Work vehicle, automatic traveling device, and program

Abstract

To provide a technology which can appropriately perform operation using a remote controller in a work vehicle provided so that it can automatically travel.SOLUTION: An exemplary work vehicle includes a vehicle body provided so that automatic traveling where at least steering is automatically performed; and a remote controller operating the vehicle body. In the remote controller, first operation instructing a turning direction and second operation following the first operation are performed, so that the vehicle body starts turning by the automatic traveling.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work vehicle, an automatic driving method, and a program. [Background technology]

[0002] Conventionally, there is known a work vehicle that can be manually operated using a transmitter (see, for example, Patent Document 1). In Patent Document 1, the transmitter is configured so that an operator can manually operate the brush cutter while carrying it. The transmitter is, for example, a proportional controller that the operator operates at hand, or a portable terminal device with a touch panel display screen. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-106941 Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration in which a work vehicle can be remotely controlled as in Patent Document 1, the turning direction of the work vehicle as seen by the operator in response to a turning command will be reversed depending on whether the work vehicle is traveling toward or away from the operator. For example, if the work vehicle is traveling away from the operator and a command to turn left is given using the remote control device, the work vehicle will turn left as seen by the operator. On the other hand, if the work vehicle is traveling toward the operator and a command to turn left is given using the remote control device in the same way, the work vehicle will turn right as seen by the operator.

[0005] For this reason, if the operator is unfamiliar with remote control, there is a possibility that he or she will confuse left and right. In particular, in a configuration in which automatic driving starts turning in response to left or right turn commands given by the operator using a remote control device, a mistaken operation could cause the automatic turning to start in the opposite direction to the operator's intention, making it difficult to stop the turning operation. This could result in significant work loss.

[0006] In view of the above, an object of the present invention is to provide a technology that enables appropriate operation using a remote control device in a work vehicle that is capable of autonomous driving. [Means for solving the problem]

[0007] An exemplary work vehicle of the present invention comprises a vehicle body that is configured to enable automatic driving in which at least steering is performed automatically, and a remote control device that operates the vehicle body, and when a first operation that indicates the turning direction and a second operation that follows the first operation are performed on the remote control device, the vehicle body begins turning by the automatic driving.

[0008] An exemplary automatic driving method of the present invention is a method of automatic driving in a work vehicle in which the vehicle body is operated by a remote control device, and includes receiving a first operation by the remote control device that indicates a turning direction, and causing the vehicle body to start turning by automatic driving by a second operation following the first operation by the remote control device.

[0009] An exemplary program of the present invention is a program that causes a computer to execute a method of automatic driving in a work vehicle in which the vehicle body is operated by a remote control device, and causes the computer to function as a means for accepting a first operation by the remote control device that indicates a turning direction, and for causing the vehicle body to start turning by automatic driving by a second operation following the first operation by the remote control device. [Effects of the Invention]

[0010] According to the exemplary embodiment of the present invention, it is possible to appropriately operate a work vehicle that is capable of autonomous driving using a remote control device. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a work vehicle; [Figure 2] FIG. 1 is a front view showing a schematic configuration of a remote control device; [Figure 3] A block diagram showing the general configuration of a vehicle body. [Figure 4] FIG. 10 is a diagram illustrating an example of a method for setting a reference line. [Figure 5] Flowchart illustrating the flow of an automated driving method [Figure 6A] FIG. 10 is a diagram illustrating a notification operation performed by the vehicle main body in response to a first operation. [Figure 6B] FIG. 10 is a diagram illustrating a notification operation performed by the vehicle main body in response to a first operation. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or corresponding parts are denoted by the same reference numerals, and unless otherwise required, the description thereof will not be repeated.

[0013] <1. Overview of the work vehicle> Fig. 1 is a diagram showing the general configuration of a work vehicle 100 according to an embodiment of the present invention. Work vehicle 100 can be used to perform a variety of tasks, such as agricultural work and construction work. Note that the work vehicle of the present invention is not limited to the work vehicle shown in Fig. 1, and may be, for example, a tractor, a rice transplanter, a combine harvester, a harvester for harvesting various crops, a snow blower, or various civil engineering and construction work machines.

[0014] As shown in Fig. 1, a work vehicle 100 includes a vehicle body 1 and a remote control device 2. Note that Fig. 1 shows a side view of the vehicle body 1.

[0015] [1-1. Vehicle body] The vehicle body 1 is configured to enable automatic driving in which at least steering is performed automatically. In addition to steering, automatic driving may also be configured in which, for example, at least one of adjusting vehicle speed and performing work using a work machine is performed automatically. In this specification, automatic driving also includes such a configuration. However, in the following description, an example is given of automatic driving in which steering is performed automatically, and adjusting vehicle speed and performing work using a work machine are performed manually.

[0016] As shown in FIG. 1, the vehicle body 1 includes a traveling body 11 that travels on the ground, and a work implement 12 that is connected to the traveling body 11.

[0017] For convenience of explanation, the directions in the following explanation will be defined below. The direction in which the traveling body 11 and the work implement 12 are lined up is defined as the front-to-rear direction, and the work implement 12 is considered to be rear when viewed from the traveling body 11. The left-to-right direction is defined as the side that is left when looking from rear to front, and the right-to-left direction is defined as the side that is right when looking from rear to front. Furthermore, the direction of gravity, which is perpendicular to the front-to-rear and left-to-right directions, is defined as the up-to-down direction, with the upstream side of the direction of gravity being the upside and the downstream side being the downside. In the drawings, the front is indicated as "F," the rear as "B," the right as "R," the left as "L," the upside as "U," and the downside as "D," as necessary.

[0018] However, the above definitions of direction are for convenience's sake. In the following explanation, directional expressions based on a different standard from the directions defined here may be used, and in such cases, a statement to that effect will be included in the explanation.

[0019] The traveling machine body 11 includes a machine body main body part 111 and a traveling part 112 arranged below the machine body main body part 111.

[0020] The machine body 111 includes an outer cover 111a, a travel drive unit 111b arranged on the front side of the interior covered by the outer cover 111a, and a work machine drive unit 111c arranged on the rear side of the interior covered by the outer cover 111a.

[0021] The traveling drive device 111b includes a drive source and a power transmission mechanism that transmits power from the drive source to the traveling unit 112. In this embodiment, the drive source provided in the traveling drive device 111b is an electric motor. However, the drive source provided in the traveling drive device 111b may be other than an electric motor, and may be, for example, an engine.

[0022] The work machine drive device 111c includes a drive source and a PTO (Power Take Off) power transmission unit that can transmit power from the drive source to the outside of the traveling machine body 11. In this embodiment, the drive source provided in the work machine drive device 111c is an electric motor. However, the drive source provided in the work machine drive device 111c may be something other than an electric motor, and may be, for example, an engine. Also, in this embodiment, the electric motor provided in the work machine drive device 111c and the electric motor provided in the traveling drive device 111b are separate motors. However, the travel drive device 111b and the work machine drive device 111c may share a drive source.

[0023] Other devices arranged inside the outer cover 111a include a battery that supplies power to the electric motor, power electronics devices, etc. Outside the outer cover 111a, for example, a light 111d, a positioning antenna 111e, and a warning light 111f are arranged.

[0024] In this embodiment, the traveling machine body 11 is not provided with a driver's seat for an operator. In other words, the vehicle body 1 travels for work unmanned. However, the present invention is also applicable to a work vehicle that has a driver's seat in the traveling machine body 11. In other words, the traveling machine body 11 may have a driver's seat and tools (such as a handle or lever) for the operator sitting in the driver's seat to operate the vehicle body 1.

[0025] The running unit 112 supports the machine body 111 so that it can run. Specifically, the running unit 112 includes a pair of left and right crawlers 112a. Each of the left and right crawlers 112a includes a track frame 112b extending in the front-to-rear direction. Each track frame 112b is attached to the underside of the machine body 111. A drive sprocket 112c is disposed at the front end of the track frame 112b as a drive wheel. Power from the electric motor is transmitted to the drive sprocket 112c via a power transmission mechanism provided in the traveling drive device 111b. An idler 112d is disposed at the rear end of the track frame 112b as a driven wheel. The idler 112d is rotatably supported by the track frame 112b. A plurality of rollers 112e are rotatably supported on the track frame 112b in a portion between the drive sprocket 112c and the idler 112d. The crawler 112a is configured by wrapping a crawler belt 112f around the drive sprocket 112c, the idler 112d, and the plurality of rollers 112e.

[0026] In this embodiment, the left and right crawlers 112a are driven by a plurality of electric motors provided in the travel drive device 111b. For example, when the pair of left and right crawlers 112a are driven simultaneously in the same direction, the travel unit 112 moves straight forward or backward. Whether it moves forward or backward is determined by the rotation direction of the electric motor. In addition, the travel unit 112 turns left or right, for example, when the pair of left and right crawlers 112a are driven at different speeds.

[0027] In this embodiment, the crawler 112a has a configuration in which one drive wheel (drive sprocket 112c) and one driven wheel (idler 112d) are arranged in the front-to-rear direction and the crawler belt 112f is wound around them, but other configurations are also possible. For example, the crawler may be a type in which the crawler belt is wound in a triangular shape around one drive wheel and two driven wheels. Also, in this embodiment, the running unit 112 is a crawler type, but the running unit may be of a type other than a crawler type, for example, a wheel type.

[0028] The work implement 12 is attached to the traveling machine body 11 via a hitch unit 13 so that it can be raised and lowered. The hitch unit 13 includes the above-mentioned work implement drive device 111c. The work implement 12 is attached to the hitch unit 13 so that it can be replaced. That is, the work implement 12 can be replaced with various types. In FIG. 1, the work implement 12 is a tiller. In addition to a tiller, the work implement 12 may also be, for example, a plow, a fertilizer applicator, a pesticide sprayer, a harvester, a reaper, a snow removal device, or a landfill device such as a blade. In this embodiment, the work implement 12 is provided so that it can be raised and lowered, but the work implement 12 does not have to be so that it can be raised and lowered.

[0029] The configuration of the vehicle body 1 provided in the work vehicle 100 may be any configuration having a traveling machine body and a working implement, and may be a configuration other than that described above. For example, the working implement may be disposed in front of the traveling machine body instead of behind it. Also, for example, the working implement may be disposed both in front of and behind the traveling machine body.

[0030] [1-2. Remote Control Device] The remote control device 2 is a device that operates the vehicle body 1. In other words, the work vehicle 100 is a work vehicle that operates the vehicle body 1 using the remote control device 2. In detail, the remote control device 2 is a device that enables an operator who is located away from the vehicle body 1 to operate the vehicle body 1.

[0031] The remote control device 2 is provided to enable settings and operations related to manual driving of the vehicle body 1. The remote control device 2 is also provided to enable settings and operations related to automatic driving of the vehicle body 1. The remote control device 2 may be, for example, a proportional controller or a mobile terminal device with a touch panel display screen. In this embodiment, the remote control device 2 is a proportional controller.

[0032] 2 is a front view showing a schematic configuration of a remote control device 2 according to an embodiment of the present invention. As shown in FIG. 2, the remote control device 2 includes a housing 21, a power switch 22, an antenna 23, an operation lever 24, an operation switch 25, an operation knob 26, and a display unit 27.

[0033] The housing 21 constitutes the main body of the remote control device 2. The above-mentioned power switch 22, antenna 23, operating lever 24, operating switch 25, operating knob 26, and display unit 27 are arranged in appropriate positions on the housing 21. Note that the arrangement shown in Fig. 2 is merely an example and may be changed as appropriate.

[0034] The power switch 22 is provided in the center of the front of the housing 21 and is capable of switching the power of the remote control device 2 between an on state and an off state. The power switch 22 is, for example, a seesaw switch. The power source of the remote control device 2 is, for example, a battery or dry cell disposed inside the housing 21.

[0035] The antenna 23 protrudes from the side surface of the housing 21 (the upper side surface in the example shown in FIG. 2 ) and enables wireless communication with the vehicle body 1. The vehicle body 1 is also provided with an antenna 15a (see FIG. 3 described later) for wireless communication with the remote control device 2. When the power switch 22 is turned on for the remote control device 2, the remote control device 2 is capable of wireless communication with the vehicle body 1. When the power switch 22 is turned off for the remote control device 2, the remote control device 2 cannot communicate with the vehicle body 1. In this embodiment, if communication with the remote control device 2 becomes impossible, the vehicle body 1 automatically stops traveling while in motion. That is, the power switch 22 functions as an emergency stop switch for the vehicle body 1. The emergency stop switch may be provided separately from the power switch 22.

[0036] The control lever 24 enables the travel operation of the vehicle body 1 and the operation of the work implement 12. In this embodiment, the control lever 24 includes a first control lever 24a and a second control lever 24b that are arranged side by side with the power switch 22 sandwiched between them. The first control lever 24a (the lever on the left in the example shown in FIG. 2) can be tilted in two mutually perpendicular directions (the F1-B1 direction and the L1-R1 direction) indicated by dashed arrows in FIG. 2. It can also be tilted in either the F1-B1 direction and either the L1-R1 direction. The second control lever 24b (the lever on the right in the example shown in FIG. 2) can also be tilted in the same direction as the first control lever 24a. The functions of the first control lever 24a and the second control lever 24b described below may be interchangeable.

[0037] In this embodiment, the first operating lever 24a and the second operating lever 24b perform different functions depending on whether the vehicle body 1 is in the manual driving mode or the automatic driving mode.

[0038] For example, in the manual travel mode, tilting the first control lever 24a in the F1 direction causes the vehicle body 1 to move forward. In the manual travel mode, tilting the first control lever 24a in the B1 direction causes the vehicle body 1 to move backward. In the manual travel mode, tilting the first control lever 24a in the F1 or B1 direction while tilting it in the L1 direction (i.e., tilting it diagonally) causes the vehicle body 1 to turn left. In the manual travel mode, tilting the first control lever 24a in the F1 or B1 direction while tilting it in the R1 direction (i.e., tilting it diagonally) causes the vehicle body 1 to turn right. Additionally, in the manual travel mode, the work implement 12 can be raised or lowered by operating the second control lever 24b.

[0039] In the automatic driving mode, the first control lever 24a and the second control lever 24b perform the function of setting the automatic driving. The settings related to the automatic driving using the control lever 24 will be described later. In this embodiment, even when the vehicle body 1 is in automatic driving, speed adjustment and operation of the work implement 12 are performed manually, so the operations using the control lever 24 for these are the same as in the manual driving mode.

[0040] In the following, for ease of explanation, tilting the first control lever 24a in the F1 direction will be referred to as tilting in the forward direction F1. Also, tilting the first control lever 24a in the B1 direction will be referred to as tilting in the reverse direction B1. Also, tilting the first control lever 24a in the L1 direction will be referred to as tilting in the left turning direction L1. Also, tilting the first control lever 24a in the R1 direction will be referred to as tilting in the right turning direction R1.

[0041] The operation switch 25 allows various settings related to the vehicle body 1. In this embodiment, the operation switch 25 includes a first operation switch 25a and a second operation switch 25b. The first operation switch 25a (located on the side surface on the upper right side in the example shown in FIG. 2) is configured as a momentary switch and allows multiple settings related to automatic driving. This will be described in detail later. The second operation switch 25b (located on the front surface on the upper left side in the example shown in FIG. 2) is configured as a toggle switch and allows switching between a state in which power transmission to the work implement 12 using the above-mentioned PTO power transmission unit is possible and a state in which it is not possible.

[0042] The types of the operation switches 25a and 25b described above are merely examples, and the types of the operation switches 25a and 25b may be changed as appropriate.

[0043] The operation knob 26 is disposed on the front of the housing 21 (on the upper front side in the example shown in FIG. 2) and allows adjustment of the maximum speed (upper limit of speed) of the vehicle body 1. In detail, two operation knobs 26 are provided. One of the two operation knobs 26 allows adjustment of the maximum speed of the vehicle body 1 when traveling straight ahead. The other of the two operation knobs 26 allows adjustment of the maximum speed of the vehicle body 1 when traveling in a turn.

[0044] The display unit 27 is disposed on the front side of the housing 21 (in the example shown in FIG. 2, on the lower front side) and displays various information to inform the operator. The various information may include, for example, a display of the relative position of the vehicle body 1 and the travel route during automatic travel. The display unit 27 is configured, for example, with a liquid crystal display device, an organic EL display device, or the like.

[0045] <2. Configuration related to the autonomous driving of the vehicle body> Next, the details of the configuration related to the automatic driving of the vehicle body 1 of this embodiment will be described. Fig. 3 is a block diagram showing a schematic configuration of the vehicle body 1 according to the embodiment of the present invention. Note that Fig. 3 shows components necessary for explaining the features of this embodiment (mainly the configuration related to the automatic driving), and omits a description of general components.

[0046] 3, the vehicle body 1 is equipped with a control device 10. In other words, the work vehicle 100 is equipped with the control device 10. For example, the control device 10 controls the automatic traveling of the vehicle body 1 in response to instructions from the remote control device 2.

[0047] The control device 10 is a computer device including, for example, an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is, for example, a processor or a microprocessor. The storage unit 101 is a main storage device such as a read-only memory (ROM) and a random access memory (RAM). The storage unit 101 may further include an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). Various programs, data, and the like are stored in the storage unit 101. The arithmetic unit performs various functions by reading various programs from the storage unit 101 and executing arithmetic processing in accordance with the programs. The programs stored in the storage unit 101 may be provided, for example, by a computer-readable nonvolatile recording medium. As another example, the programs may be provided from a program providing server via a communication line such as the Internet.

[0048] The control device 10 can operate as a reception unit 102, a route generation unit 103, a driving mode control unit 104, a driving control unit 105, a work machine control unit 106, and a notification control unit 107 through cooperation between the above-mentioned hardware and software. The control device 10 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other. Some of the functions of the control device 10 may be included in a server (not shown) that can communicate with the remote operation device 2 or the vehicle body 1.

[0049] As described above, the functional units 102 to 107 of the control device 10 may be realized by causing a computing device to execute arithmetic processing according to a program, i.e., by software, but may also be realized by other methods. At least one of the functional units 102 to 107 may be realized using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, at least one of the functional units 102 to 107 may be realized by hardware using a dedicated IC or the like. At least one of the functional units 102 to 107 may also be realized by a combination of software and hardware. Furthermore, the functional units 102 to 107 are conceptual components. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0050] The control device 10 is connected to a positioning communication unit 14, a communication processing unit 15, a sensor 16, an operation unit 17, and an alarm unit 18. That is, the vehicle body 1 includes the positioning communication unit 14, the communication processing unit 15, the sensor 16, the operation unit 17, and the alarm unit 18.

[0051] The positioning communication unit 14 includes a positioning antenna 111e (see FIG. 1 ) and acquires the position of the vehicle body 1 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna 111e from a positioning satellite. The positioning communication unit 14 outputs the position information of the vehicle body 1 to the control device 10. For example, the positioning communication unit 14 receives a positioning signal from a reference station (not shown) using an appropriate method, and then performs positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. Note that the positioning communication unit 14 may perform positioning using other methods, such as a DGNSS (Differential GNSS) method. Furthermore, the vehicle body 1 may be configured to include, for example, a quantum compass capable of positioning, instead of or in addition to the positioning communication unit 14.

[0052] The communication processing unit 15 communicates with the remote control device 2 via a communication antenna 15a. The communication antenna 15a is an antenna for wireless communication with the remote control device 2. For example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used for the wireless communication.

[0053] The sensor 16 detects information related to the vehicle body 1 and outputs the detected information to the control device 10. In this embodiment, the sensor 16 includes multiple types of sensors. Each of the multiple types of sensors is connected to the control device 10 so that it can input a signal thereto. The multiple types of sensors include, for example, an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and an elevation position sensor.

[0054] The inertial measurement unit includes a three-axis angular velocity sensor and a three-axis acceleration sensor, and is a device capable of measuring the attitude of the vehicle body 1. The obstacle sensor is a sensor that detects obstacles present around the vehicle body 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or a LiDAR (Light Detection and Ranging). The vehicle speed sensor is a sensor that detects the speed of the vehicle body 1. The lift position sensor is a sensor that detects the lift position of the work implement 12 that is provided so as to be able to lift and lower.

[0055] The operation unit 17 is provided so that information can be input to the control device 10. The operation unit 17 is provided so that various settings related to the vehicle body 1 can be made. In this embodiment, the various settings include at least some of the settings related to automatic driving. In detail, the settings related to automatic driving that can be made by the operation unit 17 include a setting to switch between enabling and disabling an automatic turning function that turns by automatic driving.

[0056] That is, the work vehicle 100 is provided with a switchable automatic turning function that turns by automatic travel, which can be enabled or disabled. The vehicle body 1 is provided with a switch operation unit 17 that switches the automatic turning function between enabled and disabled. The switch operation unit that switches the automatic turning function between enabled and disabled may be provided in the remote control device 2. However, if the switch operation unit is provided in the vehicle body 1 instead of the remote control device 2, as in this embodiment, it is possible to prevent the automatic turning function from being switched between enabled and disabled due to an erroneous operation of the remote control device 2 while the vehicle body 1 is being remotely operated.

[0057] The operation unit 17 is preferably disposed in an easy-to-operate position, such as the front end or rear end of the traveling body 11. The operation unit 17 may be configured to include at least one of an operation button, an operation lever, an operation knob, and a touch panel, for example.

[0058] The notification unit 18 operates in response to a command from the control device 10, and operates when there is something that needs to be notified to an operator or the like operating the remote control device 2. The notification unit 18 may be a single unit or multiple units. The notification unit 18 may be, for example, a light-emitting device, an audio output device, a display device, or the like. In this embodiment, the notification unit 18 includes a turning lamp 181 (see Figures 6A and 6B described below) that notifies the turning direction of the vehicle body 1. Details of the notification using the turning lamp 181 will be described later.

[0059] The reception unit 102 included in the control device 10 receives instructions from an operator using the remote control device 2. The instructions using the remote control device 2 include instructions related to automatic driving. In this embodiment, the instructions received by the reception unit 102 also include instructions related to manual driving, such as driving instructions during manual driving.

[0060] The route generation unit 103 generates a driving route for the vehicle body 1 to perform automatic driving. In this embodiment, the driving route includes a plurality of routes arranged side by side. Specifically, each of the plurality of routes is a straight route. The plurality of straight routes are arranged side by side in parallel to each other. A driving route including a plurality of straight routes (specifically, an automatic driving operation route) is generated, for example, as follows.

[0061] When generating a travel route, first, a reference line KS1 (see FIG. 4) is set. FIG. 4 is a diagram for explaining an example of a method for setting the reference line KS1. The left diagram in FIG. 4 is a diagram illustrating an example of the movement of the vehicle body 1 when generating the reference line KS1. The right diagram in FIG. 4 is an image diagram of the generated reference line KS1 and a travel route KS2 generated based on the reference line KS1. Note that the method for setting the reference line KS1 may be other than the method shown in FIG. 4.

[0062] When setting the reference line KS1, first, the vehicle body 1 is manually driven to an appropriate location (point A in the figure) in the work location (a farm field in this embodiment), and point A is registered using the remote control device 2. In this embodiment, manual movement of the vehicle body 1 is performed using the first operation lever 24a (see FIG. 2) of the remote control device 2. Point A registration using the remote control device 2 is performed using the first operation switch 25a (see FIG. 2). The reception unit 102 receives the point A registration by operating the first operation switch 25a. Then, the path generation unit 103 registers the position of the vehicle body 1 obtained by the positioning communication unit 14 at the time point A registration was set as the position of point A.

[0063] Once point A has been registered, the operator manually drives the vehicle body 1 straight using the remote control device 2 (more specifically, the first operating lever 24a) to move it to the target position (point B in the figure). Then, when the vehicle body 1 reaches the target position, point B is registered using the remote control device 2. Point B registration using the remote control device 2 is performed using the first operating switch 25a. More specifically, assuming that point A has already been registered, when the first operating switch 25a is operated in the same way as when point A was registered, the accepting unit 102 accepts the point B registration. Then, the route generating unit 103 registers the position of the vehicle body 1 obtained by the positioning communication unit 14 at the time point B registration was set as the position of point B.

[0064] When the positions of points A and B are registered, a straight line passing through points A and B is set as the reference line KS1. In this embodiment, the same switch (first operation switch 25a) is used to register points A and B, but this is merely an example, and a switch for registering point A and a switch for registering point B may be separately provided on the remote control device 2. Furthermore, the reference line may be, for example, a straight line that is parallel to the fore-and-aft direction of the vehicle body 1 (the vehicle's orientation) when registering point A and that passes through point A. Furthermore, the reference line may be, for example, a straight line that passes through point A and is parallel to the set orientation. In the case of the two reference line setting methods described above as modified examples, it is not necessary to register point B.

[0065] When the reference line KS1 is set, the route generation unit 103 arranges a plurality of lines KS2 (shown as dashed lines in FIG. 4) parallel to the reference line KS1 at predetermined intervals to generate a travel route (travel route for automated driving work) including a plurality of straight-line routes. Note that in this embodiment, the automated driving work route is a straight-line route, but it may also be a curved route.

[0066] The driving mode control unit 104 controls switching between the manual driving mode and the automatic driving mode. That is, the work vehicle 100 is equipped with a control device 10 that switches between an automatic driving mode in which the work vehicle 100 drives automatically and a manual driving mode in which the work vehicle 100 drives by manual operation. In this embodiment, in the manual driving mode, the operator controls the driving of the vehicle body 1 and the operation of the work implement 12 using the remote control device 2. In the automatic driving mode, the vehicle body 1 is steered automatically, and the operator controls the adjustment of the vehicle speed of the vehicle body 1 and the operation of the work implement 12 using the remote control device 2.

[0067] The driving mode control unit 104 switches the driving mode, for example, when the reception unit 102 receives a driving mode switching instruction from an operator using the first operation switch 25a. In particular, when the vehicle body 1 is in the manual driving mode and the reception unit 102 receives a driving mode switching instruction, the driving mode control unit 104 switches from the manual driving mode to the automatic driving mode. Also, when the vehicle body 1 is in the automatic driving mode and the reception unit 102 receives a driving mode switching instruction, the driving mode control unit 104 switches from the automatic driving mode to the manual driving mode.

[0068] In this embodiment, the command to switch the driving mode is issued by pressing the first operation switch 25a once. As described above, the first operation switch 25a is also used to instruct the registration of points A and B. In this case, however, double pressing of the first operation switch 25a is used twice in succession to distinguish it from an command to switch the driving mode. That is, double pressing of the first operation switch 25a before registering point A executes point A registration, and double pressing of the first operation switch 25a after registering point A executes point B registration. However, these command operations are merely exemplary. For example, a configuration may be adopted in which double pressing of the first operation switch 25a issues a command to switch the driving mode, and single pressing issues a command to register points A and B. Furthermore, the switch for switching the driving mode may be a different switch from the switch for instructing the registration of points A and B.

[0069] The driving control unit 105 controls the driving system of the vehicle body 1 in accordance with the driving mode. When the driving mode is a manual driving mode, the driving control unit 105 controls the driving system of the vehicle body 1 in accordance with instructions from the remote control device 2. When the driving mode is an automatic driving mode, the driving control unit 105 automatically controls at least a part of the driving system of the vehicle body 1. In this embodiment, the driving control unit 105 performs automatic control of steering (automatic steering), for example, so that the vehicle body 1 travels along a predetermined route. During automatic steering control, the position and orientation of the vehicle body 1 are determined, for example, based on information obtained from the positioning communication unit 14 and an inertial measurement device included in the sensor 16. Then, calculations related to automatic steering are performed according to the positional relationship between the determined position, etc. of the vehicle body 1 and a predetermined driving route for automatic driving (a driving route generated by the route generation unit 103), and steering control is performed according to the calculation results.

[0070] The work implement control unit 106 controls the work system of the vehicle body 1 in response to instructions from the remote operation device 2. Control of the work system of the vehicle body 1 includes, for example, control of the lifting and lowering of the work implement 12 and control of switching the power transmission state to the work implement 12 using the PTO power transmission unit. The work implement control unit 106 may be configured to switch the control of the work system of the vehicle body 1 depending on the driving mode. In other words, when in the automatic driving mode, the work implement control unit 106 may be configured to automatically control the operation of the work implement 12.

[0071] The notification control unit 107 controls the operation of the notification unit 18. When the timing for notification arrives, the notification control unit 107 causes the notification unit 18 to perform a notification operation. In this embodiment, the notification control unit 107 controls the operation of a turning lamp 181 (see FIG. 6A, etc.).

[0072] <3.Automatic driving method> Next, a method for autonomous driving (autonomous driving method) in work vehicle 100 of this embodiment will be described. In this embodiment, the autonomous driving method in work vehicle 100 is realized by having a computer (control device 10) execute arithmetic processing in accordance with a program. In other words, the program that causes a computer to execute the autonomous driving method causes the computer to function as a means for performing the operations described below.

[0073] Fig. 5 is a flowchart illustrating the flow of an automatic driving method according to an embodiment of the present invention. In this embodiment, the process shown in Fig. 5 is executed when the vehicle body 1 and the remote control device 2 are able to communicate with each other. In addition, the process shown in Fig. 5 is executed, in principle, when the vehicle body 1 is present in a work location such as a farm field.

[0074] In step S1, the control device 10 (more specifically, the route generation unit 103) sets a driving route for the vehicle body 1 to travel automatically. As described above, the driving route for the vehicle body 1 to travel automatically is generated when a point A registration instruction and a point B registration instruction are given using the remote control device 2, and the generated driving route is set as the driving route for automatic driving. Once the driving route has been set, the process proceeds to the next step S2.

[0075] In step S2, the control device 10 (more specifically, the reception unit 102) monitors whether or not an instruction for automatic driving has been received from the operator. In this embodiment, an instruction for automatic driving is given by the operator pressing the first operation switch 25a of the remote control device 2 once, as described above. The control device 10 determines that an instruction for automatic driving has been received by receiving this operation. If it is determined that an instruction for automatic driving has been received (Yes in step S2), the process proceeds to the next step S3. If it is not determined that an instruction for automatic driving has been received (No in step S2), the process continues with step S2.

[0076] In step S3, the control device 10 (more specifically, the driving mode control unit 104) switches the driving mode to the automatic driving mode. This starts the automatic driving mode. When the automatic driving mode starts, processing proceeds to the next step S4. In this embodiment, at the start of the automatic driving mode, the vehicle body 1 is located at one end of one of a plurality of straight paths included in the driving path for automatic driving. This one end is, for example, one end of a straight path next to the reference line KS1 (see FIG. 4). The vehicle body 1 is moved to this one end by manual driving using the remote control device 2. This movement by manual driving is, for example, a turning movement that reverses the front and rear of the vehicle body 1 from point B.

[0077] However, this is merely an example, and the vehicle body 1 may be at point B, which is one end of the reference line KS1, at the start of the automatic driving mode. When the vehicle body 1 is at point B, automatic turning is performed before automatic straight-ahead driving, which will be described below. The automatic turning is performed by performing a first operation (see step S5 and step S10) and a second operation (see step S11), which will be described below, using the remote control device 2, in this order.

[0078] In step S4, the control device 10 (more specifically, the driving control unit 105) starts automatic steering control (automatic straight-line control) so that the vehicle body 1 travels along a straight-line route set as the route for automatic driving. During the automatic straight-line control, the vehicle body 1 performs automatic straight-line driving when the operator tilts the first operation lever 24a of the remote control device 2 in the forward direction F1 (see FIG. 2). The traveling speed of the vehicle body 1 is adjusted depending on the amount of tilt of the first operation lever 24a in the forward direction F1. Once the automatic straight-line control is started, the process proceeds to the next step S5.

[0079] During the automatic straight-line driving control, the work implement 12 is manually operated as needed using the remote control device 2. At the start of the automatic straight-line driving control, the work implement 12 is preferably lowered to a position where work is possible by manual operation using the remote control device 2. This allows the automatic driving operation using the work implement 12 to start smoothly at the same time as the start of automatic straight-line driving.

[0080] In step S5, the control device 10 (more specifically, the receiving unit 102) determines whether or not a first operation instructing a turning direction has been performed on the remote control device 2. In this embodiment, the control device 10 determines that a first operation has been performed when an operation to tilt the first control lever 24a in the turning direction L1, R1 (see FIG. 2) has been performed on the remote control device 2. In particular, when the first control lever 24a is tilted in the left turning direction L1, the control device 10 receives a turning instruction to the left. When the first control lever 24a is tilted in the right turning direction R1, the control device 10 receives a turning instruction to the right. As can be seen from the above description, the remote control device 2 is equipped with the control lever 24a that performs the first operation. Furthermore, in the autonomous driving method of this embodiment, a first operation instructing a turning instruction by the remote control device 2 is received. When it is determined that a first operation has been performed (Yes in step S5), the process proceeds to step S7. If it is determined that the first operation has not been performed (No in step S5), the process proceeds to step S6.

[0081] In step S6, the control device 10 (for example, the reception unit 102) determines whether or not the state is such that automatic driving should be terminated. For example, if an instruction to switch to manual driving is given using the first operation switch 25a, it is determined that the state is such that automatic driving should be terminated. Also, if communication between the vehicle body 1 and the remote control device 2 is interrupted, it is determined that the state is such that automatic driving should be terminated. If it is determined that the state is such that automatic driving should be terminated (Yes in step S6), the flow shown in FIG. 5 is terminated. Note that instead of terminating the flow, the flow may be configured to return to the processing of step S1 or step S2. If it is determined that the state is not such that automatic driving should be terminated (No in step S6), the processing is returned to step S5.

[0082] In step S7, the control device 10 (for example, the reception unit 102, etc.) determines whether the automatic turning function is enabled. As described above, whether the automatic turning function is enabled or disabled is set in advance by an operator or the like using the operation unit 17 (see FIG. 3). If the automatic turning function is enabled (Yes in step S7), the process proceeds to step S9. If the automatic turning function is disabled (No in step S7), the process proceeds to step S8.

[0083] In step S8, the control device 10 (more specifically, the driving mode control unit 104) switches the driving mode from the automatic driving mode to the manual driving mode. As a result, the control device 10 (more specifically, the driving control unit 105) drives the vehicle by manual operation in accordance with an instruction from the remote control device 2. In other words, if the automatic turning function is disabled, the vehicle body 1 switches from the automatic driving mode in which automatic driving is performed to the manual driving mode in response to the first operation, and turns in accordance with the first operation. In detail, if the first operation in step S5 is an operation to instruct a left turn (an operation to push the first operation lever 24a in the left turning direction L1), the vehicle body 1 switches to the manual driving mode and turns left in accordance with an instruction from the remote control device 2. If the first operation in step S5 is an operation to instruct a right turn (an operation to push the first operation lever 24a in the right turning direction R1), the vehicle body 1 switches to the manual driving mode and turns right in accordance with an instruction from the remote control device 2. When the vehicle body 1 is automatically traveling straight, the operator can forcibly terminate the automatic traveling straight and manually turn the vehicle body 1.

[0084] When the processing of step S8 is completed, the flow shown in Fig. 5 ends. The two symbols "A" shown in Fig. 5 are merely symbols for convenience, meaning that the two are connected. Also, instead of ending the flow, the flow may be configured to return to the processing of step S1 or step S2.

[0085] In step S9, the control device 10 (more specifically, the notification control unit 107) performs processing to cause the notification unit 18 (see FIG. 3) to give a notification. That is, the vehicle body 1 is provided with the notification unit 18 that gives a notification in response to the first operation (see step S5). By configuring the notification unit 18 to give a notification in response to the first operation, it becomes easier for the operator who gives instructions to the vehicle body 1 using the remote control device 2 to understand what instructions the operator himself / herself gave by the first operation.

[0086] In detail, the control device 10 controls the turning lamp 181 included in the notification unit 18 to perform the notification operation. This will be described in more detail with reference to FIGS. 6A and 6B. FIGS. 6A and 6B are diagrams for explaining the notification operation performed by the vehicle body 1 in response to the first operation. The traveling direction of the vehicle body 1 as seen from the operator 200 differs between FIGS. 6A and 6B. In both FIGS. 6A and 6B, the vehicle body 1 is moving forward when expressed with the vehicle body 1 as the reference. However, when expressed with the operator 200 as the reference, the vehicle body 1 is moving away from the operator 200 in FIG. 6A, and the vehicle body 1 is moving toward the operator 200 in FIG. 6B.

[0087] As described above, the turning lamps 181 are lamps that indicate the turning direction of the vehicle body 1, and are provided on the left and right sides of the vehicle body 1. In detail, the turning lamps 181 are provided at the front and rear of the traveling body 11 so that the turning lamps 181 are easily visible regardless of the orientation of the vehicle body 1 as seen by the operator 200. More specifically, a left turning lamp 181L is provided at the front and rear of the left side of the traveling body 11, and a right turning lamp 181R is provided at the front and rear of the right side of the traveling body 11.

[0088] In Figures 6A and 6B, a white solid arrow indicates that a first operation has been performed using first operating lever 24a. In each of Figures 6A and 6B, two white solid arrows indicating first operations are arranged one above the other. The upper first operation indicates an operation to instruct a left turn by tilting first operating lever 24a in left turning direction L1, and the lower first operation indicates an operation to instruct a right turn by tilting first operating lever 24a in right turning direction R1. In Figures 6A and 6B, the vehicle body 1 shown to the right of each white solid arrow indicates the state of the vehicle body 1 after each first operation.

[0089] The control device 10 illuminates the turning lamp 181 corresponding to the turning direction instructed by the first operation. That is, if the first operation is an instruction to turn left, the left turning lamp 181L illuminates as shown in the upper right side of FIGS. 6A and 6B. If the first operation is an instruction to turn right, the right turning lamp 181R illuminates as shown in the lower right side of FIGS. 6A and 6B. In FIGS. 6A and 6B, the state in which the turning lamp 181 is illuminated is indicated by black, and the state in which the turning lamp 181 is not illuminated is indicated by white.

[0090] As can be seen by comparing FIG. 6A and FIG. 6B, even if the turn instruction is the same to the left (or right), the left and right directions in which the vehicle body 1 turns are opposite when the vehicle body 1 approaches the operator and when it moves away from the operator. For this reason, an operator who is not accustomed to operating the remote control device 2 may give a wrong turn direction instruction. In this regard, in this embodiment, the turn lamp 181 in the turn direction instructed by the operator in response to the first operation lights up, so the operator 200 can instantly know in which direction the vehicle body 1 is trying to turn as seen from the operator's perspective. For this reason, the operator 200 can immediately confirm after giving the turn instruction whether the turn instruction he or she gave is correct or not.

[0091] The illumination of the turning lamp 181 may be, for example, simply lighting up, or may be blinking. At the time of step S9, automatic turning of the vehicle body 1 has not started, and the vehicle body 1 is in a standby state for automatic turning. That is, before automatic turning travel is started, the operator 200 can confirm whether the turning instruction issued by the operator 200 himself / herself by the first operation is correct.

[0092] In addition, in this embodiment, a light emitted by the vehicle body 1 is used as a notification means for notifying that a turning direction command has been received, but other means such as sound may be used instead of or in addition to light emission. For example, when the turning lamp 181 lights up, a sound such as "Turn in the direction indicated by the turning lamp" may be output from at least one of the vehicle body 1 and the remote control device 2.

[0093] Furthermore, when the manual driving mode is selected in the process of step S8 and the vehicle is turned, the turning lamp 181 emits light in accordance with the turning direction to indicate the turning direction. For this reason, the order of the processes of steps S7 and S9 may be reversed.

[0094] Returning to FIG. 5, when the notification process in step S9 is completed, the process proceeds to the next step S10.

[0095] In step S10, the control device 10 (more specifically, the reception unit 102) determines whether or not a first operation different from the previous first operation (e.g., the first operation in step S5) has been performed in the remote control device 2. The different first operation is a first operation that instructs a turning direction different from that of the previous first operation. For example, if the previous first operation was a first operation instructing a left turn, a first operation instructing a right turn is the different first operation. Also, for example, if the previous first operation was an operation instructing a right turn, a first operation instructing a left turn is the different first operation. If it is determined that the different first operation has been performed (Yes in step S10), the process returns to step S9. If it is determined that the different first operation has not been performed (No in step S10), the process proceeds to step S11.

[0096] If the different first operation is performed multiple times instead of just once, the operator may become confused about the turning instruction. For this reason, if the different first operation is repeated multiple times, the vehicle body 1 may be configured to automatically stop traveling for safety reasons.

[0097] In step S11, the control device 10 (more specifically, the reception unit 102) determines whether or not a second operation following a first operation has been performed on the remote control device 2. In this embodiment, the control device 10 determines that a second operation has been performed when an operation of pressing the first operation switch 25a on the remote control device 2 (for example, a single press) has been performed. The second operation is an operation of instructing the execution (start) of automatic turning. As can be seen from the above explanation, the remote control device 2 is equipped with the operation switch 25a for performing the second operation. If it is determined that a second operation has been performed (Yes in step S11), the process proceeds to step S13. If it is determined that a second operation has not been performed (No in step S11), the process proceeds to step S12.

[0098] In step S12, the control device 10 (more specifically, the reception unit 102) determines whether a predetermined time has elapsed since it determined that a first operation (or, if another first operation has been performed, the other first operation) has been performed. If the predetermined time has elapsed (Yes in step S12), the process proceeds to step S6 described above. If the predetermined time has not elapsed (No in step S11), the process returns to step S10 described above.

[0099] In step S13, the control device 10 (more specifically, the driving control unit 105) starts automatic turning control. More specifically, the control device 10 causes the vehicle body 1 to start turning by automatic driving (automatic turning). That is, a first operation and a second operation subsequent to the first operation are performed in the remote control device 2, causing the vehicle body 1 to start automatic turning. The automatic driving method of this embodiment executes causing the vehicle body 1 to start turning by automatic driving by a second operation subsequent to the first operation by the remote control device 2. More specifically, when the automatic driving mode is selected by the control device 10, the vehicle body 1 starts automatic turning when the first operation and the second operation are performed.

[0100] In this configuration, two steps of operation are required to start automatic turning, which can prevent automatic turning from being started at an unintended timing due to an erroneous operation. Furthermore, since the vehicle body 1 is configured to receive a turning direction instruction in the first step (first operation) of the two steps, the vehicle body 1 can inform the operator of the intended turning direction during automatic turning. That is, after the first step (first operation), the operator can confirm the direction in which automatic turning will begin based on his or her instruction, and then start automatic turning with the next step (second operation). This can prevent automatic turning from being started in the wrong turning direction.

[0101] As can be seen from the above, in this embodiment, the operation of the vehicle body 1 after the first operation differs depending on whether the automatic turning function is enabled or disabled. In particular, when the automatic turning function is enabled, the vehicle body 1 waits for the second operation after the first operation before starting turning by automatic driving. Furthermore, as described above, when the automatic turning function is disabled, the vehicle body 1 changes from automatic driving mode to manual driving mode in response to the first operation, and turns in accordance with the first operation. Depending on the prior setting using the operation unit 17 provided on the vehicle body 1, different functions can be exerted in response to the same operation (first operation) on the remote control device 2. This makes it possible to increase the operator's options for how to use the work vehicle 100 without increasing the number of operation units on the remote control device 2 as much as possible.

[0102] When the automatic turning control is started, the vehicle body 1 performs automatic turning under the control of the control device 10 (travel control unit 105). Automatic turning refers to a state in which devices related to traveling are controlled by the control device 10, and at least steering is performed autonomously to perform turning, and control of the speed and the work implement 12 during turning may or may not be performed autonomously. In this embodiment, automatic turning refers to a state in which only steering is performed autonomously to perform turning.

[0103] During automatic turning, the first control lever 24a of the remote control device 2 is tilted in the forward / reverse direction F1-R1 to perform automatic turning. For example, when the first control lever 24a is tilted in the forward direction F1, the vehicle body 1 performs automatic turning while moving forward. Note that, at the time when automatic turning starts, it is preferable that the working implement 12 is manually placed in a non-working state. Examples of non-working states include a state in which the working implement 12 is raised to a height position where it cannot perform work, or a state in which power is not being transmitted to the working implement 12.

[0104] The automatic turning may be configured to turn along a turning path generated according to the settings of the remote control device 2, etc. However, the automatic turning may be configured to turn with a preset turning radius. The turning radius may be selectable by the operator. For example, the operator may select a turning radius setting (e.g., "large," "medium," "small," etc.), and the automatic turning may be performed with a turning radius according to the selected setting. In this embodiment, the automatic turning is performed along a turning path generated according to the settings of the remote control device 2, etc.

[0105] During automatic turning, turning lamp 181, which indicates the turning direction, emits light. The light emission pattern of turning lamp 181 at this time may be the same as or different from the light emission pattern of turning lamp 181 in the notification process of step S9. For example, the light emission pattern of turning lamp 181 in the turning standby state (the state at the time of notification in step S9) may be flashing, and the light emission pattern of turning lamp 181 after automatic turning has started may be on.

[0106] When the process of step S13 (start of automatic turning) is completed, the process proceeds to the next step S14.

[0107] In step S14, the control device 10 (more specifically, the driving control unit 105) monitors whether the automatic turning has been completed. In this embodiment, the completion of the automatic turning is a state in which the vehicle has completed traveling along the set turning route and is now able to enter the next straight route. This state may be determined, for example, by using information obtained from the positioning communication unit 14 or the inertial measurement device. If it is determined that the automatic turning has been completed (Yes in step S14), the process returns to step S4, the automatic straight-line control is started, and the above-described processing from step S4 onwards is repeated. If it is not determined that the automatic turning has been completed (No in step S14), the processing of step S14 continues.

[0108] Through the control process described above, the vehicle body 1 repeats work travel on a straight path and non-work travel on a turning path by automatic travel, and completes work in a work location such as a farm field.

[0109] <4. Things to keep in mind> Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and modifications shown in this specification can be combined to the extent possible.

[0110] <5. Notes> An exemplary work vehicle of the present invention may be configured (first configuration) to include a vehicle body that is configured to enable automatic driving in which at least steering is performed automatically, and a remote control device that operates the vehicle body, and in which the vehicle body begins turning by automatic driving when a first operation that indicates the turning direction and a second operation that follows the first operation are performed on the remote control device.

[0111] The work vehicle of the first configuration above may be equipped with a control device that switches between an automatic driving mode in which the vehicle drives automatically and a manual driving mode in which the vehicle drives by manual operation, and may be configured (second configuration) such that when the automatic driving mode is selected by the control device, the vehicle body begins turning by the automatic driving when the first operation and the second operation are performed.

[0112] In the work vehicle of the first or second configuration, the remote control device may be configured (third configuration) to include an operation lever for performing the first operation and an operation switch for performing the second operation.

[0113] In the work vehicle of any one of the first to third configurations described above, the vehicle body may be configured (fourth configuration) to include a notification unit that issues a notification in response to the first operation.

[0114] A work vehicle of any of the first to fourth configurations above may be configured so that an automatic turning function that turns through the automatic driving can be switched between enabled and disabled, and the behavior of the vehicle body after the first operation differs depending on whether the automatic turning function is enabled or disabled (fifth configuration).

[0115] In the work vehicle of the fifth configuration described above, when the automatic turning function is enabled, the vehicle body starts turning by the automatic driving when the first operation and the second operation are performed, and when the automatic turning function is disabled, the vehicle body changes from the automatic driving mode in which the automatic driving is performed to a manual driving mode by the first operation, and may be configured (sixth configuration) to turn in accordance with the first operation.

[0116] In the work vehicle of the fifth or sixth configuration, the vehicle body may be configured (seventh configuration) to include a switching operation unit that switches between enabling and disabling the automatic turning function. [Explanation of symbols]

[0117] 1. Vehicle body 2. Remote control device 10. Control device 17 Operation section (switching operation section) 18···Information Department 24a···First operating lever (operating lever) 25a···First operating switch (operating switch) 100...Work vehicle 181 Turning lamp (alarm unit) 181L···Left turn lamp (alarm unit) 181R···Right turn lamp (alert unit)

Claims

1. A vehicle body that is provided to enable automatic driving in which at least steering is performed automatically; a remote control device for operating the vehicle body; Equipped with In the remote control device, a first operation for instructing a turning direction; a second operation subsequent to the first operation; By doing so, The vehicle body starts turning by the automatic driving.

2. a control device for switching between an automatic driving mode in which the vehicle is automatically driven and a manual driving mode in which the vehicle is driven by manual operation; The work vehicle according to claim 1 , wherein when the automatic driving mode is selected by the control device, the vehicle body starts turning by the automatic driving when the first operation and the second operation are performed.

3. The remote control device is an operating lever for performing the first operation; an operation switch for performing the second operation; The work vehicle according to claim 1 or 2, comprising:

4. The work vehicle according to claim 1 or 2, wherein the vehicle body includes a notification unit that issues a notification in response to the first operation.

5. An automatic turning function for turning by the automatic traveling is provided so as to be switchable between enabled and disabled, The work vehicle according to claim 1 or 2, wherein the behavior of the vehicle body after the first operation differs depending on whether the automatic turning function is enabled or disabled.

6. When the automatic turning function is enabled, the vehicle body starts turning by the automatic traveling when the first operation and the second operation are performed, 6. The work vehicle according to claim 5, wherein when the automatic turning function is disabled, the vehicle body is changed from an automatic driving mode in which the automatic driving is performed to a manual driving mode by the first operation, and turns in accordance with the first operation.

7. The work vehicle according to claim 5 , wherein the vehicle body includes a switching operation unit that switches between enabling and disabling the automatic turning function.

8. A method for automatic driving of a work vehicle in which a vehicle body is operated by a remote control device, receiving a first operation by the remote control device to instruct a turning direction; causing the vehicle body to start turning by the automatic traveling by a second operation subsequent to the first operation by the remote control device; An automated driving method that performs the above.

9. A program that causes a computer to execute a method for automatic driving of a work vehicle in which a vehicle body is operated by a remote control device, The computer receiving a first operation by the remote control device to instruct a turning direction; causing the vehicle body to start turning by the automatic traveling by a second operation subsequent to the first operation by the remote control device; A program that serves as a means to

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