Traveling control method, traveling control system, work vehicle, and traveling control program

Abstract

To provide a traveling control method, a traveling control system, a work vehicle, and a traveling control program, capable of improving operability of an operator at the work vehicle where switching between automatic traveling and manual travel traveling is possible.SOLUTION: A reception processing unit 112 receives an operator's operation for an operation tool for making a work vehicle 10 execute a predetermined motion. A motion processing unit 114 makes the work vehicle 10 execute a motion according to the operator's operation for the operation tool. A traveling processing unit 111 makes the work vehicle 10 perform automatic traveling when the operator's first operation for the operation tool is received and makes the work vehicle 10 perform manual traveling when the operator's second operation for the operation tool is received.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving control method, a driving control system, a work vehicle, and a driving control program for driving a work vehicle. [Background technology]

[0002] Conventionally, as an automatically traveling work vehicle, there is known a work vehicle that travels automatically only when traveling straight, and travels (manually traveling) in response to manual steering (manual operation) by an operator when turning. For example, Patent Document 1 discloses a configuration in which the automatic traveling is terminated when the automatically traveling work vehicle reaches a point where it transitions from a straight route to a turning route, and the automatic traveling is started when the operator switches an operation switch for automatic traveling to ON when the vehicle enters the next straight route after the turning traveling by the operator's manual steering is completed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-208424 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, when switching a work vehicle from manual to automatic travel, the operator must operate an operation switch for switching between automatic and manual travel while manually steering, which makes the operation by the operator cumbersome. In particular, in a work vehicle equipped with a liftable work implement, the operator must lower the work implement in addition to operating the operation switch when completing a turn using manual steering, which makes the operation even more cumbersome.

[0005] An object of the present invention is to provide a driving control method, a driving control system, a work vehicle, and a driving control program that can improve the operability of an operator in a work vehicle that can switch between automatic driving and manual driving. [Means for solving the problem]

[0006] A driving control method according to the present invention is a driving control method for controlling the driving of a work vehicle that can switch between automatic driving using automatic steering and manual driving using manual steering by an operator. The driving control method includes accepting an operator's operation on an operating tool that causes the work vehicle to perform a predetermined operation, causing the work vehicle to perform an operation in accordance with the operator's operation on the operating tool, causing the work vehicle to drive automatically when a first operator operation on the operating tool is accepted, and causing the work vehicle to drive manually when a second operator operation on the operating tool is accepted.

[0007] The driving control system according to the present invention controls the driving of a work vehicle that can switch between automatic driving using automatic steering and manual driving using manual steering by an operator. The driving control system includes a reception processing unit, an operation processing unit, and a driving processing unit. The reception processing unit accepts an operator's operation on an operating tool that causes the work vehicle to perform a predetermined operation. The operation processing unit causes the work vehicle to perform an operation in accordance with the operator's operation on the operating tool. The driving processing unit causes the work vehicle to drive automatically when a first operation by the operator using the operating tool is accepted, and causes the work vehicle to drive manually when a second operation by the operator using the operating tool is accepted.

[0008] The work vehicle according to the present invention is a work vehicle capable of switching between automatic driving using automatic steering and manual driving using manual steering by an operator. The work vehicle is equipped with an operating tool and a control unit. The operating tool causes the work vehicle to perform a predetermined operation in response to an operation by the operator. When a first operation by the operator using the operating tool is received, the control unit causes the work vehicle to perform a first operation and drive automatically, and when a second operation by the operator using the operating tool is received, the control unit causes the work vehicle to perform a second operation and drive manually.

[0009] A travel control program according to the present invention is a travel control program for controlling the travel of a work vehicle that can switch between automatic travel using automatic steering and manual travel using manual steering by an operator. The travel control program causes one or more processors to execute the following operations: accept an operator's operation on a control tool that causes the work vehicle to perform a predetermined operation; cause the work vehicle to perform an operation in accordance with the operator's operation on the control tool; and automatically travel the work vehicle when a first operator operation on the control tool is accepted, and manually travel the work vehicle when a second operator operation on the control tool is accepted. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a driving control method, a driving control system, a work vehicle, and a driving control program that can improve the operability of an operator in a work vehicle that can switch between automatic driving and manual driving. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a work vehicle 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 an external view showing an example of an operating device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 5A] FIG. 5A is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 5B] FIG. 5B is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 5C] FIG. 5C is a diagram for explaining a driving method for automatic driving in a work vehicle according to an embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of a display screen of the operating device according to the embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing an example of a display screen of the operating device according to the embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing an example of a setting screen displayed on the operation device according to the embodiment of the present invention. [Figure 7C] FIG. 7C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of the procedure of the travel control process executed in the work vehicle according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of a setting screen displayed on the operation device according to the embodiment of the present invention. [Figure 11A]FIG. 11A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a setting screen displayed on the operation device 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 FIGS. 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a satellite 20, and a base station (not shown). The automated driving system 1 controls the driving of the work vehicle 10, which can switch between automated driving using automated steering and manual driving using manual steering by an operator. The automated driving system 1 is an example of a driving control system according to the present invention. The driving control system of the present invention may be configured with the work vehicle 10 alone. In this embodiment, an example will be described in which the work vehicle 10 is a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 performs a predetermined task (e.g., plowing) while traveling along a target route R in a field F (see FIG. 4) in response to operation by an operator. Specifically, the work vehicle 10 travels straight along the target route R in response to automated steering and turns in response to manual steering (driving operation) by the operator. The work vehicle 10 performs work by traveling within a field F while switching between automatic traveling on a straight path and manual traveling on a turning path. The target path R may be generated in advance based on the operation of the operator and stored as path data.

[0014] The work vehicle 10 according to this embodiment has a configuration that switches between a function of automatic driving while performing automatic steering according to the target route R and a function of manual driving according to manual steering by the operator.

[0015] The work vehicle 10 travels, for example, in a field F shown in Fig. 4, alternating between straight travel and turning travel until work is completed. The multiple straight routes are substantially parallel to each other. The target route R shown in Fig. 4 is an example, and the target route R is determined appropriately depending on the size of the work vehicle 10, the size of the work implement 14, the work content, the shape of the field F, etc.

[0016] The automated driving system 1 may also include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operation terminal is capable of communicating with the work vehicle 10 via a communication network such as a mobile phone network, a packet network, or a wireless LAN. For example, the operator operates the operation terminal to register various information (work vehicle information, field information, work information, etc.). Furthermore, the operator can grasp the driving status and work status of the work vehicle 10 from the driving trajectory displayed on the operation terminal while in a location away from the work vehicle 10.

[0017] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, an operation device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, the operation device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. The vehicle control device 11 and the operation device 17 may also be capable of wireless communication.

[0018] The communication unit 15 is a communication interface that connects the work vehicle 10 to a communication network by wire or wirelessly, and executes data communication with an external device (such as an operation terminal) via the communication network in accordance with a predetermined communication protocol.

[0019] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as a driving control program for causing the vehicle control device 11 to execute a driving control process (see FIG. 9 ), which will be described later. For example, the driving 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 12. The driving control program may also be downloaded to the work vehicle 10 from a server (not shown) via a communication network and stored in the storage unit 12.

[0020] 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.

[0021] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source 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 electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. Electrical components such as the vehicle control device 11, positioning device 16, and operating device 17 provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0022] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via the transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). The traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0023] The work implement 14 is, for example, a tiller, a seed sower, a brush cutter, a plow, or a fertilizer applicator, 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 tiller.

[0024] The work implement 14 may be supported in the work vehicle 10 by a lifting mechanism (not shown) so that it can be raised and lowered. The vehicle control device 11 is able to raise and lower the work implement 14 by controlling the lifting mechanism. For example, when the operator operates the lifting lever 14L (see FIG. 3) to lower the work implement 14 (for example, by lowering the lifting lever 14L), the vehicle control device 11 lowers the work implement 14, and when the operator operates the lifting lever 14L to raise the work implement 14 (for example, by raising the lifting lever 14L), the vehicle control device 11 raises the work implement 14. The lifting lever 14L is provided, for example, near the handle 137 (see FIG. 3), but may be provided at another position within the cabin 18.

[0025] Furthermore, when the vehicle control device 11 acquires an instruction to stop work, it outputs a work stop command to the work implement 14. When the vehicle control device 11 acquires an instruction to stop work, it stops driving the PTO shaft to stop the work of the work implement 14.

[0026] The handle 137 is an operating unit that is operated by an operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the operator or the vehicle control device 11, thereby changing the traveling direction of the work vehicle 10.

[0027] The traveling device 13 also includes a speed change lever 13L (see FIG. 3), a shift lever, an accelerator, a clutch, a brake, a PTO switch (none of which are shown), etc. For example, when the operator performs an accelerating operation to increase the vehicle speed of the work vehicle 10 using the speed change lever 13L (for example, an operation to push the speed change lever 13L back), the traveling device 13 increases the vehicle speed of the work vehicle 10, and when the operator performs a decelerating operation to increase the vehicle speed of the work vehicle 10 using the speed change lever 13L (for example, an operation to push the speed change lever 13L forward), the traveling device 13 decelerates the vehicle speed of the work vehicle 10.

[0028] In addition, for example, when the operator sets the PTO switch to ON, the traveling device 13 transmits the driving force of the engine 131 to the work implement 14 via the PTO shaft to operate the work implement 14, and when the operator sets the PTO switch to OFF, the transmission of driving force from the engine 131 to the work implement 14 is cut off, stopping the operation of the work implement 14.

[0029] The traveling device 13 also uses electromagnetic brakes in response to operation of the brakes to brake the rotation of the front wheels 132 and rear wheels 133. The traveling device 13 also switches the gear of the transmission 134 to a forward gear, a reverse gear, or the like in response to operation of the shift lever, thereby switching the traveling mode of the work vehicle 10 between forward and reverse, for example. The traveling device 13 also controls the rotation speed of the engine 131 in response to operation of the accelerator. The traveling device 13 also uses electromagnetic brakes in response to operation of the brakes to brake the rotation of the front wheels 132 and rear wheels 133.

[0030] The various operating tools described above that the operator uses to cause the work vehicle 10 to perform predetermined operations, such as the lift lever 14L, the speed change lever 13L, the handle 137, the shift lever, the accelerator, the clutch, and the PTO switch, are examples of operating tools of the present invention.

[0031] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2 , the positioning device 16 is provided above the cabin 18 in which the operator sits. The installation location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0032] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a positioning control program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the positioning control program may be downloaded to the positioning device 16 from a server (not shown) via a communication network and stored in the storage unit 162.

[0033] The communication unit 163 is a communication interface for connecting the positioning device 16 to a communication network by wire or wirelessly, and for executing data communication with an external device such as a base station server via the communication network in accordance with a predetermined communication protocol.

[0034] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellites 20.

[0035] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from the satellites 20. For example, when the work vehicle 10 is autonomously traveling in a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of the multiple satellites 20, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite 20, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS 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 positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position.

[0036] The operation device 17 is a device operated by an operator on board the work vehicle 10, and includes an operation display unit 171. The operation display unit 171 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as operation buttons or a touch panel that accepts operations. The operation display unit 171 displays various setting screens, work screens, etc. The operation display unit 171 also accepts operations by the operator on the setting screens and work screens. As shown in FIGS. 2 and 3, for example, the operation device 17 is installed near the handle 137 inside the cabin 18. The operation device 17 may also be an operation terminal (tablet terminal, smartphone, etc.) that the operator can carry.

[0037] The operation unit includes an automatic driving button (not shown) that the operator issues a driving start instruction when automatically driving the work vehicle 10. In other words, the automatic driving button functions as a switch button (automatic driving instruction button) for switching the driving mode of the work vehicle 10 from manual driving (manual driving mode) to automatic driving (automatic driving mode).

[0038] The operator can also make various settings related to automatic driving on the operation device 17. The setting operations on the operation device 17 will be described later.

[0039] 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 pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) 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 pre-stored in the ROM or storage unit 12.

[0040] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, a reception processing unit 112, a display processing unit 113, and an operation processing unit 114. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the driving control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The driving control program may be a program for causing multiple processors to function as the processing units.

[0041] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, when the driving mode of the work vehicle 10 is manual driving (manual driving mode), the driving processing unit 111 manually drives the work vehicle 10 based on the operation (manual steering) of the operator. For example, the driving processing unit 111 acquires operation information corresponding to driving operations such as steering operation, gear change operation, shift operation, accelerator operation, and brake operation by the operator, and causes the driving device 13 to perform driving operations based on the operation information.

[0042] Furthermore, 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 automatically drive based on position information (positioning information) indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the work vehicle 10 satisfies the automatic driving start conditions and receives a driving start command from the operator, the driving processing unit 111 causes the work vehicle 10 to start automatic driving based on the positioning information. Furthermore, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route R (straight route) generated in advance.

[0043] A specific example (first driving pattern) of automatic driving according to this embodiment will now be described with reference to Figures 5 and 6. In this embodiment, the work vehicle 10 is caused to automatically travel along a straight route in a field F shown in Figure 4.

[0044] First, the operator sets a reference line L1 for generating a straight path, which is the target path R. For example, the operator manually drives the work vehicle 10 at an arbitrary position within the field F (e.g., the outer periphery) in a direction (target direction) in which the operator wants the work vehicle 10 to travel and work. Specifically, the operator drives the work vehicle 10 straight in a direction parallel to the working direction (e.g., the plowing direction) in which the work vehicle 10 will work in the work area. Then, while manually driving the work vehicle 10 in the intended target direction, the operator operates (e.g., touches) the operation display unit 171 twice at an arbitrary position (e.g., the front or rear end of the work area). The vehicle control device 11 registers the position (point A) of the work vehicle 10 through the operator's first operation, and registers the position (point B) of the work vehicle 10 through the operator's second operation. After acquiring the position information of points A and B, the vehicle control device 11 sets a straight line passing through points A and B as the reference line L1 (see FIG. 5A). The vehicle control device 11 may also be configured to be able to register point B when the work vehicle 10 has traveled a predetermined distance (e.g., 5 m) since registering point A. This allows for the setting of a more accurate reference line L1. The vehicle control device 11 generates a travel route (target route R) that includes the reference line L1 and multiple straight lines parallel to the reference line L1. For example, the vehicle control device 11 generates multiple parallel straight lines at equal intervals to the left and right of the reference line L1 based on a preset working width (the width of the work implement 14) and lap width (the width that overlaps with adjacent completed work areas) (see FIG. 5B). The vehicle control device 11 registers the generated target route R in the memory unit 12 and displays it on the operation device 17.

[0045] After the target route R has been generated, when the operator drives the work vehicle 10 straight ahead using automatic steering within the field F, the operator looks at the target route R displayed on the operation device 17 and moves the work vehicle 10 using manual steering so that the direction (azimuth) of the work vehicle 10 is within a predetermined range (predetermined azimuth) relative to the direction of the reference line L1 (satisfying the automatic driving start condition) (see Figure 5C).

[0046] FIG. 6A shows an operation screen indicating that the work vehicle 10 has satisfied the automatic driving start conditions and is now in a state where it can drive automatically. When the work vehicle 10 satisfies the automatic driving start conditions, the vehicle control device 11 causes the operation display unit 171 to display the operation screen shown in FIG. 6A. When the work vehicle 10 is in a state where it can drive automatically, the operator presses an automatic driving button (not shown) on the operation display unit 171 to issue a driving start instruction. When the reception processing unit 112 receives the driving start instruction, the driving processing unit 111 begins automatic steering of the work vehicle 10 so that the work vehicle 10 follows the straight route that is closest to the current position P0 (see FIG. 5C). As a result, the driving processing unit 111 causes the work vehicle 10 to automatically drive along the straight route by automatic steering.

[0047] Fig. 6B shows a display screen when the work vehicle 10 is traveling automatically. When the work vehicle 10 starts traveling automatically, the vehicle control device 11 causes the operation display unit 171 to display the display screen shown in Fig. 6B. The vehicle control device 11 causes the display screen to display the straight route, the completed work area (work status), etc.

[0048] As described above, the first driving pattern of the automatic driving is a configuration in which the target route R is generated in advance according to the working width and lap width of the work vehicle 10, and the work vehicle 10 drives automatically. The second driving pattern of the automatic driving may be a configuration in which the target route R is generated based on the position of the work vehicle 10, and the work vehicle 10 drives automatically.

[0049] In the second driving pattern, for example, after the reference line L1 is set (see Figure 5A), when the operator moves the work vehicle 10 to a position where work will begin and presses the automatic driving button, the vehicle control device 11 automatically steers the work vehicle 10 from that position to drive straight ahead parallel to the reference line L1.

[0050] The vehicle control device 11 may apply the first driving pattern and the second driving pattern in response to a selection operation by the operator. For example, the vehicle control device 11 may display a first route creation mode corresponding to the first driving pattern and a second route creation mode corresponding to the first driving pattern in a selectable manner on a setting screen (not shown), and may perform automatic driving according to the route creation mode selected by the operator.

[0051] Furthermore, in the first driving pattern and the second driving pattern, when the work vehicle 10 drives straight using automatic steering and approaches the terminal end Pe (the intersection of the perpendicular line passing through point B to the reference line L1 and the straight path (straight line)) (see FIG. 5C), the driving processing unit 111 notifies the operator (by displaying a message, providing audio guidance, etc.) of guidance information indicating that the work vehicle 10 is approaching the terminal end Pe. When the operator confirms the guidance information, the automatic steering is terminated.

[0052] The driving processing unit 111 switches the driving mode to manual driving when the work vehicle 10 reaches the terminal end Pe (the terminal end of the straight route). The driving processing unit 111 may switch the driving mode to manual driving when it determines that the work vehicle 10 has reached the terminal end Pe, or may switch the driving mode to manual driving in response to an operation by the operator. When the driving mode is switched to manual driving, for example, the operator manually steers the work vehicle 10 to make a turn (manual driving).

[0053] In this way, the driving processing unit 111 switches the driving mode in response to the operator's operation of the operation device 17, causing the work vehicle 10 to automatically drive along a straight path (target path R) using automatic steering, and to manually drive along a turning path using manual steering. The automatic driving button of the operation device 17 is a dedicated button (dedicated operating tool) that has the function of causing the work vehicle 10 to drive automatically.

[0054] However, when the operator operates the operation device 17 (automatic travel button) to cause the work vehicle 10 to travel automatically, the following problems may occur. Specifically, for example, when switching the travel mode from manual travel to automatic travel, the operator manually steers the work vehicle 10 while checking the road ahead so that the work vehicle 10 does not deviate from the turning path and is aligned with the start position of the straight path, and then presses the automatic travel button when the automatic travel start conditions are met. Furthermore, the operator performs an operation to lower the work implement 14 (an operation to lower the lift lever 14L) at the start position of the straight path. As such, when switching from manual travel to automatic travel, the operator must perform many operations, which can cause the problem of complicated operations. Therefore, the work vehicle 10 according to this embodiment is further equipped with a configuration that can improve the operability of the operator when switching between automatic travel and manual travel.

[0055] Specifically, the reception processing unit 112 receives the operator's operation of the operating tools that cause the work vehicle 10 to perform a predetermined operation. The operating tools include the above-mentioned lift / lower lever 14L, gear shift lever 13L, handle 137, shift lever, accelerator, clutch, and PTO switch. In the following, the lift / lower lever 14L will be given as an example of the operating tool. For example, the reception processing unit 112 receives the operator's operation (up and down operation of the lift / lower lever 14L) of the lift / lower lever 14L (see FIG. 3) that causes the work vehicle 10 to perform the operation of lifting and lowering the work implement 14.

[0056] The operation processing unit 114 causes the work vehicle 10 to perform an operation in response to the operator's operation of the operating tool. For example, the operation processing unit 114 causes the work vehicle 10 to perform an operation of raising or lowering the work implement 14 in response to the operator's operation of the lift lever 14L. For example, when the operator performs an operation to lower the lift lever 14L and the reception processing unit 112 accepts this operation, the operation processing unit 114 outputs a lowering command to the lifting mechanism of the work implement 14, thereby lowering the work implement 14. Alternatively, when the operator performs an operation to raise the lift lever 14L and the reception processing unit 112 accepts this operation, the operation processing unit 114 outputs an raising command to the lifting mechanism of the work implement 14, thereby raising the work implement 14.

[0057] The driving processing unit 111 causes the work vehicle 10 to automatically drive when a first operation by the operator on the operating tool is accepted, and causes the work vehicle 10 to manually drive (stop automatic driving) when a second operation by the operator on the operating tool is accepted. For example, when the operator performs an operation to lower the lift lever 14L (an example of a first operation) and the reception processing unit 112 accepts this operation, the driving processing unit 111 causes the work vehicle 10 to automatically drive. Also, for example, when the operator performs an operation to raise the lift lever 14L (an example of a second operation) and the reception processing unit 112 accepts this operation, the driving processing unit 111 causes the work vehicle 10 to manually drive (stop automatic driving).

[0058] In this way, when the operator performs an operation to lower the lift lever 14L, the operation processing unit 114 lowers the work implement 14, and the driving processing unit 111 automatically drives the work vehicle 10. On the other hand, when the operator performs an operation to raise the lift lever 14L, the operation processing unit 114 raises the work implement 14, and the driving processing unit 111 manually drives the work vehicle 10 (stops automatic driving).

[0059] When the vehicle control device 11 receives a first operation on a predetermined operating tool from the operator, it causes the work vehicle 10 to execute a first action corresponding to the operating tool and start automatic driving, and when the vehicle control device 11 receives a second operation on the operating tool from the operator, it causes the work vehicle 10 to execute a second action corresponding to the operating tool and start manual driving (stop automatic driving). That is, in the work vehicle 10 according to this embodiment, the operating tool may have both a function for receiving instructions for the operation that the operating tool originally performs and a function for receiving instructions to switch between automatic driving and manual driving (driving mode switching function). Furthermore, the vehicle control device 11 may switch between automatic driving and manual driving in conjunction with the operator's operation of the operating tool.

[0060] According to the above configuration, for example, when the work vehicle 10 is manually traveling on a turning route with the work implement 14 raised, and then switches to automatic traveling on a straight route, the operator can issue a command to switch from manual traveling to automatic traveling and to lower the work implement 14 simply by lowering the lift lever 14L. This allows the operator to omit the operation of pressing the automatic traveling button (see FIG. 3), thereby improving operability.

[0061] In another embodiment, the reception processing unit 112 may receive from the operator a setting operation that sets whether or not to link a first function that executes a predetermined operation in response to the operator's operation of the operating tool with a second function (traveling mode switching function) that switches between automatic traveling and manual traveling in response to the operator's operation of the operating tool. In other words, the work vehicle 10 may be configured so that the operator can select whether or not to link the traveling mode switching function with the operation of the operating tool.

[0062] For example, when the operator selects a setting menu on a menu screen (not shown) displayed on the operation display unit 171 of the operation device 17, the display processing unit 113 displays the setting screen P1 shown in FIG. 7A. Among the multiple setting items displayed on the setting screen P1, item K1 of "Automatic Linkage of Operation of This Machine" is an item for setting whether or not to link the driving mode switching function. When item K1 is "OFF," the driving mode switching function is not linked to the operation of the operating tool. In this case, the operator presses the automatic driving button to start automatic driving, as described above (see FIGS. 6A and 6B).

[0063] When the driving mode switching function is to be linked to the operation of the operating tool, the operator selects item K1 on the setting screen P1 (presses the OK button). When the operator selects item K1, the display processing unit 113 displays the setting screen P2 shown in FIG. 7B. When the operator selects "ON" on the setting screen P2, the reception processing unit 112 sets the driving mode switching function to ON, and the display processing unit 113 updates item K1 on the setting screen P1 to "ON" (see FIG. 7C). This brings about a state in which the driving mode switching function is linked to the operation of the operating tool. Note that the setting screen P1 is an example and is not limited to the display contents of FIGS. 7A to 7C. For example, if the operating tool is the lifting lever 14L, the notation "Main machine operation auto-link" on the setting screen P1 may be "Work machine auto-link," "Work machine link," "Lowering auto-link," or the like.

[0064] When item K1 is set to "ON," the driving mode switching function is linked to the operation of the operating tool. In this case, the operator starts automatic driving by lowering the lift lever 14L, and starts manual driving (stops automatic driving) by raising the lift lever 14L.

[0065] According to the above configuration, the operator can select whether or not to link the driving mode switching function to the operation of the operating tool. For example, an operator who wishes to issue an instruction to start automatic driving using the automatic driving button can set item K1 to "OFF" (see FIG. 7A) to disable the driving mode switching function. On the other hand, an operator who wishes to issue an instruction to start automatic driving in conjunction with the operation of the operating tool can set item K1 to "ON" (see FIG. 7C) to enable the driving mode switching function.

[0066] In this embodiment, the display processing unit 113 may further display, on the work screen P3, information indicating whether the driving mode switching function is linked to the operation of the operating tool. FIGS. 8A and 8B show an example of the work screen P3 displayed on the operation display unit 171. When "Main Unit Operation Auto Link" on the setting screen P1 is set to "ON" (see FIG. 7C) and the driving mode switching function is linked, the display processing unit 113 displays, on the work screen P3, an icon image C1 indicating that the driving mode switching function is linked, as shown in FIG. 8A, while the work vehicle 10 is traveling. On the other hand, when "Main Unit Operation Auto Link" on the setting screen P1 is set to "OFF" (see FIG. 7A) and the driving mode switching function is not linked, the display processing unit 113 does not display, on the work screen P3, an icon image C1 while the work vehicle 10 is traveling, as shown in FIG. 8B. The display processing unit 113 may light up or blink the icon image C1 when the driving mode switching function is linked, and may turn off (gray out) the icon image C1 when the driving mode switching function is not linked. The display processing unit 113 may also change the display color of the icon image C1 depending on whether the driving mode switching function is linked or not.

[0067] In this embodiment, the reception processing unit 112 may further receive an operation by the operator to select whether or not to link the driving mode switching function on the work screen P3 (see FIGS. 8A and 8B). For example, the display processing unit 113 displays a selection section K3 on the work screen P3 that allows the operator to select whether or not to link the driving mode switching function. When the operator selects the selection section K3 on the work screen P3, the display processing unit 113 displays the setting screen P2 shown in FIG. 7B and receives the operator's selection operation. The operator can turn on / off the linkage of the driving mode switching function on the work screen P3 while checking the work status. The selection section K3 is an example of the reception button of the present invention.

[0068] In this way, the reception processing unit 112 may be configured to be able to accept a setting operation to select whether or not to link the driving mode switching function both before and after the work vehicle 10 starts work. Here, when working over the entire field F, it is necessary to divide the work into a central area and a headland area. In such a case, work in the headland area is close to the ridges and therefore requires high precision. In this regard, with the above configuration, the linkage of the driving mode switching function is turned ON only for the central area, and turned OFF for the headland area, thereby improving operability for the operator.

[0069] Furthermore, the work vehicle 10 may be provided with a physical switch B2 (see FIG. 3) that accepts the setting operation. This allows the operator to easily understand the operation section for the setting operation, thereby improving the operability of the setting operation.

[0070] [Driving control processing] An example of the driving control process executed by the vehicle control device 11 will be described below with reference to Fig. 9. Note that the present invention may be understood as an invention of a driving control method in which the vehicle control device 11 executes part or all of the driving control process, or as an invention of a driving control program for causing the vehicle control device 11 to execute part or all of the driving control method. Furthermore, the driving control process may be executed by one or more processors.

[0071] In the following, an example will be given in which the operating tool of the present invention is a lifting lever 14L (see Figure 3) that raises and lowers the work machine 14, and the driving mode switching function is linked to the lifting lever 14L (set to "Auto link to main machine operation: ON") (see Figure 7C).

[0072] First, in step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can travel automatically. For example, the vehicle control device 11 determines that the work vehicle 10 is in a state where it can travel automatically if an automatic travel start condition, such as the orientation of the work vehicle 10 being within a predetermined orientation, is met. When the vehicle control device 11 determines that the work vehicle 10 is in a state where it can travel automatically (S1: Yes), it transitions the processing to step S2. The vehicle control device 11 waits until the work vehicle 10 is in a state where it can travel automatically (S1: No). Note that in step S1, the work vehicle 10 moves to a position where the automatic travel start condition is met in accordance with manual steering by the operator with the work implement 14 raised.

[0073] Furthermore, when the work vehicle 10 is in a state where it can travel automatically (S1: Yes), the vehicle control device 11 may display a message indicating that it can travel automatically on the operation display unit 171 (see FIG. 6A). This allows the operator to recognize that the work vehicle 10 can travel automatically.

[0074] In step S2, the vehicle control device 11 determines whether or not an operation to lower the lift-lower lever 14L (lowering operation) has been received from the operator. If the vehicle control device 11 receives an operation to lower the lift-lower lever 14L from the operator (S2: Yes), the vehicle control device 11 shifts the processing to step S3. On the other hand, if the vehicle control device 11 does not receive an operation to lower the lift-lower lever 14L from the operator (S2: No), the vehicle control device 11 shifts the processing to step S5.

[0075] In step S3, the vehicle control device 11 automatically drives the work vehicle 10 according to the target route R. The target route R is, for example, a straight route parallel to a reference line L1 that passes through points A and B registered by the operation of the operator. When the vehicle control device 11 receives an operation to lower the lift lever 14L, it starts automatic steering so that the work vehicle 10 follows the straight route that is closest to the current position P0 out of multiple straight routes included in the target route R (see FIG. 5C). As a result, the vehicle control device 11 automatically drives the work vehicle 10 along the straight route by automatic steering.

[0076] Here, the vehicle control device 11 may display an icon image C1 indicating that the driving mode switching function is linked on the work screen P3 while the work vehicle 10 is driving automatically (see FIG. 8A).

[0077] Next, in step S4, the vehicle control device 11 determines whether or not an operation to lift the lift lever 14L (raising operation) has been received from the operator. When the vehicle control device 11 receives an operation to lift the lift lever 14L from the operator (S4: Yes), it transitions the processing to step S5. For example, when the work vehicle 10 reaches the end of the straight path (the start of the turning path), the operator performs an operation to lift the lift lever 14L. On the other hand, when the vehicle control device 11 does not receive an operation to lift the lift lever 14L from the operator (S4: No), it transitions the processing to step S3. The vehicle control device 11 continues the automatic driving processing until the operator lifts the lift lever 14L (S4: No). It should be noted that the vehicle control device 11 stops the automatic driving of the work vehicle 10 when the work vehicle 10 reaches the end of the straight path.

[0078] In step S5, the vehicle control device 11 manually drives the work vehicle 10 in response to manual steering by the operator. For example, the operator manually steers the work vehicle 10 toward the next straight route and turns the work vehicle 10. After step S5, the vehicle control device 11 transitions the processing to step S1.

[0079] Returning to step S1, for example, when the work vehicle 10 reaches the end of the turning path (the start of the straight path) and becomes capable of automatic driving (S1: Yes), and the operator performs an operation to lower the lifting lever 14L (S2: Yes), the vehicle control device 11 again causes the work vehicle 10 to automatically drive along the straight path (S3).

[0080] In the processing of each step described above, the vehicle control device 11 ends the travel control processing when the work vehicle 10 finishes work (when it reaches the work end position G). The vehicle control device 11 repeats the processing of steps S1 to S5 until the work vehicle 10 finishes work.

[0081] In this manner, the vehicle control device 11 executes the driving control process for the work vehicle 10.

[0082] As described above, the vehicle control device 11 according to this embodiment controls the driving of the work vehicle 10, which is switchable between automatic driving using automatic steering and manual driving using manual steering by the operator. The vehicle control device 11 also accepts an operator's operation on an operating tool that causes the work vehicle 10 to perform a predetermined operation, and causes the work vehicle 10 to perform an operation in accordance with the operator's operation on the operating tool. The vehicle control device 11 also causes the work vehicle 10 to drive automatically when it accepts a first operation by the operator on the operating tool, and causes the work vehicle 10 to drive manually (stop automatic driving) when it accepts a second operation by the operator on the operating tool.

[0083] For example, the vehicle control device 11 accepts an operator's operation of a lift lever 14L that causes the work vehicle 10 to perform a lifting and lowering operation of the work implement 14. The vehicle control device 11 also causes the work vehicle 10 to perform a lifting and lowering operation in accordance with the operator's operation of the lift lever 14L. The vehicle control device 11 also causes the work vehicle 10 to automatically travel when the operator's lowering operation (first operation) of the lift lever 14L is accepted, and causes the work vehicle 10 to manually travel when the operator's raising operation (second operation) of the lift lever 14L is accepted.

[0084] According to the above configuration, for example, when the operator lowers the lift lever 14L, the work implement 14 is lowered and the travel mode is switched to automatic travel, and when the operator raises the lift lever 14L, the work implement 14 is raised and the travel mode is switched to manual travel. Therefore, the operator does not need to operate an operation unit (e.g., an automatic travel button) other than the lift lever 14L to switch the travel mode. This makes it possible to improve the operability for the operator when switching between automatic travel and manual travel.

[0085] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be embodied in the following manner.

[0086] In the above-described embodiment, the lift lever 14L is given as an example of the operating tool that links the travel mode switching function, but the operating tool may also be the gearshift lever 13L, the handle 137, a shift lever, an accelerator, a clutch, a PTO switch, etc. For example, if the operating tool is the gearshift lever 13L (see FIG. 3), when the operator performs an accelerating operation on the gearshift lever 13L (for example, an operation of pushing the gearshift lever 13L away from him), the vehicle control device 11 increases the speed of the work vehicle 10 and switches the travel mode to automatic travel, and when the operator performs a decelerating operation on the gearshift lever 13L (for example, an operation of pushing the gearshift lever 13L toward him), the vehicle control device 11 decreases the speed of the work vehicle 10 and switches the travel mode to manual travel.

[0087] Also, for example, if the operating tool is a steering wheel 137 (see Figure 3), when the operator operates the steering wheel 137 to switch the position of the steering wheel 137 to a neutral position (straight-ahead position), the vehicle control device 11 causes the work vehicle 10 to travel straight and switches the driving mode to automatic driving, and when the operator operates the steering wheel 137 to switch the position of the steering wheel 137 to a turning position and switches the direction of travel to the turning direction, the vehicle control device 11 turns the work vehicle 10 and switches the driving mode to manual driving.

[0088] Furthermore, for example, if the operating tool is a shift lever (not shown), when the operator places the shift lever in a forward position, the vehicle control device 11 moves the work vehicle 10 forward and switches the driving mode to automatic driving, and when the operator places the shift lever in a reverse position (reverse), moves the work vehicle 10 backward and switches the driving mode to manual driving. Furthermore, if the operator first places the shift lever in a forward position to switch to automatic driving, the vehicle control device 11 may switch to manual driving mode if the operator subsequently places the shift lever in a reverse position or neutral position. Furthermore, if the operator first places the shift lever in a reverse position to switch to automatic driving mode, the vehicle control device 11 may switch to manual driving mode if the operator subsequently places the shift lever in a forward position or neutral position.

[0089] Also, for example, if the operating tool is a PTO switch (not shown), when the operator turns the PTO switch ON, the vehicle control device 11 operates the work equipment 14 and switches the driving mode to automatic driving, and when the operator turns the PTO switch OFF, the vehicle control device 11 stops the operation of the work equipment 14 and switches the driving mode to manual driving.

[0090] Also, for example, if the operating tool is a gearshift lever (shown in the attached drawings), the vehicle control device 11 switches the driving mode to automatic driving mode when the operator moves the gearshift lever to a position other than the minimum position, and switches the driving mode to manual driving when the operator moves the gearshift lever to the minimum position. In this way, if the operating tool is a variable lever, the vehicle control device 11 may switch automatic steering ON and OFF based on the position of the lever.

[0091] Here, the work vehicle 10 may be configured to allow the operator to select the operating tool with which the driving mode switching function is to be linked. Specifically, the vehicle control device 11 accepts an operation to select the type of operating tool with which the driving mode switching function is to be linked on a setting screen. For example, the setting screen P1 shown in FIG. 7C displays an item K2 for "linked operation selection" for selecting the operating tool with which the driving mode switching function is to be linked. Note that the display processing unit 113 may display the item K2 for "linked operation selection" in a selectable state (active state) when the item K1 for "auto linkage of main machine operation" is set to "ON."

[0092] When the operator selects item K2 on the setting screen P1 (presses the OK button), the display processing unit 113 displays the setting screen P4 shown in FIGS. 10A and 10B. FIG. 10A shows the first page of the setting screen P4, and FIG. 10B shows the second page of the setting screen P4. When the operator selects an operating tool ("Main Shift Lever Acceleration" in FIG. 10A) on the setting screen P4 and presses "OK," the reception processing unit 112 accepts the selection operation and sets the shift lever 13L as the operating tool with which the driving mode switching function is to be linked. This allows the operator to link the driving mode switching function to a desired operating tool.

[0093] In another embodiment, multiple types of operating tools may be set to link the driving mode switching function. Specifically, the operating tool that executes the process of switching from manual driving to automatic driving and the operating tool that executes the process of switching from automatic driving to manual driving may be different from each other. For example, the display processing unit 113 causes the operation display unit 171 to display a setting screen P4 (see FIGS. 10A and 10B) for setting an operating tool for starting automatic driving and a setting screen P5 (see FIGS. 11A and 11B) for setting an operating tool for stopping automatic driving (for starting manual driving).

[0094] On the setting screen P4, the operator selects the speed change lever 13L ("increase main speed change lever") as the operating tool for starting automatic traveling, and on the setting screen P5, he selects the lift lever 14L ("raise work equipment lift") as the operating tool for starting manual traveling (stopping automatic traveling). The display processing unit 113 displays the setting content in the "Select interlocking operation" item K2 on the setting screen P1, as shown in FIG. 12.

[0095] According to the settings shown in Figure 12, when the operator operates the gear shift lever 13L to increase speed, the vehicle control device 11 increases the speed of the work vehicle 10 and switches the driving mode to automatic driving to start automatic driving, and when the operator raises the lift lever 14L, the vehicle control device 11 raises the work implement 14 and switches the driving mode to manual driving to stop automatic driving.

[0096] The autonomous driving system 1 of the present invention may be configured to include each processing unit included in the vehicle control device 11. The autonomous driving system 1 may be mounted on the work vehicle 10, or may be mounted outside the work vehicle 10, for example, on an operation terminal (tablet terminal, smartphone, etc.).

[0097] In addition, the work vehicle 10 of the present invention may be configured to include an operating device that causes the work vehicle 10 to perform a predetermined operation in response to an operator's operation, and a vehicle control device 11 (an example of a control unit of the present invention) that causes the work vehicle 10 to perform a first operation and travel automatically when a first operation by the operator on the operating device is accepted, and that causes the work vehicle 10 to perform a second operation and travel manually when a second operation by the operator on the operating device is accepted. [Explanation of symbols]

[0098] 1:Automated driving system 10: Work vehicle 20:Satellite 11: Vehicle control device 13: Running gear 13L: Gear shift lever (operating device) 14: Work equipment 14L: Lifting lever (operating tool) 16: Positioning device 17: Operating device 111: Driving processing unit 112: Reception processing unit 113: Display processing unit 114: Motion processing section 137: Handle (operating tool) 161: Positioning control unit 171: Operation display section B2: Physical switch C1: Icon image F: Field K3: Selection section (reception button)

Claims

[Claim 1] A travel control method for controlling travel of a work vehicle that can switch between automatic travel using automatic steering and manual travel using manual steering by an operator, receiving an operator's operation on an operating tool that causes the work vehicle to perform a predetermined operation; causing the work vehicle to perform an operation in response to an operator's operation of the operating tool; causing the work vehicle to automatically travel when a first operation by an operator on the operating tool is accepted, and causing the work vehicle to manually travel when a second operation by an operator on the operating tool is accepted; A driving control method that performs the above.

Images