The rear obstacle sensor 54b repeatedly measures the distance to each ranging point in the second measurement range Rm2 and each reflection intensity in real time.

[0047] The front obstacle sensor 54a and the rear obstacle sensor 54b generate a distance image from measurement information such as the distance to each measured ranging point and the scanning angle (coordinates) for each ranging point, and extract a group of ranging points that are estimated to be obstacles, and transmit the measurement information regarding the extracted group of ranging points to the detection control unit 51 as measurement information regarding the obstacles.

[0048] In addition, the front obstacle sensor 54a and the rear obstacle sensor 54b perform cutting and masking processes based on vehicle body information, etc. on the first measurement range Rm1 or the second measurement range Rm2, thereby setting a first vehicle control range Rd1 on the forward side of the work vehicle 10 and a second vehicle control range Rd2 on the reverse side of the work vehicle 10 within the obstacle detection ranges of the front obstacle sensor 54a and the rear obstacle sensor 54b (see Figure 3).

[0049] In the cutting process, the front obstacle sensor 54a and the rear obstacle sensor 54b acquire the maximum left-right width of the vehicle body including the work implement 14 (the left-right width of the tiller in this embodiment) through communication with the vehicle control device 11, and set a vehicle control width W1 of the obstacle by adding a predetermined safety margin to the maximum left-right width of the vehicle body. Then, in the first measurement range Rm1 and the second measurement range Rm2, left-right ranges that fall outside the vehicle control width W1 are set as non-vehicle control ranges Rn through the cutting process and excluded from each vehicle control range Rd1, Rd2.

[0050] In addition, in the masking process, the front obstacle sensor 54a and the rear obstacle sensor 54b set the range in which the front end of the work vehicle 10 enters the first measurement range Rm1 and the range in which the rear end of the work implement 14 enters the second measurement range Rm2 plus a predetermined safety margin as a non-detection range Rs by the masking process, and exclude these from each measurement range Rm1, Rm2 (detection range).

[0051] In this way, by setting the detection range of the detection object to a first measurement range Rm1 and a second measurement range Rm2, and setting a vehicle control range for each measurement range Rm1, Rm2, it is possible to execute processing (countermeasure processing described below) according to the position of the detection object within each measurement range Rm1, Rm2 when the detection object is detected.

[0052] Information regarding the first vehicle control range Rd1, the second vehicle control range Rd2, the non-vehicle control range Rn, and the non-detection range Rs is included in the distance image described above, and is transmitted to the detection control unit 51 together with the distance image.

[0053] As shown in Fig. 3, the vehicle control ranges Rd1, Rd2 of the front obstacle sensor 54a and the rear obstacle sensor 54b are divided into a stop control range Ra, a deceleration control range Rb, and a notification control range Rc based on a collision determination process in which the collision prediction time is a set time (e.g., 3 seconds). Specifically, the stop control range Ra is set to a range from the front obstacle sensor 54a or the rear obstacle sensor 54b to a determination reference position of the collision determination process. The deceleration control range Rb is set to a range from the determination reference position to a deceleration start position. The notification control range Rc is set to a range from the deceleration start position to a measurement limit position of the front obstacle sensor 54a or the rear obstacle sensor 54b. The determination reference position is set to a position a certain distance L1 (e.g., 2 m) in the fore-and-aft direction of the vehicle body from the front end or rear end of the vehicle body including the work implement 14. In this embodiment, the range of distance L1 from the work vehicle 10 is set as the stop control range Ra, the range from distance L1 to distance L2 (e.g., 5 m or less) is set as the deceleration control range Rb, and the range from distance L2 to distance L3 (e.g., 10 m or less) is set as the notification control range Rc.

[0054] Furthermore, the non-vehicle control range Rn of the front obstacle sensor 54a and the rear obstacle sensor 54b, i.e., the first measurement range Rm1 and the second measurement range Rm2 excluding the stop control range Ra, the deceleration control range Rb, and the notification control range Rc, is set as a range in which driving control processes for stopping and deceleration and notification processes for issuing a warning sound are not executed. Furthermore, the first measurement range Rm1 and the second measurement range Rm2 are set as ranges in which notification processes are executed to notify an operator (remote monitor) that a detection target has been detected. In another embodiment, the notification control range Rc and the non-vehicle control range Rn may be set as a single range in which the same processes (notification processes and notification processes) are executed.

[0055] The control ranges Ra, Rb, Rc in the first vehicle control range Rd1 of the front obstacle sensor 54a and the second vehicle control range Rd2 of the rear obstacle sensor 54b can be set according to the type, model, work content, vehicle speed, etc. of the work vehicle 10. Furthermore, the first measurement range Rm1 of the front obstacle sensor 54a and the second measurement range Rm2 of the rear obstacle sensor 54b may not be subjected to cutting processing.

[0056] In another embodiment, in the process of cutting the first measurement range Rm1 and the second measurement range Rm2, the non-vehicle control range Rn may be set as a non-detection range in which a detection target is not detected. In this case, if a detection target is detected in the non-vehicle control range Rn, a notification process is not executed to notify the operator that the detection target has been detected. In another embodiment, the operator may be able to select whether or not to set the non-vehicle control range Rn as a non-detection range. When the non-vehicle control range Rn is set as a non-detection range, the control ranges Ra, Rb, and Rc may be set as ranges in which the notification process is executed in addition to the vehicle control process.

[0057] The detection control unit 51 outputs measurement information acquired from the obstacle sensor 54 to the vehicle control device 11. While the work vehicle 10 is traveling automatically, the detection control unit 51 sequentially outputs the measurement information to the vehicle control device 11 each time it acquires measurement information from the obstacle sensor 54. In another embodiment, the detection control unit 51 may determine the type of detection target (measurement target) (person, vehicle, structure, material, etc.) based on the captured image acquired from the camera 53 and the measurement information acquired from the obstacle sensor 54, and output the determination result to the vehicle control device 11. The following will be described taking as an example a case where a detection target in front is detected when the work vehicle 10 is traveling forward, and an example of a case where a detection target behind is detected when the work vehicle 10 is traveling backward will be omitted.

[0058] The detection control unit 51 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The detection control unit 51 controls the obstacle detection device 15 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 52.

[0059] Specifically, as shown in Fig. 1, the detection control unit 51 includes various processing units such as an acquisition processing unit 511, a determination processing unit 512, and an output processing unit 513. The obstacle detection device 15 functions as the various processing units by executing various processes in accordance with the obstacle detection program using the CPU. Some or all of the processing units may be configured with electronic circuits. The obstacle detection program may be a program for causing multiple processors to function as the processing units.

[0060] The acquisition processing unit 511 acquires captured images from the camera 53 and acquires measurement information from the obstacle sensor 54. Specifically, when the work vehicle 10 starts autonomous traveling, the acquisition processing unit 511 sequentially acquires captured images of the imaging range ahead in the traveling direction from the front camera 53a during the autonomous traveling. The acquisition processing unit 511 stores the acquired captured images in the memory unit 52. Furthermore, when the work vehicle 10 starts autonomous traveling, the acquisition processing unit 511 sequentially acquires measurement information (ranging point cloud, distance image, etc.) of a first measurement range Rm1 (see FIG. 3 ) ahead in the traveling direction from the front obstacle sensor 54a during the autonomous traveling. The acquisition processing unit 511 stores the acquired measurement information in the memory unit 52.

[0061] The determination processing unit 512 determines the detected position of the detection target based on the measurement information acquired by the acquisition processing unit 511. Specifically, the determination processing unit 512 determines whether the detection target is located within or outside the field F based on the current position of the work vehicle 10 within the field F and the measurement information. For example, as shown in FIG. 4, when the work vehicle 10 is automatically traveling near the boundary (outer periphery) of the field F, the first measurement range Rm1 may extend outside the field F. In this case, if the detection target X1 is present in the vicinity of the outside of the field F, the detection target X1 is included in the first measurement range Rm1, and the forward obstacle sensor 54a detects the detection target X1. The determination processing unit 512 identifies the position of the detection target based on the current position (measured position) of the work vehicle 10 within the field F and the measurement information of the forward obstacle sensor 54a, and determines whether the detection target is located within or outside the field F.

[0062] 4, when the determination processing unit 512 detects detection target X1, it determines that detection target X1 is located outside the field F, and when the determination processing unit 512 detects detection targets X2 and X3, it determines that detection targets X2 and X3 are located inside the field F. Note that detection target X4 is located outside the first measurement range Rm1 of the forward obstacle sensor 54a, and therefore is not detected by the forward obstacle sensor 54a.

[0063] Furthermore, the determination processing unit 512 determines whether the detection target is located within or outside a vehicle control range that is set based on the work vehicle 10. The vehicle control range refers to a range in which, when the detection target is included in the vehicle control range, predetermined vehicle control processing (driving control processing such as stopping processing and deceleration processing, notification processing such as emitting a warning sound to the outside, etc.) is performed on the work vehicle 10.

[0064] Specifically, the determination processing unit 512 determines whether the detection target is located within or outside the first vehicle control range Rd1 based on the current position of the work vehicle 10 in the field F and the measurement information. Also, for example, the determination processing unit 512 determines whether the detection target is located within the stop control range Ra, the deceleration control range Rb, or the notification control range Rc, or whether the detection target is located within none of the stop control range Ra, the deceleration control range Rb, or the notification control range Rc, based on the current position of the work vehicle 10 and the measurement information. The determination processing unit 512 also determines whether the detection target is located within the stop control range Ra, the deceleration control range Rb, the notification control range Rc, or the non-vehicle control range Rn.

[0065] In the example shown in Figure 4, when the judgment processing unit 512 detects the detection target X2, it determines that the detection target X2 is located outside the first vehicle control range Rd1 (within the non-vehicle control range Rn), and when it detects the detection target X3, it determines that the detection target X3 is located within the first vehicle control range Rd1 and the stop control range Ra.

[0066] In another embodiment, the determination processing unit 512 may determine whether the detection target is located within or outside the first vehicle control range Rd1, on the condition that the detection target is determined to be located within the field F. Therefore, when the determination processing unit 512 detects the detection target X1 outside the field F, it is not necessary to determine whether the detection target X1 is located within the first vehicle control range Rd1.

[0067] In another embodiment, the determination processing unit 512 may determine the position of the detection target based on the image captured by the camera 53. Furthermore, the determination processing unit 512 may determine the position of the detection target based on the image captured by the camera 53 and measurement information from the obstacle sensor 54.

[0068] The output processing unit 513 outputs response information according to the determination result of the determination processing unit 512 to the vehicle control device 11 and the operation terminal 20. Specifically, when a detection target is detected, the output processing unit 513 outputs (notifies) the operation terminal 20 of detection information indicating that the detection target has been detected, and causes the operation terminal 20 to display the detection information. The output processing unit 513 may also send the detection information to the operation terminal 20 by email. Furthermore, when a detection target is detected, the output processing unit 513 outputs vehicle control information (stop instruction, deceleration instruction, notification instruction, etc.) for controlling the work vehicle 10 to the vehicle control device 11, and causes the vehicle control device 11 to execute vehicle control processing (stop processing, deceleration processing, notification processing, etc.). Specific examples of the detection information display processing and the vehicle control processing will be described later.

[0069] In addition, the detection control unit 51 may be configured to determine whether the detection target is an obstacle based on the image captured by the camera 53, and if it determines that the detection target is an obstacle, output the response information to the vehicle control device 11 and the operation terminal 20, and if it determines that the detection target is not an obstacle, not output the response information to the vehicle control device 11 and the operation terminal 20.

[0070] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 12.

[0071] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program that causes multiple processors to function as the processing units.

[0072] The driving processing unit 111 controls the driving of the work vehicle 10. For example, when the driving mode of the work vehicle 10 is automatic driving (automatic driving mode), the driving processing unit 111 causes the work vehicle 10 to drive automatically based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning unit 17. For example, when the work vehicle 10 satisfies the conditions for starting automatic driving and receives a driving start command from the worker, the driving processing unit 111 causes the work vehicle 10 to start automatic driving based on the positioning information. For example, the driving processing unit 111 causes the work vehicle 10 to drive automatically from a driving start position to a driving end position according to a target route that is generated and set in advance in the operation terminal 20.

[0073] When the driving mode of the work vehicle 10 is manual driving (manual driving mode), the work vehicle 10 can be manually driven based on the operation (manual steering) of the worker. For example, the driving processing unit 111 acquires operation information corresponding to driving operations such as steering, gear shifting, driving direction switching, and braking by the worker, and causes the driving device 13 to perform driving operations based on the operation information.

[0074] Furthermore, the driving processing unit 111 executes a predetermined response process when the work vehicle 10 detects a detection target (obstacle) during autonomous driving. Specifically, the driving processing unit 111 executes response processes such as a driving control process for controlling the driving of the work vehicle 10 and a notification process for issuing a warning sound, based on the response information (stop instruction, deceleration instruction, notification instruction, etc.) output from the detection control unit 51 (output processing unit 513). Specific examples of the response processes will be described later.

[0075] Furthermore, the driving processing unit 111 controls driving in accordance with instructions acquired from the operation terminal 20. For example, when the driving processing unit 111 acquires a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10, and when it acquires a driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10.

[0076] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. For example, the operation terminal 20 is configured as a mobile terminal such as a smartphone (see FIG. 2, etc.) or a tablet terminal. Note that the operation terminal 20 may also be a stationary (desktop) personal computer.

[0077] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0078] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The display unit displays a map of a predetermined area including the field to be worked on, predetermined information related to the work vehicle 10, and the like. The predetermined information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current work status of the work vehicle 10. From the predetermined information displayed on the operation terminal 20, an operator can, from a location away from the work vehicle 10, grasp the driving status of the work vehicle 10, which autonomously travels through fields, roads, etc., as well as the results of obstacle detection. In other words, the operator can remotely monitor the work vehicle 10 using the operation terminal 20.

[0079] The display unit also displays an operation screen for issuing instructions to start traveling, stop traveling, resume traveling, etc. to the work vehicle 10. The display unit also displays a registration screen for registering work vehicle information, field information, work information, etc.

[0080] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute various processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. Note that the control program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0081] The memory unit 22 also stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10. The memory unit 22 may store the work vehicle information related to one work vehicle 10, or may store the work vehicle information related to multiple work vehicles 10. In this embodiment, the work vehicle information related to each of the two work vehicles 10a, 10b is stored in the memory unit 22.

[0082] The target route information includes information such as the route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated in the operation terminal 20. The field name is the name of the field to be worked on for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The work time is the time required for the work vehicle 10 to work on the field.

[0083] If the target route is a route corresponding to a road (route between fields), the target route information includes information such as the route name, address, travel distance, and travel time. The route name is the name of the road, and the address is the address of the road. The travel distance is the distance traveled by the work vehicle 10 on the road, for example, the distance from the first field to the second field. The travel time is the time it takes for the work vehicle 10 to travel on the road, for example, the time required to travel from the first field to the second field.

[0084] The memory unit 22 may store the target route information for one target route, or may store the target route information for multiple target routes. For example, if an operator generates multiple target routes for one or multiple fields that he or she manages, the target route information for each target route is stored in the memory unit 22. One target route or multiple target routes may be set for one field. Furthermore, one inter-field route or multiple inter-field routes may be set for a pair of fields. In the present embodiment, the memory unit 22 stores target route information corresponding to a target route for the work vehicle 10a to travel in a first field, and target route information corresponding to a target route for the work vehicle 10b to travel in a second field.

[0085] In another embodiment, some or all of the information, such as the work vehicle information and the target route information, may be stored in a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the server (for example, a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may acquire the information from the server and execute each process.

[0086] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0087] 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a display processing unit 212, and a reception processing unit 213. The operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0088] The setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field (hereinafter referred to as field information), and information about how the work will be performed specifically (hereinafter referred to as work information).

[0089] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 174 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 while working, and the vehicle speed and engine speed of the work vehicle 10 while turning, by having the operator perform operations to register this information on the operation terminal 20.

[0090] In addition, the setting processing unit 211 sets information such as the position and shape of the field, the work start position (travel start position) where work begins and the work end position (travel end position) where work ends, and the work direction by performing a registration operation on the operation terminal 20.

[0091] Information on the position and shape of the field can be automatically obtained, for example, by having an operator get on the work vehicle 10 and drive it around the perimeter of the field, recording the changes in position information of the positioning antenna 174. The position and shape of the field can also be obtained based on a polygon obtained by an operator operating the operation terminal 20 while a map is displayed on the operation terminal 20 and specifying multiple points on the map.

[0092] In addition, the setting processing unit 211 is configured to be able to set work information such as whether or not the work vehicle 10 (unmanned tractor) and the manned work vehicle 10 are working cooperatively, the number of skips which is the number of work routes that the work vehicle 10 will skip when turning on the headland, the width of the headland, and the width of the non-cultivated land.

[0093] Furthermore, the setting processing unit 211 generates a target route for automatically driving the work vehicle 10 in the field based on the setting information. Specifically, the setting processing unit 211 generates a target route within the field based on the travel start position and travel end position registered in the field setting. For example, the setting processing unit 211 generates a target route including a travel start position, a travel end position, a straight route, and a turning route based on setting operations by the operator. The setting processing unit 211 registers the generated target route in association with the field.

[0094] The display processing unit 212 displays various information on the operation display unit 23. Specifically, the display processing unit 212 displays pre-registered work vehicles 10 on a selection screen P1 so that the operator can select them. For example, when the operator registers work vehicles 10a and 10b to be monitored (subject to management), the display processing unit 212 displays the work vehicles 10a and 10b on the selection screen P1 so that they can be selected. The work vehicles 10 displayed on the selection screen P1 may be work vehicles 10 whose information is registered in the operation terminal 20, or may be work vehicles 10 selected by the operator from among a plurality of registered work vehicles 10 to start work now.

[0095] FIG. 5 shows an example of the selection screen P1. As shown in FIG. 5, the display processing unit 212 displays a map of a predetermined area including the current positions of the pre-registered work vehicles 10a and 10b on the selection screen P1. The display processing unit 212 also displays the identification information of the work vehicle 10 on the map at a position corresponding to the current position of the work vehicle 10. Specifically, as shown in FIG. 5, the display processing unit 212 displays an icon image A1 of the work vehicle 10a on the map at a position corresponding to the current position of the work vehicle 10a, and an icon image B1 of the work vehicle 10b on the map at a position corresponding to the current position of the work vehicle 10b. The display processing unit 212 acquires position information (positioning information) from the work vehicle 10 and displays the icon image of the work vehicle 10 on the map. The display processing unit 212 updates the position of the icon image on the map in real time. In another embodiment, the display processing unit 212 may display the name (text information) of the work vehicle 10a on the map instead of the icon image.

[0096] The display processing unit 212 may also display the icon image A1 of the work vehicle 10a and the icon image B1 of the work vehicle 10b in a distinguishable manner. For example, the display processing unit 212 may display the name of the work vehicle 10a near the icon image A1, and the name of the work vehicle 10b near the icon image B1. The display processing unit 212 may also display identification information (such as the name) of the work vehicle 10a when the operator touches or hovers the mouse over the icon image A1, and may display identification information (such as the name) of the work vehicle 10b when the operator touches or hovers the mouse over the icon image B1.

[0097] Furthermore, the display processing unit 212 may enlarge or reduce the map in response to an operation to enlarge or reduce the map on the selection screen P1. Furthermore, the display processing unit 212 may automatically adjust the display magnification in accordance with the position of the work vehicle 10 to be monitored. For example, the display processing unit 212 determines the display magnification of the map so that the icon images of all work vehicles 10 to be monitored fit on one screen (the same page).

[0098] 5, the operator can ascertain the current locations of all work vehicles 10 that are the target of monitoring. The display processing unit 212 may be configured to display on the selection screen P1 work vehicles 10 that have not yet been worked on and are stored in a storage location (such as a warehouse), or may be configured not to display on the selection screen P1 work vehicles 10 that have not yet been worked on and are stored in a storage location. The operator may also be able to set whether or not to display on the selection screen P1 work vehicles 10 that have not yet been worked on and are stored in a storage location.

[0099] Furthermore, the display processing unit 212 displays the identification information on the map in a display mode that corresponds to the current state of the work vehicle 10. Specifically, the display processing unit 212 displays an icon image on the map in a manner that makes it possible to distinguish whether the work vehicle 10 is autonomously traveling or stopped. That is, the display processing unit 212 differentiates the display mode on the map when the work vehicle 10 is autonomously traveling from the display mode when the work vehicle 10 is stopped. In the example shown in FIG. 6, when the work vehicle 10a is stopped, the display processing unit 212 displays the icon image A1 in a mode that indicates that the work vehicle 10 is stopped. Furthermore, when the work vehicle 10b is autonomously traveling, the display processing unit 212 displays the icon image B1 in a mode that indicates that the work vehicle 10 is autonomously traveling. The display mode may be the type, color, thickness, etc. of the line of the frame image that surrounds the icon image, or the color, size, display method (illumination, blinking), etc. of the icon image. For example, as shown in FIG. 6, the display processing unit 212 displays a frame image A2 of an icon image A1 and a frame image B2 of an icon image B1 in different display modes.

[0100] In another embodiment, the display processing unit 212 may hide the frame image when the work vehicle 10 is automatically traveling normally, and display the frame image when the work vehicle 10 has stopped automatically traveling.

[0101] The display processing unit 212 may also display a message (text information) indicating that the vehicle is stopped near the icon image A1, and a message indicating that the vehicle is automatically traveling near the icon image B1. The display processing unit 212 may also display a message indicating that the vehicle is stopped when the operator touches or hovers the mouse over the icon image A1, and display a message indicating that the vehicle is automatically traveling when the operator touches or hovers the mouse over the icon image B1.

[0102] The work vehicle 10 will stop automatic driving, for example, when it detects a detection target (obstacle), when work is completed, when the remaining amount of sprayed material or fuel falls below a specified amount, when the yield of the harvested crop exceeds a specified amount, when regeneration of the DPF (Diesel Particulate Filter) becomes necessary, or when urea water replenishment becomes necessary.

[0103] The display processing unit 212 may also display identification information on the selection screen P1 that allows the work status to be identified. For example, when the work vehicle 10a has finished work in the field that is the work target, the display processing unit 212 lights or flashes the icon image A1, or displays the frame image A2 of the icon image A1 in a predetermined color. Also, for example, if the work vehicle 10a is a vehicle (sprayer) that sprays a substance (chemical solution, water, etc.), the display processing unit 212 lights or flashes the icon image A1, or displays the frame image A2 of the icon image A1 in a predetermined color, when the remaining amount of the substance on the work vehicle 10a falls below a specified amount or when the time has come to replenish the substance. Also, for example, if the work vehicle 10a is a vehicle that harvests crops (such as a combine harvester), the display processing unit 212 will light up or flash the icon image A1 or display the frame image A2 of the icon image A1 in a predetermined color when the yield of the crop reaches or exceeds a specified amount or when the time to discharge the crop arrives.

[0104] In this way, the display processing unit 212 may, when the work vehicle 10 stops autonomous driving, display the stopped state of the work vehicle 10 in an identifiable manner on the selection screen P1, or, when the work vehicle 10 stops autonomous driving, may display, on the selection screen P1, identification information that can identify the cause of the work vehicle 10 stopping.

[0105] The selection screen P1 shown in FIG. 6 allows the operator to grasp the current status of each work vehicle 10 that is the object of monitoring.

[0106] Here, the display processing unit 212 displays the work vehicle 10 in a selectable manner on the selection screen P1 (see FIGS. 5 and 6). Specifically, the display processing unit 212 displays icon images A1 and B1 in a selectable manner on the map on the selection screen P1. The reception processing unit 213 accepts an operation to select an icon image from the operator on the selection screen P1. For example, when the operator touches the icon image A1 of the work vehicle 10a displayed on the selection screen P1 with his / her finger, the reception processing unit 213 accepts this touch operation. For example, when the operator sees the selection screen P1 and realizes that the work vehicle 10a has stopped autonomous traveling, he / she touches the icon image A1 of the work vehicle 10a to check the cause of the stoppage.

[0107] The display processing unit 212 displays predetermined information related to the work vehicle 10 selected by the operator on the operation display unit 23. Specifically, the display processing unit 212 displays the predetermined information on the information display screen P2 (the second screen of the present invention). The predetermined information includes at least one of information related to the current surrounding environment of the work vehicle 10, information related to the current driving status of the work vehicle 10, and information related to the current work status of the work vehicle 10. For example, when the operator selects the icon image A1 of the work vehicle 10a, the display processing unit 212 displays, on the information display screen P2, a captured image of the surroundings of the work vehicle 10a captured by the camera 53 mounted on the work vehicle 10a, as shown in FIG. 7A. Here, the display processing unit 212 acquires a front image, a rear image, a left image, and a right image of the work vehicle 10a from the camera 53 and displays them on the information display screen P2. Furthermore, as shown in FIG. 7A, the display processing unit 212 displays the front image on the upper side of the information display screen P2, and the rear image, left image, and right image on the lower side of the information display screen P2. 7B, the display processing unit 212 may display the front image at the bottom of the information display screen P2, and the rear image, left image, and right image at the top of the information display screen P2. The position, size, and display / non-display of each image may be set (customizable) by the operator.

[0108] Furthermore, when the work vehicle 10a detects a detection target, the display processing unit 212 may cause an image including the detection target, among the multiple images captured by the camera 53, to be identifiable and displayed on the information display screen P2. For example, when the obstacle sensor 54 of the work vehicle 10a detects a detection target ahead of the work vehicle 10a, the display processing unit 212 causes the front image to be highlighted and displayed on the information display screen P2, as shown in Fig. 7A.

[0109] In this way, the display processing unit 212 displays the icon images of each of the multiple pre-registered work vehicles 10 on the map of the selection screen P1 in a display mode that corresponds to the current state of the work vehicle 10 (see Figure 6), and displays on the information display screen P2 an image of the surroundings of the work vehicle 10 captured by the camera 53 mounted on the work vehicle 10 that corresponds to the icon image selected by the operator from the multiple icon images on the selection screen P1 (see Figure 7A).

[0110] Furthermore, the display processing unit 212 displays, on the information display screen P2, switching buttons ("NEXT" button, "BACK" button) for switching the displayed image. When the operator presses the "NEXT" button once, the display processing unit 212 enlarges and displays the front image (see FIG. 7C). When the operator subsequently presses the "NEXT" button once, the display processing unit 212 enlarges and displays the right-hand image. When the operator subsequently presses the "NEXT" button once, the display processing unit 212 enlarges and displays the rearward image. When the operator subsequently presses the "NEXT" button once, the display processing unit 212 enlarges and displays the left-hand image. Each time the operator presses the "NEXT" button, the display processing unit 212 switches between the front image, right-hand image, rearward image, and left-hand image in this order. Furthermore, each time the operator presses the "BACK" button, the display processing unit 212 switches between the front image, left-hand image, rearward image, and right-hand image in this order. In addition, when the operator presses the "4CAM" button on the information display screen P2 shown in Figure 7C, the display processing unit 212 displays captured images in four directions (front image, rear image, left image, and right image) on the information display screen P2 (see Figure 7A).

[0111] 7A to 7C, the display processing unit 212 may be able to change (zoom) the display magnification (field of view size) of the captured image. For example, when the operator performs a zoom-in operation (pinch-out) on the information display screen P2 shown in Fig. 7C, the display processing unit 212 zooms in on the image ahead, and when the operator performs a zoom-out operation (pinch-in), the display processing unit 212 zooms out on the image ahead. The display processing unit 212 may also change the imaging range (photographing direction) of the camera 53 in response to an operation by the operator.

[0112] The display processing unit 212 may also highlight the detected detection target in the captured image by surrounding it with a frame image, or may track the detection target. The display processing unit 212 may also display information on the distance to the detected detection target and information on the type of the detection target (person, vehicle, structure, material, etc.) on the information display screen P2. The camera 53 may be positioned so that a part of the body of the work vehicle 10 is reflected in the image, making it easier to grasp the sense of distance to the detected detection target.

[0113] Furthermore, the display processing unit 212 displays a "START" button and a "STOP" button on the information display screen P2. When the operator presses the "START" button, the reception processing unit 213 accepts the operation and outputs an instruction to start or resume autonomous driving to the work vehicle 10. For example, if the work vehicle 10a detects a detection target and stops autonomous driving, the operator selects the work vehicle 10a on the selection screen P1, confirms the safety of the work vehicle 10a on the information display screen P2, and then presses the "START" button. This causes the reception processing unit 213 to output an instruction to the work vehicle 10a to resume autonomous driving, and the work vehicle 10a resumes autonomous driving in accordance with the instruction. In another embodiment, the reception processing unit 213 may permit the "START" button to be pressed on the condition that the detection target is no longer detected.

[0114] Furthermore, for example, when the operator selects the work vehicle 10b on the selection screen P1 and presses the "STOP" button on the information display screen P2 while the work vehicle 10b is autonomously traveling, the reception processing unit 213 outputs an instruction to the work vehicle 10b to stop autonomous traveling. As a result, the work vehicle 10b stops autonomous traveling in accordance with the instruction.

[0115] When the operator presses the "MAP" button on the information display screen P2, the display processing unit 212 switches to the selection screen P1 (see FIGS. 5 and 6). In this way, the operator can switch between the selection screen P1 and the information display screen P2.

[0116] In another embodiment, the display processing unit 212 may display the selection screen P1 and the information display screen P2 side by side in the left-right or up-down direction. For example, as shown in FIG. 8, the display processing unit 212 displays the selection screen P1 in the left display area of ​​the operation display unit 23, and displays the information display screen P2 corresponding to the work vehicle 10a selected on the selection screen P1 in the right display area. Furthermore, when the operator presses the "MAP" button on the information display screen P2 shown in FIG. 8, the display processing unit 212 enlarges and displays the selection screen P1 (see FIG. 6), and when the operator presses the "Camera" button, the display processing unit 212 enlarges and displays the information display screen P2 (see FIG. 7A). Note that the display processing unit 212 may display the front image below the information display screen P2, and the rear image, left image, and right image above the information display screen P2. Furthermore, the arrangement, size, and display / hide of each image may be set (customizable) by the operator.

[0117] In addition, the operation control unit 21 issues automatic driving instructions to the work vehicle 10. For example, when the operator selects a field and presses a start button (not shown) to cause the work vehicle 10 to start automatic driving, the operation control unit 21 outputs route data of the target route to the work vehicle 10. When the route data generated in the operation terminal 20 is transferred to the work vehicle 10, the work vehicle 10 stores it in the memory unit 12. The work vehicle 10 detects the current position of the work vehicle 10 using the positioning antenna 174 and executes automatic driving processing based on the route data. Note that the current position of the work vehicle 10 normally coincides with the position of the positioning antenna 174.

[0118] Furthermore, the work vehicle 10 is configured to be able to travel automatically when its current position coincides with the travel start position in the field or is located within a predetermined range (when the conditions for starting automatic travel are met). When the start conditions are met and the operator presses the start button on the operation screen (not shown) to give a travel start instruction, the work vehicle 10 starts automatic travel along the target route by the travel processing unit 111 of the work vehicle 10.

[0119] The setting process in the setting processing unit 211 and the process of starting automatic driving in the operation control unit 21 may be executed by a device different from the operation terminal 20. For example, an operator may set the setting information, generate a target route, and issue automatic driving instructions on a tablet terminal different from the operation terminal 20. In this case, the operation terminal 20 may only have a monitoring function for monitoring the work vehicle 10, and the tablet terminal may perform the setting process of the setting information, generate a target route, and issue automatic driving instructions. The operation terminal 20 according to this embodiment may also be realized by adding the monitoring function to the tablet terminal. In another embodiment, the operation control unit 21 may display the selection screen P1 and the information display screen P2 on different devices. For example, the operation control unit 21 may display the selection screen P1 on the operation terminal 20 and the information display screen P2 on a device different from the operation terminal 20 (such as the tablet terminal or a mobile terminal of the operator or worker).

[0120] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0121] A specific example of the response process executed in the work vehicle 10 and the operation terminal 20 will be described below.

[0122] As described above, when the detection control unit 51 detects a detection target (obstacle), it determines whether the position of the detection target is within the field F, and if the detection target is within the field F, it further determines whether the detection target is within the vehicle control range. Then, the detection control unit 51 executes a response process according to the determination result (position of the detection target).

[0123] [Example of handling process 1] When the detected detection target is located within the field F, the detection control unit 51 notifies the operation terminal 20, which displays the traveling status of the work vehicle 10 during autonomous traveling, of detection information indicating that the detection target has been detected (an example of a first response process). For example, in the example shown in FIG. 4, when the detection target X2 is present within the field F, and the work vehicle 10 approaches the detection target X2 and the forward obstacle sensor 54a detects the detection target X2, the detection control unit 51 outputs the detection information (an example of response information) to the operation terminal 20 and causes the operation terminal 20 to display the detection information. For example, as shown in FIG. 9, when the work vehicle 10a detects the detection target within the field F, the detection control unit 51 of the work vehicle 10a displays a notification message M1 (an example of detection information) indicating that the detection target has been detected within the field F on the selection screen P1 of the operation terminal 20.

[0124] When the operation control unit 21 of the operation terminal 20 acquires the detection information from the work vehicle 10a that detected the detection target while the current positions and current statuses of all work vehicles 10 that are the target of monitoring are displayed on the selection screen P1, it causes a notification message M1 to pop up on the selection screen P1. The notification message M1 includes the vehicle number of the work vehicle 10a that detected the detection target, a request to confirm the camera image, a switch button for switching to the camera image ("camera image" button), etc. The operation control unit 21 may also play audio when the detection information is acquired.

[0125] Furthermore, the operation control unit 21 may display identification information on the selection screen P1 that allows identification that a detection target has been detected. For example, when the work vehicle 10a detects a detection target, the operation control unit 21 may light up or flash the icon image A1, or display the frame image A2 of the icon image A1 in a predetermined color.

[0126] The notification message M1 is displayed on the operation terminal 20, allowing the operator (remote monitor) to understand that a detection target (obstacle) has been detected in the field F.

[0127] When the operator presses the camera image switching button on the selection screen P1, the operation control unit 21 displays the camera screen P3 shown in FIG. 10. For example, the operation control unit 21 enlarges and displays the camera image (a forward image in FIG. 10) that captured the detection target. The operation control unit 21 also displays a confirmation message M2 (an example of detection information) on the camera screen P3. The confirmation message M2 includes a request to confirm the detection target, a confirmation button, and the like. The operator checks the detection target using the camera image and determines whether there is no problem with continuing the autonomous driving. For example, the operator presses the confirmation button if they determine that there is no problem with continuing the autonomous driving of the work vehicle 10a, and presses the stop button ("STOP") if they determine that it is necessary to stop the autonomous driving of the work vehicle 10a.

[0128] Furthermore, the detection control unit 51 acquires the details of the operator's operation in response to the notification message M1 and the confirmation message M2 and executes predetermined processing. For example, when the operator presses the confirmation button in the confirmation message M2, the detection control unit 51 outputs an instruction to continue autonomous driving to the vehicle control device 11. Note that the detection control unit 51 may be configured not to output any instruction to the vehicle control device 11 when causing the work vehicle 10a to continue autonomous driving.

[0129] In response to this, for example, if the operator does not press the switch button ("camera image" button) within a predetermined time after notification message M1 (see FIG. 9) is displayed, or if the operator does not press the confirmation button within a predetermined time after confirmation message M2 (see FIG. 10) is displayed, the detection control unit 51 outputs an instruction to stop automatic driving to the vehicle control device 11. When the vehicle control device 11 receives the stop instruction, it stops the automatic driving of the work vehicle 10a. In this case, the operation control unit 21 may change the color of the frame image A2 of the icon image A1 of the work vehicle 10a on the selection screen P1 to a color indicating that the work vehicle is stopped.

[0130] In this way, when the detection control unit 51 detects a detection target in the field, it notifies the operator and prompts them to check the camera image, and if the operator's confirmation is obtained, it continues automatic driving, and if the operator's confirmation is not obtained, it stops automatic driving.

[0131] It is also possible to set conditions for resuming autonomous driving after stopping the work vehicle 10a. For example, the vehicle control device 11 may be set to permit the operation to resume autonomous driving from both the operation terminal 20 of the remote monitor and the remote control used by an assistant (short-distance monitor) to operate the work vehicle 10a at short distances, or may be set to permit the operation to resume autonomous driving only from the remote control, or may be set to prohibit the operation to resume autonomous driving from both the operation terminal 20 and the remote control and permit the operation to resume autonomous driving only from the main unit (work vehicle 10). Furthermore, if the operation to resume autonomous driving is permitted only from the remote control or the main unit, the remote monitor (operation terminal 20) may prompt the assistant (such as an assistant terminal) to perform the operation to resume autonomous driving.

[0132] In another embodiment, when the detection control unit 51 detects a detection target, it may display a confirmation message M2 on a screen that displays a map and a camera image, as shown in FIG.

[0133] In another embodiment, the detection control unit 51 may display at least one of the position of the detection target and a camera image of the detection target on a map screen (selection screen P1) displayed on the operation terminal 20. Furthermore, the detection control unit 51 may resume or continue the automated driving on the condition that the operator performs an operation on the map screen to confirm at least one of the position of the detection target and the camera image. Furthermore, the detection control unit 51 may display the date and time when the detection target was detected on the map screen or the like.

[0134] In another embodiment, when a detection target is detected in the field F while the selection screen P1 (see Figures 5 and 6) is displayed on the operation terminal 20, the detection control unit 51 may switch the selection screen P1 to the camera screen P3 (see Figure 10) and display a confirmation message M2 without relying on the operator's operation.

[0135] [Example of handling process 2] When the detected detection target is located within the field F and within the vehicle control ranges (stop control range Ra, deceleration control range Rb, and notification control range Rc), the detection control unit 51 notifies the operation terminal 20 of the detection information, and also outputs a vehicle control instruction to the vehicle control device 11 (an example of a second response process). For example, in the example shown in FIG. 4 , when detection target X3 is present within the field F, if the work vehicle 10a approaches detection target X3 and the forward obstacle sensor 54a detects detection target X3 within the stop control range Ra, the detection control unit 51 outputs the detection information to the operation terminal 20 to display the detection information on the operation terminal 20, and also outputs a stop instruction to the vehicle control device 11 to stop the automatic traveling of the work vehicle 10. Note that when the detection control unit 51 detects detection target X3 within the deceleration control range Rb, it outputs a deceleration instruction to the vehicle control device 11 to decelerate the vehicle speed of the work vehicle 10. Furthermore, when the detection control unit 51 detects the detection target X3 within the notification control range Rc, it outputs a notification instruction to the vehicle control device 11, causing the work vehicle 10 to output (emit) a warning sound.

[0136] Furthermore, when the detection control unit 51 detects the detection target X3 within the vehicle control range, there is a possibility of collision with the detection target (obstacle), so the detection control unit 51 may omit the display process of the notification message M1 on the selection screen P1 (see Figure 9) and switch the selection screen P1 to the camera screen P3 to display the confirmation message M2 (see Figure 10).

[0137] When the operator presses the confirmation button in the confirmation message M2 on the camera screen P3, the detection control unit 51 outputs an instruction to continue automatic driving to the vehicle control device 11. When automatic driving is stopped by detecting a detection target within the stop control range Ra, the detection control unit 51 outputs an instruction to resume automatic driving to the vehicle control device 11 when the operator presses the confirmation button in the confirmation message M2. Also, when a detection target is detected within the deceleration control range Rb and the vehicle speed is decelerated, the detection control unit 51 outputs an instruction to return the vehicle speed to the original set vehicle speed (speed increase instruction) to the vehicle control device 11 when the operator presses the confirmation button in the confirmation message M2.

[0138] If the confirmation button is not pressed within a predetermined time after the confirmation message M2 (see FIG. 10) is displayed, the detection control unit 51 outputs an instruction to the vehicle control device 11 to stop the automatic driving.

[0139] In this way, when the detected detection target is located within the field F, the detection control unit 51 executes a response process (an example of a first response process) of notifying the operation terminal 20 of the detection information, and further, when the detected detection target is located within a vehicle control range (stop control range Ra, deceleration control range Rb, notification control range Rc), executes a response process (an example of a second response process) that includes a process of notifying the operation terminal 20 of the detection information and a process of controlling (travel control, notification control) the work vehicle 10 during autonomous traveling. Furthermore, when a detection target detected by the obstacle sensor 54 while the work vehicle 10 is autonomously traveling in the field F is located within the field F, the detection control unit 51 executes different response processes depending on whether the detection target is located within the vehicle control range or outside the vehicle control range.

[0140] The operation control unit 21 may display the icon image A1 or the frame image A2 on the selection screen P1 in a display mode that corresponds to the position where the work vehicle 10a detected the detection target. For example, if the work vehicle 10a detects the detection target within the notification control range Rc, the operation control unit 21 displays the frame image A2 in green, if the work vehicle 10a detects the detection target within the deceleration control range Rb, the operation control unit 21 displays the frame image A2 in yellow, and if the work vehicle 10a detects the detection target within the stop control range Ra, the operation control unit 21 displays the frame image A2 in red.

[0141] [Example of handling process 3] The detection control unit 51 notifies the operation terminal 20 of the detection information when the detected detection target is located outside the field F but in the vicinity of the field F, and does not notify the operation terminal 20 of the detection information when the detection target is located outside the field F but in a location other than the vicinity of the field F.

[0142] For example, when the detection control unit 51 detects a detection target X1 (see FIG. 4) in another field adjacent to the field F near the boundary with the other field, the detection control unit 51 notifies the operation terminal 20 of the detection information.

[0143] 12, the detection control unit 51 also displays a notification mark M3 (an example of detection information) on the selection screen P1 indicating that a detection target has been detected outside the field. In this case, when the operator presses the notification mark M3, the detection control unit 51 displays a notification message M1. Note that if the detection target is located outside the field F, the possibility of the work vehicle 10 colliding with the detection target is low, and therefore the detection control unit 51 does not need to stop the automatic traveling of the work vehicle 10. For this reason, even if the detected detection target X1 is located within the vehicle control range (stop control range Ra, deceleration control range Rb, notification control range Rc) (see FIG. 4), the detection control unit 51 does not output a vehicle control instruction to the vehicle control device 11 and allows the automatic traveling of the work vehicle 10 to continue. In another embodiment, the detection control unit 51 may be configured not to determine whether the detection target X1 is located within the vehicle control range when the detected detection target X1 is located outside the field F, or may be configured not to output a vehicle control instruction to the vehicle control device 11.

[0144] Furthermore, the detection control unit 51 may cause the operation terminal 20 to display a camera image of the detection target detected outside the field F when the operator makes a confirmation request for the notification mark M3 or the notification message M1.

[0145] The detection control unit 51 may also set the measurement range (detection range) for detection targets outside the field F to within a predetermined distance from the outer periphery (boundary) of the field F. The detection control unit 51 may also set the detection range for detection targets outside the field F to a specific area outside the field F (for example, in an adjacent field). The detection control unit 51 may be configured to notify the operation terminal 20 of the detection information when a detection target is detected within the detection range, and not to notify the operation terminal 20 of the detection information when a detection target is detected outside the detection range.

[0146] In another embodiment, if an operator once confirms a detection target detected outside the field F, the detection control unit 51 may be configured not to notify the operation terminal 20 of the detection information if the same detection target is subsequently detected outside the field F.

[0147] In this way, when the detected detection target is located outside the field F, the detection control unit 51 executes a process (an example of a first response process) of notifying the operation terminal 20 of the detection information. That is, the detection control unit 51 according to this embodiment sets the outside of the field F as a detection range rather than a non-detection range, thereby making it possible to detect detection targets located outside the field F. Then, when the detection control unit 51 detects a detection target outside the field F, it executes a notification process of notifying the operator that the detection target has been detected.

[0148] Furthermore, when the detection control unit 51 detects a detection target outside the field F, it does not perform driving control processing such as stopping the automatic driving of the work vehicle 10 or slowing down the vehicle, or notification processing such as issuing a warning sound from the work vehicle 10, but instead performs only the notification processing to continue the automatic driving. Note that when the detection control unit 51 detects a detection target outside the field F, it may perform both the notification processing and the notification processing. In contrast to this, as shown in the above-mentioned specific example 1, when detection target X2 is detected within field F, the detection control unit 51 performs the notification process, continues the automatic traveling if the operator performs a confirmation operation, and stops the automatic traveling if the operator does not perform a confirmation operation. Furthermore, when detection target X3 is detected within field F and within the vehicle control range, the detection control unit 51 performs the notification process and the vehicle control process, continues the automatic traveling if the operator performs a confirmation operation, and stops the automatic traveling if the operator does not perform a confirmation operation. In this way, the detection control unit 51 executes different response processes depending on whether the detected detection target is located within field F or outside field F.

[0149] As another embodiment of the specific example 1, if the camera image switching button is not pressed within a predetermined time after displaying the notification message M1 (see Figure 9) on the selection screen P1, the detection control unit 51 may delete the notification message M1 and display a notification mark M3 (see Figure 12).

[0150] As another embodiment of the specific examples 1 and 2, for example, when an object to be detected is detected in a farm field F while the information display screen P2 (see Figure 7A, etc.) is displayed on the operation terminal 20, the detection control unit 51 may temporarily suspend the automatic driving of the work vehicle 10 displayed on the information display screen P2, and switch to a camera screen P3 showing the camera image of the work vehicle 10 that detected the object to be detected.

[0151] [Obstacle detection processing] Hereinafter, an example of the obstacle detection process executed by the automatic driving system 1 will be described with reference to FIG.

[0152] The present invention can be understood as an obstacle detection method (one example of a control method of the present invention) that executes one or more steps included in the obstacle detection process. One or more steps included in the obstacle detection process described here may be omitted as appropriate. The steps in the obstacle detection process may be executed in a different order as long as the same effects are achieved. While the description here uses an example in which the detection control unit 51 executes each step in the obstacle detection process, another embodiment of the obstacle detection method may involve one or more processors executing each step in the obstacle detection process in a distributed manner. The detection control unit 51 executes the obstacle detection process when the work vehicle 10 starts autonomous driving.

[0153] In step S1, the detection control unit 51 determines whether the work vehicle 10 has detected a detection target (obstacle). The detection control unit 51 determines whether the detection target has been detected based on measurement information acquired from the obstacle sensor 54, captured images acquired from the camera 53, and the like. If the detection control unit 51 detects the detection target (S1: Yes), the detection control unit 51 shifts the processing to step S2. On the other hand, if the detection control unit 51 does not detect the detection target (S1: No), the detection control unit 51 shifts the processing to step S8. The detection control unit 51 executes the detection target determination processing while the work vehicle 10 is autonomously traveling.

[0154] In step S2, the detection control unit 51 determines whether the detected detection target is located within the field F. Specifically, the detection control unit 51 determines whether the detection target is located within the field F or outside the field F based on the current position of the work vehicle 10 within the field F and the measurement information. If the detection control unit 51 determines that the detection target is located within the field F (S2: Yes), it transitions the processing to step S3. On the other hand, if the detection control unit 51 determines that the detection target is located outside the field F (S2: No), it transitions the processing to step S21.

[0155] In step S3, the detection control unit 51 determines whether the detected detection target is located within the vehicle control range. Specifically, based on the current position of the work vehicle 10 and the measurement information, the detection control unit 51 determines whether the detection target is located within the stop control range Ra, the deceleration control range Rb, or the notification control range Rc, or whether the detection target is located within none of the stop control range Ra, the deceleration control range Rb, or the notification control range Rc. If the detected detection target is located within the vehicle control range (S3: Yes), the detection control unit 51 shifts the processing to step S4. On the other hand, if the detection target is located outside the vehicle control range (S3: No), the detection control unit 51 shifts the processing to step S5.

[0156] In step S4, the detection control unit 51 outputs a vehicle control instruction to the vehicle control device 11. For example, if the detected detection target is located within the notification control range Rc, the detection control unit 51 outputs a notification instruction to the vehicle control device 11. For example, if the detected detection target is located within the deceleration control range Rb, the detection control unit 51 outputs a deceleration instruction to the vehicle control device 11. For example, if the detected detection target is located within the stop control range Ra, the detection control unit 51 outputs a stop instruction to the vehicle control device 11. After step S4, the detection control unit 51 transitions the process to step S5.

[0157] Next, in step S5, the detection control unit 51 outputs detection information indicating that the detection target has been detected to the operation terminal 20. For example, as shown in FIG. 9, the detection control unit 51 displays a notification message M1 indicating that the detection target has been detected in the field F on the selection screen P1 of the operation terminal 20. The operation control unit 21 of the operation terminal 20 displays the notification message M1 as a pop-up on the selection screen P1, and when the operator presses the camera image switch button, displays the camera screen P3 shown in FIG. 10 and displays a confirmation message M2. After step S5, the detection control unit 51 transitions the process to step S6.

[0158] Next, in step S6, the detection control unit 51 determines whether or not a confirmation operation in response to the confirmation message M2 (see FIG. 10) has been received from the operator at the operation terminal 20. For example, if the operator presses the confirmation button at the operation terminal 20 within a predetermined time after the confirmation message M2 is displayed on the camera screen P3, the detection control unit 51 determines that the confirmation operation has been received (S6: Yes), and shifts the process to step S7. On the other hand, if the operator does not press the confirmation button at the operation terminal 20 within a predetermined time after the confirmation message M2 is displayed on the camera screen P3, the detection control unit 51 determines that the confirmation operation has not been received (S6: No), and shifts the process to step S61.

[0159] In step S7, the detection control unit 51 outputs an instruction to continue autonomous driving to the vehicle control device 11. Upon receiving the instruction to continue, the vehicle control device 11 causes the work vehicle 10 to continue autonomous driving. After step S7, the detection control unit 51 transitions the process to step S8.

[0160] If, in step S2 described above, the detection control unit 51 determines that the detection target is located outside the field F (S2: No), in step S21, it outputs detection information indicating that the detection target has been detected to the operation terminal 20. For example, as shown in FIG. 12 , the detection control unit 51 displays a notification mark M3 indicating that the detection target has been detected outside the field F on the selection screen P1 of the operation terminal 20. The operation control unit 21 of the operation terminal 20 displays the notification mark M3 on the selection screen P1, and when the operator presses the notification mark M3, a notification message M1 is displayed. Here, the operator is not required to confirm the detection information. In other words, when the detection control unit 51 detects the detection target outside the field F, it notifies the operation terminal 20 only that the detection target has been detected, and causes the work vehicle 10 to continue autonomous traveling. After step S21, the detection control unit 51 transitions the process to step S8.

[0161] In step S6 described above, if the detection control unit 51 does not receive a confirmation operation from the operator in response to the confirmation message M2 (see FIG. 10) (S6: No), then in step S61 it outputs an instruction to stop automatic traveling to the vehicle control device 11. Upon receiving the stop instruction, the vehicle control device 11 causes the work vehicle 10 to stop automatic traveling. After step S61, the detection control unit 51 transitions the process to step S8.

[0162] In step S8, the detection control unit 51 determines whether or not the automatic traveling of the work vehicle 10 has ended. If the detection control unit 51 determines that the automatic traveling of the work vehicle 10 has ended (S8: Yes), it ends the obstacle detection process. On the other hand, if the detection control unit 51 determines that the automatic traveling of the work vehicle 10 has not ended (S8: No), it transitions the process to step S1. The detection control unit 51 repeatedly executes the above-described process until the automatic traveling of the work vehicle 10 has ended.

[0163] As described above, the automated driving system 1 according to this embodiment executes different response processes depending on whether a detection target detected by the obstacle sensor 54 while the work vehicle 10 is automatically traveling in the field F is located inside or outside the field F. For example, when the detection target is located outside the field F, the automated driving system 1 executes a first response process that notifies the operation terminal 20, which is capable of displaying the traveling status of the work vehicle 10 during automated traveling, of detection information indicating that the detection target has been detected. Furthermore, when the detection target is located within the field F, the automated driving system 1 executes a second response process that includes a process of notifying the operation terminal 20 of the detection information, a traveling control process that controls the traveling of the work vehicle 10 during automated traveling, and an alert process that issues a warning sound from the work vehicle 10.

[0164] According to the above configuration, for example, if an obstacle is detected within the field F, the remote monitor is notified and the work vehicle 10 is allowed to continue autonomous driving on the condition that a confirmation operation from the remote monitor is received. In contrast, if an obstacle is detected outside the field F, the remote monitor is notified, but the work vehicle 10 is allowed to continue autonomous driving regardless of a confirmation operation from the remote monitor. This makes it possible to continue autonomous driving even if an obstacle is detected outside the field F, thereby preventing a decrease in work efficiency. Furthermore, because the remote monitor is notified when an obstacle is detected outside the field F, the remote monitor can be aware of the presence of an obstacle even if there is no risk of the obstacle colliding with the work vehicle 10.

[0165] Furthermore, the automated driving system 1 according to this embodiment may execute different response processes depending on whether the detection target is located within or outside the vehicle control range when a detection target detected by the obstacle sensor 54 while the work vehicle 10 is automatically driving in the field F is located within the field F. Specifically, when the detection target is located within the field F, the automated driving system 1 executes a first response process of notifying the operation terminal 20 of the detection information, and when the detection target is located within the field F and within the vehicle control range, the automated driving system 1 executes a second response process including a process of notifying the operation terminal 20 of the detection information and a driving control process of controlling the driving of the work vehicle 10 during automated driving.

[0166] For example, the work vehicle 10 stops automatic traveling when the detection target located in the field F is located within the stop control range Ra, reduces the automatic traveling vehicle speed when the detection target located in the field F is located within the deceleration control range Rb, and issues a warning sound from the work vehicle 10 to the outside when the detection target located in the field F is located within the notification control range Rc. Furthermore, when the detection target located in the field F is located within the non-vehicle control range Rn, the work vehicle 10 notifies the operation terminal 20 of the detection information, and causes the operation terminal 20 to display a notification message M1, a confirmation message M2, etc. (see FIGS. 9 to 12).

[0167] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be embodied in the following manner.

[0168] For example, the operation terminal 20 may accept an operation to select between a short-distance monitoring mode (first monitoring mode) that allows the work vehicle 10 to travel automatically on condition that an operator is present within a predetermined distance from the work vehicle 10, and a long-distance monitoring mode (second monitoring mode) that allows the work vehicle 10 to travel automatically even if an operator is not present within a predetermined distance from the work vehicle 10. For example, the operator selects the short-distance monitoring mode or the long-distance monitoring mode in advance on the setting screen of the operation terminal 20. The operator can also change the monitoring mode after the work vehicle 10 has started traveling automatically.

[0169] In a configuration in which each monitoring mode can be set, the detection control unit 51 may be configured to execute a response process according to the position of the detection target when the long-distance monitoring mode is selected. Specifically, when the operator selects the long-distance monitoring mode, the detection control unit 51 executes the response process shown in specific examples 1 to 3, etc., based on whether the detection target is located within the field F and whether it is located within the vehicle control range. On the other hand, when the operator selects the short-distance monitoring mode, there is no need to notify the operation terminal 20 of the detection information, so the detection control unit 51 omits the notification process and executes the vehicle control process.

[0170] When the work vehicle 10a is traveling automatically along the inter-field route, the operator must constantly monitor the traveling status of the work vehicle 10a. Therefore, when the work vehicle 10a starts traveling automatically along the inter-field route, the operation control unit 21 automatically switches the selection screen P1 to the information display screen P2 (see FIG. 7A) even if the operator does not select the work vehicle 10a on the selection screen P1. Here, when the work vehicle 10a is traveling automatically along the inter-field route and the information display screen P2 is displayed on the operation terminal 20, if, for example, the work vehicle 10b detects a detection target within the field F, the operator must confirm the detection target detected by the work vehicle 10b. Therefore, when the operation control unit 21 of the operation terminal 20 acquires detection information from the work vehicle 10b, it outputs a temporary stop instruction to the work vehicle 10a traveling automatically along the inter-field route, and switches the information display screen P2 to the camera screen P3 of the work vehicle 10b, displaying a notification message M1. When the work vehicle 10a receives the instruction to stop, it may stop there or may travel to a predetermined location (such as a road shoulder or a waiting area) and then stop there. Alternatively, the operator may remotely control the work vehicle 10a using the operation terminal 20 to move it to the predetermined location.

[0171] Note that, when work vehicle 10b detects a detection target within field F while work vehicle 10a is automatically traveling on the inter-field route, the operation control unit 21 may display (pop-up display) information (message M4) indicating that work vehicle 10b has detected the detection target on information display screen P2, and may display a selection button to select whether or not to switch to camera screen P3 displaying a camera image from work vehicle 10b, as shown in Fig. 14. When the operator presses the "Yes" button in message M4, the operation control unit 21 switches to camera screen P3 from work vehicle 10b.

[0172] When the operator confirms the detection target of the work vehicle 10b on the camera screen P3, the operation control unit 21 continues the automatic driving of the work vehicle 10b and returns the camera screen P3 to the information display screen P2 of the work vehicle 10a, thereby resuming the automatic driving of the work vehicle 10a along the inter-field route.

[0173] In this way, the operation terminal 20 monitors the automatic traveling of multiple work vehicles 10, and when a detection target is detected, executes a countermeasure process corresponding to the work vehicle 10 that detected the detection target.

[0174] In another embodiment, when the operation control unit 21 of the operation terminal 20 acquires the detection information from each of a plurality of work vehicles 10, the operation control unit 21 may determine the display order or display method of the plurality of pieces of detection information according to the degree of urgency. For example, the operation control unit 21 may pop up the detection information in descending order of urgency, and when the operator confirms one piece of detection information, the operation control unit 21 may pop up the detection information with the next highest degree of urgency. Furthermore, the operation control unit 21 may display the pop-up display of the detection information with the highest degree of urgency in red, or may add a specific symbol (mark) to the pop-up display of the detection information with the highest degree of urgency.

[0175] In the above-described embodiment, an example was shown in which the detection unit that detects the detection target (obstacle) is the obstacle sensor 54 or the camera 53 mounted on the work vehicle 10. However, in other embodiments, the detection unit may be a camera disposed outside the work vehicle 10. For example, the detection unit may be a camera installed in the field, or a camera mounted on an aircraft (such as a helicopter or a drone) that flies above the field. When the detection unit is a camera installed in the field or a camera on an aircraft, the entire field may be set as the measurement range of the detection target. In this case, for example, when a detection target X4 (see FIG. 4 ) located at a position away from the work vehicle 10 during autonomous driving (a position outside the measurement range of the obstacle sensor 54) is located within the field, the detection control unit 51 outputs detection information indicating that the detection target X4 has been detected to the operation terminal 20 to notify the operator. This allows the work vehicle 10 to automatically travel within the field in a state where there is no detection target (e.g., a person) in sight, for example, in a remote monitoring environment, and to be configured not to continue automatic travel when there is a detection target (e.g., a person) in the field.

[0176] [Driving control of work vehicle 10] As described above, the automated driving system 1 controls (issues an alert, decelerates, or stops) the operation of the work vehicle 10 when the work vehicle 10 detects a detection target within the vehicle control ranges Rd1 and Rd2 in a farm field (first configuration).

[0177] Furthermore, when the work vehicle 10 detects a detection target outside the vehicle control ranges Rd1 and Rd2 in the field (for example, detection targets X2 and X4 in FIG. 4), the automated driving system 1 pops up a notification message M1 on the selection screen P1 of the operation terminal 20 (see FIG. 9), and stops (parks) the work vehicle 10 if the operator does not press the switch button ("camera image" button) within a predetermined time after the notification message M1 is displayed, or if the operator does not press the confirmation button within a predetermined time after the confirmation message M2 (see FIG. 10) is displayed (second configuration).In another embodiment, the automated driving system 1 may stop the work vehicle 10 when the work vehicle 10 detects a detection target outside the vehicle control ranges Rd1 and Rd2 in the field (third configuration).

[0178] In another embodiment, the automated driving system 1 may allow an operator to select the second configuration or the third configuration for the processing content to be executed when the work vehicle 10 detects a detection target outside the vehicle control ranges Rd1 and Rd2 in a field, or may automatically select the second configuration or the third configuration according to the type of work machine or the work content, or may automatically select the second configuration or the third configuration according to the type of detection target (person, object, person attribute (manager, non-manager, etc.)). For example, the automated driving system 1 employs the second configuration when the work vehicle 10 detects a manager outside the vehicle control ranges Rd1 and Rd2 in a field, and employs the third configuration when the work vehicle 10 detects a non-manager.

[0179] [Obstacle detection information sharing] When the automated driving system 1 detects a detection target, it may share information (detection information) about the detection target among multiple work vehicles 10. Specifically, when multiple work vehicles 10 exist in the same field and the automated driving system 1 detects a detection target within the field, it outputs vehicle control information (stop instructions, deceleration instructions, notification instructions, etc.) to all work vehicles 10 within the field. For example, the automated driving system 1 stops the automated driving of all work vehicles 10 within the field.

[0180] Similarly, when the work vehicles 10 to be monitored are located in each of multiple fields, if the detection target is detected in any of the multiple fields, the automatic driving system 1 controls all of the work vehicles 10 located in each of the multiple fields (for example, stops automatic driving all at once).

[0181] In another embodiment, the automated driving system 1 may share the detection information between adjacent fields. For example, if a work vehicle 10 to be monitored is located in each of adjacent first and second fields, and the automated driving system 1 detects a detection target in the first field, it stops the automated driving of all of the work vehicles 10 to be monitored.

[0182] In another embodiment, the automated driving system 1 may share the detection information among multiple fields within a predetermined range. For example, a second field located less than a predetermined distance from a first field is set as a field with which the detection information is shared, and a third field located a predetermined distance or more from the first field is excluded from the fields with which the detection information is shared. In this case, when a detection target is detected in the first field, the automated driving system 1 stops the automated driving of all work vehicles 10 in the first and second fields and excludes the work vehicle 10 in the third field from the fields to be controlled. Note that an operator may be able to set the fields with which the detection information is shared, or may be able to set the predetermined range.

[0183] In this way, the automatic driving system 1 may be configured to stop the automatic driving of the first work vehicle 10 and stop the automatic driving of the second work vehicle 10 that is automatically driving in the second field (second work area) when the detection object is detected while the first work vehicle 10 is automatically driving in the first field (first work area).

[0184] In another embodiment, the automated driving system 1 may share the detection information among multiple work vehicles 10 that are within a predetermined range. For example, a second work vehicle 10 that is located less than a predetermined distance from the first work vehicle 10 is set as a work vehicle 10 with which the detection information is shared, and a third work vehicle 10 that is located a predetermined distance or more from the first work vehicle 10 is excluded from the work vehicles 10 with which the detection information is shared. In this case, when the first work vehicle 10 detects a detection target, the automated driving system 1 stops the automated driving of the first work vehicle 10 and the second work vehicle 10, and excludes the third work vehicle 10 from being controlled. Note that the operator may be able to set the work vehicles 10 with which the detection information is shared, or may be able to set the predetermined range.

[0185] In another embodiment, the automated driving system 1 may be able to set a sharing level for the detection information. For example, when a detection target is detected, the operator may be able to select whether to share the detection information among multiple work vehicles 10 regardless of the type of detection target (person, object, etc.), or whether to share the detection information among multiple work vehicles 10 on the condition that the type of detection target is a person.

[0186] In addition, when a detection target is detected, the operator may be able to select whether to share the detection information among multiple work vehicles 10 regardless of whether the detection target is located inside or outside the field, or whether to share the detection information among multiple work vehicles 10 on the condition that the detection target is located inside the field.

[0187] Furthermore, when a first work vehicle 10 detects a detection target, the operator may be able to select whether or not to share the detection information between the first work vehicle 10 and another, second work vehicle 10. Furthermore, the operator may be able to select the work vehicle 10 with which the detection information will be shared. For example, the operator may be able to create and select a machine group with which the detection information will be shared. For example, the operator may set work vehicles 10A, 10B, and 10C with which the detection information will be shared to the same machine group. Furthermore, the operator may set work vehicles 10A, 10B, and 10C with which the detection information will be shared to a first machine group, and work vehicles 10D, 10E, and 10F with which the detection information will be shared to a second machine group.

[0188] Furthermore, when a detection target is detected, the automated driving system 1 may cause the detection information to be shared among the multiple operation terminals 20. For example, when multiple work vehicles 10 are being monitored by multiple operation terminals 20, if any of the work vehicles 10 detects a detection target, the automated driving system 1 may output the detection information to each of the multiple operation terminals 20 and cause each operation terminal 20 to display a notification message M1 as a pop-up.

[0189] [Record detection information] The autonomous driving system 1 may store predetermined log information when a detection target is detected. Specifically, when a detection target is detected, the autonomous driving system 1 stores log information including camera image data (moving or still images) before and after the detection of the detection target, a notification log notifying the operator (remote monitor) (such as the date and time when the notification message M1 was sent to the operation terminal 20), and a confirmation log in which the operator confirmed the notification (such as the date and time when the confirmation button for the notification message M1 was pressed). The autonomous driving system 1 may store the log information in a server, in the storage unit 12 of the work vehicle 10, or in the storage unit 22 of the operation terminal 20. This allows the user, for example, to check the log information at any time.

[0190] The automatic driving system 1 may be configured to store the log information when any one of the following conditions is met: that the detection target has been detected (first condition), that the detection target has been detected within the same farm field (second condition), or that the detection target has been detected regardless of whether it is within the farm field or outside the farm field (third condition). The operator may be able to select any one of the first to third conditions.

[0191] [Resuming automatic driving] When the automatic driving system 1 detects a detection target and stops the automatic driving of the work vehicle 10, the automatic driving system 1 resumes the automatic driving if predetermined conditions are met. Specifically, when the automatic driving system 1 detects a detection target and stops the automatic driving of the work vehicle 10, the automatic driving system 1 permits the resumption of automatic driving on the condition that the operator has confirmed the camera image at the time of the stop (an image of the surroundings of the work vehicle 10, an image showing the detection target, etc.). For example, the automatic driving system 1 permits the resumption of automatic driving when an image of the surroundings of the work vehicle 10 is displayed on the operation terminal 20 and the operator confirms the image. Furthermore, for example, the automatic driving system 1 permits the resumption of automatic driving when an image showing the detection target is displayed on the operation terminal 20 and the operator confirms the image. The automatic driving system 1 prohibits automatic driving if the operator does not confirm the camera image.

[0192] The automated driving system 1 may determine that the operator has confirmed the camera image when the operator presses a confirmation button while the camera image is displayed on the operation terminal 20. In another embodiment, the automated driving system 1 may identify the operator's line of sight using a camera connected to the operation terminal 20, and determine that the operator has confirmed the camera image when it is determined that the operator's line of sight is directed toward the camera image displayed on the operation terminal 20.

[0193] As described above, in the above embodiment, the obstacle detection device 15 corresponds to the control system according to the present invention, but the control system according to the present invention may be configured by the obstacle detection device 15 and the vehicle control device 11, or may be configured to include the work vehicle 10 and the operation terminal 20. For example, the control system according to the present invention may be the automated driving system 1.

[0194] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0195] <Appendix 1> A control method that executes different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area.

[0196] <Appendix 2> When the detection target is located outside the work area, a first response process is executed to notify an operation terminal capable of displaying a driving status of the work vehicle during automatic driving of detection information indicating that the detection target has been detected; When the detection target is located within the work area, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a travel control process of controlling the travel of the work vehicle during automatic travel. 10. The control method according to claim 1.

[0197] <Appendix 3> When the detection target is located within the work area, different countermeasure processes are executed depending on whether the detection target is located within a vehicle control range set based on the work vehicle or outside the vehicle control range. 3. The control method according to claim 1 or 2.

[0198] <Appendix 4> When the detection target is located within the work area, a first response process is executed to notify an operation terminal capable of displaying a travel status of the work vehicle during automatic travel of detection information indicating that the detection target has been detected; When the detection target is located within the work area and within the vehicle control range, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a driving control process of controlling the driving of the work vehicle during automatic driving. 3. The control method according to claim 3.

[0199] <Appendix 5> stopping the automatic traveling of the work vehicle when a predetermined operation is not received from a user of the operation terminal in response to the detection information notified to the operation terminal by the first handling process; 5. The control method according to claim 4.

[0200] <Appendix 6> The second handling process includes a process of notifying the operation terminal of the detection information, a process of decelerating the work vehicle, a process of stopping the automatic traveling of the work vehicle, and a process of issuing a warning sound from the work vehicle. A control method according to any one of Supplementary Notes 2 to 5.

[0201] <Appendix 7> When the detection target is located outside the work area and in the vicinity of the work area, notifying an operation terminal capable of displaying the traveling status of the work vehicle during automatic traveling of detection information indicating that the detection target has been detected; When the detection target is located outside the work area and outside the periphery of the work area, the detection information is not notified to the operation terminal. A control method according to any one of Supplementary Notes 1 to 6.

[0202] <Appendix 8> displaying at least one of the position of the detection target and an image of the detection target on a map screen displayed on an operation terminal capable of displaying the traveling status of the work vehicle during automatic traveling; A control method according to any one of Supplementary Notes 1 to 7.

[0203] <Appendix 9> accepts an operation to select a first monitoring mode that permits the work vehicle to travel automatically on condition that a user is present within a predetermined distance from the work vehicle, or a second monitoring mode that permits the work vehicle to travel automatically even if a user is not present within the predetermined distance from the work vehicle; When the second monitoring mode is selected, the countermeasure processing is executed according to the position of the detection target. A control method according to any one of Supplementary Notes 1 to 8.

[0204] <Appendix 10> When the detection target is detected by a detection unit while a first work vehicle is automatically traveling in a first work area, the automatic traveling of the first work vehicle is stopped, and the automatic traveling of a second work vehicle that is automatically traveling in a second work area is stopped. A control method according to any one of Supplementary Notes 1 to 9.

[0205] <Appendix 11> A control method in which, when a detection target detected by a detection unit while a work vehicle is automatically driving in a work area is located within the work area, different countermeasures are executed depending on whether the detection target is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

[0206] <Appendix 12> one or more processors, A control program for executing different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area.

[0207] <Appendix 13> A control system that executes different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area. [Explanation of symbols]

[0208] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 15: Obstacle detection device 20: Operation terminal 21: Operation control section 51: Detection control unit 53: Camera (detection unit) 54: Obstacle sensor (detection unit) 111: Driving processing unit 211: Setting processing section 212: Display processing unit 213: Reception processing unit 511: Acquisition processing unit 512: Judgment processing unit 513: Output processing section F: Field (working area) M1: Notification message (detection information) M2: Confirmation message (detection information) M3: Notification mark (detection information) M4: Message (detection information) P1: Selection screen P2: Information display screen P3: Camera screen Ra: Stop control range (vehicle control range) Rb: Deceleration control range (vehicle control range) Rc: Notification control range (vehicle control range) Rd1: First vehicle control range (vehicle control range) Rd2: Second vehicle control range (vehicle control range) Rm1: First measurement range Rm2: Second measurement range Rn: Non-vehicle control range Rs: Non-detection range

Claims

1. A control method that executes different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area.

2. When the detection target is located outside the work area, a first response process is executed to notify an operation terminal capable of displaying a traveling status of the work vehicle during automatic traveling of detection information indicating that the detection target has been detected; When the detection target is located within the work area, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a travel control process of controlling the travel of the work vehicle during automatic travel. The control method according to claim 1 .

3. When the detection target is located within the work area, different countermeasure processes are executed depending on whether the detection target is located within a vehicle control range set based on the work vehicle or outside the vehicle control range. The control method according to claim 1 .

4. When the detection target is located within the work area, a first response process is executed to notify an operation terminal capable of displaying a traveling status of the work vehicle during automatic traveling of detection information indicating that the detection target has been detected; When the detection target is located within the work area and within the vehicle control range, a second response process is executed, the second response process including a process of notifying the operation terminal of the detection information and a travel control process of controlling the travel of the work vehicle during automatic travel. The control method according to claim 3 .

5. stopping the automatic traveling of the work vehicle when a predetermined operation is not received from a user of the operation terminal in response to the detection information notified to the operation terminal by the first handling process; The control method according to claim 4.

6. The second handling process includes a process of notifying the operation terminal of the detection information, a process of decelerating the work vehicle, a process of stopping the automatic traveling of the work vehicle, and a process of issuing a warning sound from the work vehicle. The control method according to claim 2 or 4.

7. When the detection target is located outside the work area and in the vicinity of the work area, notifying an operation terminal capable of displaying the traveling status of the work vehicle during automatic traveling of detection information indicating that the detection target has been detected; When the detection target is located outside the work area and outside the periphery of the work area, the detection information is not notified to the operation terminal. The control method according to claim 1 .

8. displaying at least one of the position of the detection target and an image of the detection target on a map screen displayed on an operation terminal capable of displaying the traveling status of the work vehicle during automatic traveling; The control method according to claim 1 .

9. accepts an operation to select a first monitoring mode that permits the work vehicle to travel automatically on condition that a user is present within a predetermined distance from the work vehicle, or a second monitoring mode that permits the work vehicle to travel automatically even if a user is not present within the predetermined distance from the work vehicle; When the second monitoring mode is selected, the countermeasure processing is executed according to the position of the detection target. The control method according to claim 1 .

10. When the detection target is detected by a detection unit while a first work vehicle is automatically traveling in a first work area, the automatic traveling of the first work vehicle is stopped, and the automatic traveling of a second work vehicle that is automatically traveling in a second work area is stopped. The control method according to claim 1 .

11. A control method in which, when a detection target detected by a detection unit while a work vehicle is automatically driving in a work area is located within the work area, different countermeasures are executed depending on whether the detection target is located within a vehicle control range set based on the work vehicle or outside the vehicle control range.

12. one or more processors, A control program for executing different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area.

13. A control system that executes different countermeasures depending on whether a detection target detected by a detection unit while a work vehicle is automatically traveling in a work area is located within the work area or outside the work area.

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